From bb102e3ce5bf546b5890b8fbd3148d99aac37ed6 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Thu, 25 Mar 2021 18:45:21 +0000
Subject: [PATCH 001/336] update compiler version

---
 cmake/arm-none-eabi-checks.cmake | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/cmake/arm-none-eabi-checks.cmake b/cmake/arm-none-eabi-checks.cmake
index b18ace0bec..0d7633bd44 100644
--- a/cmake/arm-none-eabi-checks.cmake
+++ b/cmake/arm-none-eabi-checks.cmake
@@ -2,13 +2,13 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "9.3.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update")
+set(arm_none_eabi_gcc_version "10.2.1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 184b3397414485f224e7ba950989aab6)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2b9eeccc33470f9d3cda26983b9d2dc6)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 000b0888cbe7b171e2225b29be1c327c)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" 75a171beac35453fd2f0f48b3cb239c3)
+set(arm_none_eabi_win32 "win32.zip" 5ee6542a2af847934177bc8fa1294c0d)
+set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 8312c4c91799885f222f663fc81f9a31)
+set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 1c3b8944c026d50362eef1f01f329a8e)
+set(arm_none_eabi_gcc_macos "mac.tar.bz2" e588d21be5a0cc9caa60938d2422b058)
 
 function(arm_none_eabi_gcc_distname var)
     string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})

From e0369826e9c80a1b7b5cae90ba1a23e995504c06 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Thu, 25 Mar 2021 22:18:57 +0000
Subject: [PATCH 002/336] nudge GH CI awake


From d95a1f83a89291ba77bf1f5d3e2aa4b9528cac6d Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sat, 27 Mar 2021 09:52:20 +0000
Subject: [PATCH 003/336] set -Os for F411

---
 cmake/stm32f4.cmake | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/cmake/stm32f4.cmake b/cmake/stm32f4.cmake
index 37fd1cdad5..47fbe8eab7 100644
--- a/cmake/stm32f4.cmake
+++ b/cmake/stm32f4.cmake
@@ -124,6 +124,7 @@ exclude_basenames(STM32F411_OR_F427_STDPERIPH_SRC ${STM32F411_OR_F427_STDPERIPH_
 set(STM32F411_COMPILE_DEFINITIONS
     STM32F411xE
     MCU_FLASH_SIZE=512
+    OPTIMIZATION -Os
 )
 
 function(target_stm32f411xe name)
@@ -132,9 +133,9 @@ function(target_stm32f411xe name)
         STARTUP startup_stm32f411xe.s
         SOURCES ${STM32F411_OR_F427_STDPERIPH_SRC}
         COMPILE_DEFINITIONS ${STM32F411_COMPILE_DEFINITIONS}
-        LINKER_SCRIPT stm32_flash_f411xe
+	LINKER_SCRIPT stm32_flash_f411xe
         SVD STM32F411
-        ${ARGN}
+	${ARGN}
     )
 endfunction()
 

From 865ee5ede8ac9cea1cbcffdd146eb3e7d351d5be Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Apr 2021 14:01:57 +0200
Subject: [PATCH 004/336] Process Rate Dynamics

---
 src/main/CMakeLists.txt           |  2 +
 src/main/fc/controlrate_profile.c | 12 ++++-
 src/main/fc/controlrate_profile.h | 11 +++-
 src/main/fc/fc_core.c             | 10 +++-
 src/main/fc/settings.yaml         | 42 ++++++++++++++++
 src/main/flight/rate_dynamics.c   | 83 +++++++++++++++++++++++++++++++
 src/main/flight/rate_dynamics.h   | 19 +++++++
 src/main/target/common.h          |  1 +
 8 files changed, 176 insertions(+), 4 deletions(-)
 create mode 100644 src/main/flight/rate_dynamics.c
 create mode 100644 src/main/flight/rate_dynamics.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 3cce3fc89e..c154691542 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -318,6 +318,8 @@ main_sources(COMMON_SRC
     flight/imu.h
     flight/kalman.c
     flight/kalman.h
+    flight/rate_dynamics.c
+    flight/rate_dynamics.h
     flight/mixer.c
     flight/mixer.h
     flight/pid.c
diff --git a/src/main/fc/controlrate_profile.c b/src/main/fc/controlrate_profile.c
index ba464a1fe6..18f5bd343b 100644
--- a/src/main/fc/controlrate_profile.c
+++ b/src/main/fc/controlrate_profile.c
@@ -34,7 +34,7 @@
 const controlRateConfig_t *currentControlRateProfile;
 
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 3);
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
 
 void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
 {
@@ -66,7 +66,17 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
 
             .misc = {
                 .fpvCamAngleDegrees = SETTING_FPV_MIX_DEGREES_DEFAULT
+            },
+        #ifdef USE_RATE_DYNAMICS
+            .rateDynamics = {
+                .sensitivityCenter = SETTING_RATE_DYNAMICS_CENTER_SENSITIVITY_DEFAULT,
+                .sensitivityEnd = SETTING_RATE_DYNAMICS_END_SENSITIVITY_DEFAULT,
+                .correctionCenter = SETTING_RATE_DYNAMICS_CENTER_CORRECTION_DEFAULT,
+                .correctionEnd = SETTING_RATE_DYNAMICS_END_CORRECTION_DEFAULT,
+                .weightCenter = SETTING_RATE_DYNAMICS_CENTER_WEIGHT_DEFAULT,
+                .weightEnd = SETTING_RATE_DYNAMICS_END_WEIGHT_DEFAULT,
             }
+        #endif
         );
     }
 }
diff --git a/src/main/fc/controlrate_profile.h b/src/main/fc/controlrate_profile.h
index b425148581..82bda8bff3 100644
--- a/src/main/fc/controlrate_profile.h
+++ b/src/main/fc/controlrate_profile.h
@@ -63,7 +63,16 @@ typedef struct controlRateConfig_s {
     struct {
         uint8_t fpvCamAngleDegrees;             // Camera angle to treat as "forward" base axis in ACRO (Roll and Yaw sticks will command rotation considering this axis)
     } misc;
-
+#ifdef USE_RATE_DYNAMICS
+    struct {
+        uint8_t sensitivityCenter;
+        uint8_t sensitivityEnd;
+        uint8_t correctionCenter;
+        uint8_t correctionEnd;
+        uint8_t weightCenter;
+        uint8_t weightEnd;
+    } rateDynamics;
+#endif
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 40c18fd31f..8a68c97de5 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -86,6 +86,8 @@ FILE_COMPILE_FOR_SPEED
 #include "flight/servos.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
+#include "flight/secondary_imu.h"
+#include "flight/rate_dynamics.h"
 
 #include "flight/failsafe.h"
 
@@ -356,7 +358,7 @@ static bool emergencyArmingIsEnabled(void)
     return emergencyArmingIsTriggered() && emergencyArmingCanOverrideArmingDisabled();
 }
 
-void annexCode(void)
+void annexCode(float dT)
 {
     int32_t throttleValue;
 
@@ -375,6 +377,10 @@ void annexCode(void)
             rcCommand[ROLL] = rcCommand[ROLL] * currentControlRateProfile->manual.rates[FD_ROLL] / 100L;
             rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L;
             rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L;
+        } else {
+            rcCommand[ROLL] = applyRateDynamics(rcCommand[ROLL], ROLL, dT);
+            rcCommand[PITCH] = applyRateDynamics(rcCommand[PITCH], PITCH, dT);
+            rcCommand[YAW] = applyRateDynamics(rcCommand[YAW], YAW, dT);
         }
 
         //Compute THROTTLE command
@@ -849,7 +855,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     imuUpdateAccelerometer();
     imuUpdateAttitude(currentTimeUs);
 
-    annexCode();
+    annexCode(dT);
 
     if (rxConfig()->rcFilterFrequency) {
         rcInterpolationApply(isRXDataNew);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b658aaca71..19e589ee45 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1279,6 +1279,48 @@ groups:
         min: 0
         max: 50
         default_value: 0
+      - name: rate_dynamics_center_sensitivity
+        field: rateDynamics.sensitivityCenter
+        default_value: 100
+        min: 25
+        max: 175
+        description: "The center stick sensitivity for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
+      - name: rate_dynamics_end_sensitivity
+        field: rateDynamics.sensitivityEnd
+        default_value: 100
+        min: 25
+        max: 175
+        description: "The end stick sensitivity for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
+      - name: rate_dynamics_center_correction
+        field: rateDynamics.correctionCenter
+        default_value: 10
+        min: 10
+        max: 95
+        description: "The center stick correction for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
+      - name: rate_dynamics_end_correction
+        field: rateDynamics.correctionEnd
+        default_value: 10
+        min: 10
+        max: 95
+        description: "The end  stick correction for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
+      - name: rate_dynamics_center_weight
+        field: rateDynamics.weightCenter
+        default_value: 0
+        min: 0
+        max: 95
+        description: "The center stick weight for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
+      - name: rate_dynamics_end_weight
+        field: rateDynamics.weightEnd
+        default_value: 0
+        min: 0
+        max: 95
+        description: "The end  stick weight for Rate Dynamics"
+        condition: USE_RATE_DYNAMICS
 
   - name: PG_SERIAL_CONFIG
     type: serialConfig_t
diff --git a/src/main/flight/rate_dynamics.c b/src/main/flight/rate_dynamics.c
new file mode 100644
index 0000000000..570976a4d1
--- /dev/null
+++ b/src/main/flight/rate_dynamics.c
@@ -0,0 +1,83 @@
+/* 
+ * This file is part of the INAV distribution https://github.com/iNavFlight/inav.
+ * 
+ * This program is free software: you can redistribute it and/or modify  
+ * it under the terms of the GNU General Public License as published by  
+ * the Free Software Foundation, version 3.
+ *
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ * 
+ * The code in this file is a derivative work of EmuFlight distribution https://github.com/emuflight/EmuFlight/
+ * 
+ */
+#include "platform.h"
+
+#ifdef USE_RATE_DYNAMICS
+
+FILE_COMPILE_FOR_SPEED
+
+#include <stdlib.h>
+#include "rate_dynamics.h"
+#include "fc/controlrate_profile.h"
+#include <math.h>
+
+static FASTRAM float lastRcCommandData[3];
+static FASTRAM float iterm[3];
+
+FAST_CODE static float calculateK(const float k, const float dT) {
+    if (k == 0.0f) {
+        return 0;
+    }
+    // scale so it feels like running at 62.5hz (16ms) regardless of the current rx rate
+    const float rxRate = 1.0f / dT;
+    const float rxRateFactor = (rxRate / 62.5f) * rxRate;
+    const float freq = k / ((1.0f / rxRateFactor) * (1.0f - k));
+    const float RC = 1.0f / freq;
+
+    return dT / (RC + dT);
+}
+
+FAST_CODE int applyRateDynamics(int rcCommand, const int axis, const float dT) {
+    if (
+        currentControlRateProfile->rateDynamics.sensitivityCenter != 100 || 
+        currentControlRateProfile->rateDynamics.sensitivityEnd != 100 || 
+        currentControlRateProfile->rateDynamics.weightCenter > 0 || 
+        currentControlRateProfile->rateDynamics.weightEnd > 0
+    ) {
+
+        float pterm_centerStick, pterm_endStick, pterm, iterm_centerStick, iterm_endStick, dterm_centerStick, dterm_endStick, dterm;
+        float rcCommandPercent;
+        float rcCommandError;
+        float inverseRcCommandPercent;
+
+        rcCommandPercent = abs(rcCommand) / 500.0f; // make rcCommandPercent go from 0 to 1
+        inverseRcCommandPercent = 1.0f - rcCommandPercent;
+
+        pterm_centerStick = inverseRcCommandPercent * rcCommand * (currentControlRateProfile->rateDynamics.sensitivityCenter / 100.0f); // valid pterm values are between 50-150
+        pterm_endStick = rcCommandPercent * rcCommand * (currentControlRateProfile->rateDynamics.sensitivityEnd / 100.0f);
+        pterm = pterm_centerStick + pterm_endStick;
+        rcCommandError = rcCommand - (pterm + iterm[axis]);
+        rcCommand = pterm; // add this fake pterm to the rcCommand
+
+        iterm_centerStick = inverseRcCommandPercent * rcCommandError * calculateK(currentControlRateProfile->rateDynamics.correctionCenter / 100.0f, dT); // valid iterm values are between 0-95
+        iterm_endStick = rcCommandPercent * rcCommandError * calculateK(currentControlRateProfile->rateDynamics.correctionEnd / 100.0f, dT);
+        iterm[axis] += iterm_centerStick + iterm_endStick;
+        rcCommand = rcCommand + iterm[axis]; // add the iterm to the rcCommand
+
+        dterm_centerStick = inverseRcCommandPercent * (lastRcCommandData[axis] - rcCommand) * calculateK(currentControlRateProfile->rateDynamics.weightCenter / 100.0f, dT); // valid dterm values are between 0-95
+        dterm_endStick = rcCommandPercent * (lastRcCommandData[axis] - rcCommand) * calculateK(currentControlRateProfile->rateDynamics.weightEnd / 100.0f, dT);
+        dterm = dterm_centerStick + dterm_endStick;
+        rcCommand = rcCommand + dterm; // add dterm to the rcCommand (this is real dterm)
+
+        lastRcCommandData[axis] = rcCommand;
+    }
+    return rcCommand;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/main/flight/rate_dynamics.h b/src/main/flight/rate_dynamics.h
new file mode 100644
index 0000000000..8ad92f54d3
--- /dev/null
+++ b/src/main/flight/rate_dynamics.h
@@ -0,0 +1,19 @@
+/* 
+ * This file is part of the INAV distribution https://github.com/iNavFlight/inav.
+ * 
+ * This program is free software: you can redistribute it and/or modify  
+ * it under the terms of the GNU General Public License as published by  
+ * the Free Software Foundation, version 3.
+ *
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ * 
+ * The code in this file is a derivative work of EmuFlight distribution https://github.com/emuflight/EmuFlight/
+ * 
+ */
+int applyRateDynamics(int rcCommand, const int axis, const float dT);
diff --git a/src/main/target/common.h b/src/main/target/common.h
index c0310e7da8..15ae8cfc24 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -86,6 +86,7 @@
 
 #define USE_DYNAMIC_FILTERS
 #define USE_GYRO_KALMAN
+#define USE_RATE_DYNAMICS
 #define USE_EXTENDED_CMS_MENUS
 #define USE_HOTT_TEXTMODE
 

From 5f50bc142bd47ef32946af44db63f67ca649927e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Apr 2021 16:12:31 +0200
Subject: [PATCH 005/336] Rate Dynamics debug

---
 src/main/build/debug.h    | 1 +
 src/main/fc/fc_core.c     | 9 +++++++++
 src/main/fc/settings.yaml | 3 ++-
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index e8f47543eb..8defa95967 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -83,5 +83,6 @@ typedef enum {
     DEBUG_FW_D,
     DEBUG_IMU2,
     DEBUG_ALTITUDE,
+    DEBUG_RATE_DYNAMICS,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 8a68c97de5..99c3c4653b 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -378,9 +378,18 @@ void annexCode(float dT)
             rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L;
             rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L;
         } else {
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 0, rcCommand[ROLL]);
             rcCommand[ROLL] = applyRateDynamics(rcCommand[ROLL], ROLL, dT);
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 1, rcCommand[ROLL]);
+
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 2, rcCommand[PITCH]);
             rcCommand[PITCH] = applyRateDynamics(rcCommand[PITCH], PITCH, dT);
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 3, rcCommand[PITCH]);
+
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 4, rcCommand[YAW]);
             rcCommand[YAW] = applyRateDynamics(rcCommand[YAW], YAW, dT);
+            DEBUG_SET(DEBUG_RATE_DYNAMICS, 5, rcCommand[YAW]);
+            
         }
 
         //Compute THROTTLE command
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 19e589ee45..7bf3b069a7 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -87,7 +87,8 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE"]
+      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE", 
+      "RATE_DYNAMICS"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator

From 22410badcccdf4e38717ba9c6e606cc4556a11b5 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Apr 2021 18:30:10 +0200
Subject: [PATCH 006/336] Docs update

---
 docs/Settings.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/docs/Settings.md b/docs/Settings.md
index 9c67d1f059..125736fa81 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -447,6 +447,12 @@
 | rangefinder_median_filter | OFF | 3-point median filtering for rangefinder readouts |
 | rate_accel_limit_roll_pitch | 0 | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting. |
 | rate_accel_limit_yaw | 10000 | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting. |
+| rate_dynamics_center_correction | 10 | The center stick correction for Rate Dynamics |
+| rate_dynamics_center_sensitivity | 100 | The center stick sensitivity for Rate Dynamics |
+| rate_dynamics_center_weight | 0 | The center stick weight for Rate Dynamics |
+| rate_dynamics_end_correction | 10 | The end  stick correction for Rate Dynamics |
+| rate_dynamics_end_sensitivity | 100 | The end stick sensitivity for Rate Dynamics |
+| rate_dynamics_end_weight | 0 | The end  stick weight for Rate Dynamics |
 | rc_expo | 70 | Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`) |
 | rc_filter_frequency | 50 | RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
 | rc_yaw_expo | 20 | Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`) |

From 57be7e70b88a084d4f6076b186f1a1979a7fc6b3 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 26 Apr 2021 09:43:44 +0100
Subject: [PATCH 007/336] Update osd.c

---
 src/main/io/osd.c | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 3194b8e39d..421cfe7aeb 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3371,6 +3371,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     // detect arm/disarm
+    static timeMs_t osdStatsAutoScreenSwapStartAt = 0;
     if (armState != ARMING_FLAG(ARMED)) {
         if (ARMING_FLAG(ARMED)) {
             osdResetStats();
@@ -3385,6 +3386,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             osdShowStatsPage1(); // show first page of statistic
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
+            osdStatsAutoScreenSwapStartAt = millis();
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -3396,6 +3398,18 @@ static void osdRefresh(timeUs_t currentTimeUs)
         // Clear the screen first to erase other elements which
         // might have been drawn while the OSD wasn't refreshing.
 
+        // auto swap to stats page 2 for 2 seconds to allow DVR capture
+        // Cancelled if Roll stick page swap used
+        timeDelta_t elapsedTime = millis() - osdStatsAutoScreenSwapStartAt;
+        if (STATS_PAGE1 || STATS_PAGE2 || osdStatsAutoScreenSwapStartAt == 0) {
+            osdStatsAutoScreenSwapStartAt = 0;
+        } else if (elapsedTime > 4000) {
+            osdShowStatsPage1();
+            osdStatsAutoScreenSwapStartAt = 0;
+        } else if (ABS(2050 - elapsedTime) < 50) {
+            osdShowStatsPage2();
+        }
+
         if (!DELAYED_REFRESH_RESUME_COMMAND)
             refreshWaitForResumeCmdRelease = false;
 

From d96b5cb60a5832cee68a9e7db8e155cc737c3926 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 26 Apr 2021 12:31:54 +0100
Subject: [PATCH 008/336] Change method

---
 src/main/io/osd.c | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 421cfe7aeb..00b551f808 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3371,10 +3371,11 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     // detect arm/disarm
-    static timeMs_t osdStatsAutoScreenSwapStartAt = 0;
+    static uint8_t statsScreenAutoSwapToggle = 2;
     if (armState != ARMING_FLAG(ARMED)) {
         if (ARMING_FLAG(ARMED)) {
             osdResetStats();
+            statsScreenAutoSwapToggle = 2;
             osdShowArmed(); // reset statistic etc
             uint32_t delay = ARMED_SCREEN_DISPLAY_TIME;
             statsPagesCheck = 0;
@@ -3386,7 +3387,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             osdShowStatsPage1(); // show first page of statistic
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            osdStatsAutoScreenSwapStartAt = millis();
+            statsScreenAutoSwapToggle = 0;
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -3399,15 +3400,18 @@ static void osdRefresh(timeUs_t currentTimeUs)
         // might have been drawn while the OSD wasn't refreshing.
 
         // auto swap to stats page 2 for 2 seconds to allow DVR capture
-        // Cancelled if Roll stick page swap used
-        timeDelta_t elapsedTime = millis() - osdStatsAutoScreenSwapStartAt;
-        if (STATS_PAGE1 || STATS_PAGE2 || osdStatsAutoScreenSwapStartAt == 0) {
-            osdStatsAutoScreenSwapStartAt = 0;
-        } else if (elapsedTime > 4000) {
-            osdShowStatsPage1();
-            osdStatsAutoScreenSwapStartAt = 0;
-        } else if (ABS(2050 - elapsedTime) < 50) {
-            osdShowStatsPage2();
+        // Auto swap cancelled if Roll stick page swap used
+        if (statsScreenAutoSwapToggle != 2) {
+            timeMs_t elapsedTime = millis() - ((resumeRefreshAt / 1000) - STATS_SCREEN_DISPLAY_TIME);
+            if (STATS_PAGE1 || STATS_PAGE2) {
+                statsScreenAutoSwapToggle = 2;
+            } else if (elapsedTime > 4000 && statsScreenAutoSwapToggle == 1) {
+                osdShowStatsPage1();
+                statsScreenAutoSwapToggle = 2;
+            } else if (elapsedTime > 2000 && statsScreenAutoSwapToggle == 0) {
+                osdShowStatsPage2();
+                statsScreenAutoSwapToggle = 1;
+            }
         }
 
         if (!DELAYED_REFRESH_RESUME_COMMAND)

From f7c26c026801c3094a35f1c4aaf39c2905056931 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 26 Apr 2021 13:25:33 +0100
Subject: [PATCH 009/336] Final final version

---
 src/main/io/osd.c | 21 +++++++++------------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 00b551f808..0efcc67b3d 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3371,11 +3371,11 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     // detect arm/disarm
-    static uint8_t statsScreenAutoSwapToggle = 2;
+    static bool statsScreenAutoSwapToggle = false;
     if (armState != ARMING_FLAG(ARMED)) {
         if (ARMING_FLAG(ARMED)) {
             osdResetStats();
-            statsScreenAutoSwapToggle = 2;
+            statsScreenAutoSwapToggle = false;
             osdShowArmed(); // reset statistic etc
             uint32_t delay = ARMED_SCREEN_DISPLAY_TIME;
             statsPagesCheck = 0;
@@ -3385,9 +3385,9 @@ static void osdRefresh(timeUs_t currentTimeUs)
 #endif
             osdSetNextRefreshIn(delay);
         } else {
-            osdShowStatsPage1(); // show first page of statistic
+            osdShowStatsPage2(); // initially show page 2 of statistics, auto swap to page 1 after 2s
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            statsScreenAutoSwapToggle = 0;
+            statsScreenAutoSwapToggle = true;
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -3399,18 +3399,15 @@ static void osdRefresh(timeUs_t currentTimeUs)
         // Clear the screen first to erase other elements which
         // might have been drawn while the OSD wasn't refreshing.
 
-        // auto swap to stats page 2 for 2 seconds to allow DVR capture
+        // auto swap to stats page 1 two secs after page 2 initially displayed (to allow full DVR capture)
         // Auto swap cancelled if Roll stick page swap used
-        if (statsScreenAutoSwapToggle != 2) {
+        if (statsScreenAutoSwapToggle) {
             timeMs_t elapsedTime = millis() - ((resumeRefreshAt / 1000) - STATS_SCREEN_DISPLAY_TIME);
             if (STATS_PAGE1 || STATS_PAGE2) {
-                statsScreenAutoSwapToggle = 2;
-            } else if (elapsedTime > 4000 && statsScreenAutoSwapToggle == 1) {
+                statsScreenAutoSwapToggle = false;
+            } else if (elapsedTime > 2000) {
                 osdShowStatsPage1();
-                statsScreenAutoSwapToggle = 2;
-            } else if (elapsedTime > 2000 && statsScreenAutoSwapToggle == 0) {
-                osdShowStatsPage2();
-                statsScreenAutoSwapToggle = 1;
+                statsScreenAutoSwapToggle = false;
             }
         }
 

From 2e550ebbd966b14af3e86b0d4c13e95acbf8ef3a Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 26 Apr 2021 22:37:18 +0100
Subject: [PATCH 010/336] Update osd.c

---
 src/main/io/osd.c | 32 ++++++++++++++++++++------------
 1 file changed, 20 insertions(+), 12 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 0efcc67b3d..c438f97b24 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3371,11 +3371,11 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     // detect arm/disarm
-    static bool statsScreenAutoSwapToggle = false;
+    static uint8_t statsPageAutoSwapCntl = 2;
     if (armState != ARMING_FLAG(ARMED)) {
         if (ARMING_FLAG(ARMED)) {
             osdResetStats();
-            statsScreenAutoSwapToggle = false;
+            statsPageAutoSwapCntl = 2;
             osdShowArmed(); // reset statistic etc
             uint32_t delay = ARMED_SCREEN_DISPLAY_TIME;
             statsPagesCheck = 0;
@@ -3385,9 +3385,9 @@ static void osdRefresh(timeUs_t currentTimeUs)
 #endif
             osdSetNextRefreshIn(delay);
         } else {
-            osdShowStatsPage2(); // initially show page 2 of statistics, auto swap to page 1 after 2s
+            osdShowStatsPage1(); // show first page of statistics
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            statsScreenAutoSwapToggle = true;
+            statsPageAutoSwapCntl = 0;
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -3399,15 +3399,23 @@ static void osdRefresh(timeUs_t currentTimeUs)
         // Clear the screen first to erase other elements which
         // might have been drawn while the OSD wasn't refreshing.
 
-        // auto swap to stats page 1 two secs after page 2 initially displayed (to allow full DVR capture)
-        // Auto swap cancelled if Roll stick page swap used
-        if (statsScreenAutoSwapToggle) {
-            timeMs_t elapsedTime = millis() - ((resumeRefreshAt / 1000) - STATS_SCREEN_DISPLAY_TIME);
+        // auto swap stats pages at 2s interval when first shown
+        // auto swap cancelled using roll stick
+        if (statsPageAutoSwapCntl != 2) {
             if (STATS_PAGE1 || STATS_PAGE2) {
-                statsScreenAutoSwapToggle = false;
-            } else if (elapsedTime > 2000) {
-                osdShowStatsPage1();
-                statsScreenAutoSwapToggle = false;
+                statsPageAutoSwapCntl = 2;
+            } else {
+                if (OSD_ALTERNATING_CHOICES(2000, 2)) {
+                    if (statsPageAutoSwapCntl == 0) {
+                        osdShowStatsPage1();
+                        statsPageAutoSwapCntl = 1;
+                    }
+                } else {
+                    if (statsPageAutoSwapCntl == 1) {
+                        osdShowStatsPage2();
+                        statsPageAutoSwapCntl = 0;
+                    }
+                }
             }
         }
 

From 36105393bb04cd24fe8674b99750e2b8bb610790 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 30 Apr 2021 17:16:19 +0100
Subject: [PATCH 011/336] Add time interval setting

---
 docs/Settings.md          | 1 +
 src/main/fc/settings.yaml | 9 +++++++--
 src/main/io/osd.c         | 7 ++++---
 src/main/io/osd.h         | 1 +
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index ec328afa93..b65281bb72 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -429,6 +429,7 @@
 | osd_snr_alarm | 4 | -20 | 10 | Value below which Crossfire SNR Alarm pops-up. (dB) |
 | osd_stats_energy_unit | MAH |  |  | Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour) |
 | osd_stats_min_voltage_unit | BATTERY |  |  | Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. |
+| osd_stats_page_auto_swap_time | 3 | 1 | 10 | Auto swap display time interval between disarm stats pages (seconds). |
 | osd_temp_label_align | LEFT |  |  | Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT` |
 | osd_time_alarm | 10 | 0 | 600 | Value above which to make the OSD flight time indicator blink (minutes) |
 | osd_units | METRIC |  |  | IMPERIAL, METRIC, UK |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index c40ca0d1cb..f5e7c55c20 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -107,7 +107,7 @@ tables:
     enum: navRTHAllowLanding_e
   - name: bat_capacity_unit
     values: ["MAH", "MWH"]
-    enum: batCapacityUnit_e    
+    enum: batCapacityUnit_e
   - name: bat_voltage_source
     values: ["RAW", "SAG_COMP"]
     enum: batVoltageSource_e
@@ -2930,7 +2930,12 @@ groups:
         field: stats_min_voltage_unit
         table: osd_stats_min_voltage_unit
         type: uint8_t
-
+      - name: osd_stats_page_auto_swap_time
+        description: "Auto swap display time interval between disarm stats pages (seconds)."
+        default_value: 3
+        field: stats_page_auto_swap_time
+        min: 1
+        max: 10
       - name: osd_rssi_alarm
         description: "Value below which to make the OSD RSSI indicator blink"
         default_value: 20
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index c438f97b24..1a39037e5d 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2774,7 +2774,8 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .force_grid = SETTING_OSD_FORCE_GRID_DEFAULT,
 
     .stats_energy_unit = SETTING_OSD_STATS_ENERGY_UNIT_DEFAULT,
-    .stats_min_voltage_unit = SETTING_OSD_STATS_MIN_VOLTAGE_UNIT_DEFAULT
+    .stats_min_voltage_unit = SETTING_OSD_STATS_MIN_VOLTAGE_UNIT_DEFAULT,
+    .stats_page_auto_swap_time = SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME_DEFAULT
 );
 
 void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
@@ -3399,13 +3400,13 @@ static void osdRefresh(timeUs_t currentTimeUs)
         // Clear the screen first to erase other elements which
         // might have been drawn while the OSD wasn't refreshing.
 
-        // auto swap stats pages at 2s interval when first shown
+        // auto swap stats pages when first shown
         // auto swap cancelled using roll stick
         if (statsPageAutoSwapCntl != 2) {
             if (STATS_PAGE1 || STATS_PAGE2) {
                 statsPageAutoSwapCntl = 2;
             } else {
-                if (OSD_ALTERNATING_CHOICES(2000, 2)) {
+                if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
                     if (statsPageAutoSwapCntl == 0) {
                         osdShowStatsPage1();
                         statsPageAutoSwapCntl = 1;
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index b32722ce6a..4f4de2a92d 100755
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -345,6 +345,7 @@ typedef struct osdConfig_s {
     uint8_t units; // from osd_unit_e
     uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
     uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
+    uint8_t stats_page_auto_swap_time;   // stats page auto swap interval time (seconds)
 
 #ifdef USE_WIND_ESTIMATOR
     bool    estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance

From dca3c40f61fd03ad1923a985152161830acfbd84 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 17 May 2021 12:59:25 +0100
Subject: [PATCH 012/336] Improve OSD WP finished message

---
 src/main/io/osd.c | 4 +++-
 src/main/io/osd.h | 3 +--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 8da246f8c1..76a3743715 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3824,7 +3824,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
                     }
 
-                    if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
+                    if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
+                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
+                    } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
                         // Countdown display for remaining Waypoints
                         char buf[6];
                         osdFormatDistanceSymbol(buf, posControl.wpDistance, 0);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 8f4e4d4bf9..5f4d46e116 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -84,8 +84,7 @@
 #define OSD_MSG_STARTING_RTH        "STARTING RTH"
 #define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
-#define OSD_MSG_HOLDING_WAYPOINT    "HOLDING WAYPOINT"
-#define OSD_MSG_TO_WP               "TO WP"
+#define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
 #define OSD_MSG_WP_RTH_CANCEL       "CANCEL WP TO EXIT RTH"
 #define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"

From 872a189cc17b695ce4023bedca7cac0b46f65f88 Mon Sep 17 00:00:00 2001
From: Jye <JyeSmith@users.noreply.github.com>
Date: Tue, 18 May 2021 21:10:07 +1000
Subject: [PATCH 013/336] Correct smartaudio SERIAL_STOPBITS_2

---
 src/main/io/vtx_smartaudio.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/vtx_smartaudio.c b/src/main/io/vtx_smartaudio.c
index 31030573d5..3b0ff3e178 100644
--- a/src/main/io/vtx_smartaudio.c
+++ b/src/main/io/vtx_smartaudio.c
@@ -690,7 +690,7 @@ bool vtxSmartAudioInit(void)
 {
     serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_VTX_SMARTAUDIO);
     if (portConfig) {
-        portOptions_t portOptions = SERIAL_BIDIR_NOPULL;
+        portOptions_t portOptions = SERIAL_STOPBITS_2 | SERIAL_BIDIR_NOPULL;
         portOptions = portOptions | (vtxConfig()->halfDuplex ? SERIAL_BIDIR | SERIAL_BIDIR_PP : SERIAL_UNIDIR);
         smartAudioSerialPort = openSerialPort(portConfig->identifier, FUNCTION_VTX_SMARTAUDIO, NULL, NULL, 4800, MODE_RXTX, portOptions);
     }

From d3adfd0b281309c43feb08fe49d464c632d923be Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Fri, 28 May 2021 11:35:25 +0200
Subject: [PATCH 014/336] Show message to switch to acro when autotune is
 enabled in manual mode

---
 src/main/io/osd.c | 3 +++
 src/main/io/osd.h | 1 +
 2 files changed, 4 insertions(+)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 0e6f9738b3..33a121e55e 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3874,6 +3874,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     }
                     if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE);
+                        if (FLIGHT_MODE(MANUAL_MODE)) {
+                            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE_ACRO);
+                        }
                     }
                     if (FLIGHT_MODE(HEADFREE_MODE)) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 38557f0cb5..b977c0cc1e 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -98,6 +98,7 @@
 #define OSD_MSG_ALTITUDE_HOLD       "(ALTITUDE HOLD)"
 #define OSD_MSG_AUTOTRIM            "(AUTOTRIM)"
 #define OSD_MSG_AUTOTUNE            "(AUTOTUNE)"
+#define OSD_MSG_AUTOTUNE_ACRO       "SWITCH TO ACRO"
 #define OSD_MSG_HEADFREE            "(HEADFREE)"
 #define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"
 

From 7d1be7c0b158177c3780746e0e4b0db456ef0c9f Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 4 Jun 2021 16:36:41 +0100
Subject: [PATCH 015/336] Add disable and CMS setting

---
 docs/Settings.md             | 2 +-
 src/main/cms/cms_menu_misc.c | 1 +
 src/main/fc/settings.yaml    | 6 +++---
 src/main/io/osd.c            | 6 +++---
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index a6e3f44083..a33e637d60 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -429,7 +429,7 @@
 | osd_snr_alarm | 4 | -20 | 10 | Value below which Crossfire SNR Alarm pops-up. (dB) |
 | osd_stats_energy_unit | MAH |  |  | Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour) |
 | osd_stats_min_voltage_unit | BATTERY |  |  | Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. |
-| osd_stats_page_auto_swap_time | 3 | 1 | 10 | Auto swap display time interval between disarm stats pages (seconds). |
+| osd_stats_page_auto_swap_time | 3 | 0 | 10 | Auto swap display time interval between disarm stats pages (seconds). Disabled when set to 0. |
 | osd_telemetry | OFF |  |  | To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST` |
 | osd_temp_label_align | LEFT |  |  | Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT` |
 | osd_time_alarm | 10 | 0 | 600 | Value above which to make the OSD flight time indicator blink (minutes) |
diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index 1180932505..d7e7a55bda 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -48,6 +48,7 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),
 #endif
     OSD_SETTING_ENTRY("FS PROCEDURE", SETTING_FAILSAFE_PROCEDURE),
+    OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
 
     OSD_BACK_AND_END_ENTRY,
 };
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 9778aa038c..28c2181218 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -77,7 +77,7 @@ tables:
     enum: videoSystem_e
   - name: osd_telemetry
     values: ["OFF", "ON","TEST"]
-    enum: osd_telemetry_e    
+    enum: osd_telemetry_e
   - name: osd_alignment
     values: ["LEFT", "RIGHT"]
     enum: osd_alignment_e
@@ -2962,10 +2962,10 @@ groups:
         table: osd_stats_min_voltage_unit
         type: uint8_t
       - name: osd_stats_page_auto_swap_time
-        description: "Auto swap display time interval between disarm stats pages (seconds)."
+        description: "Auto swap display time interval between disarm stats pages (seconds). Disabled when set to 0."
         default_value: 3
         field: stats_page_auto_swap_time
-        min: 1
+        min: 0
         max: 10
       - name: osd_rssi_alarm
         description: "Value below which to make the OSD RSSI indicator blink"
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index ec859d08bd..55d81e1961 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1242,7 +1242,7 @@ static void osdDisplayTelemetry(void)
     displayWrite(osdDisplayPort, 0, 0, trk_buffer);
     if (osdConfig()->telemetry>1){
       displayWrite(osdDisplayPort, 0, 3, trk_buffer);               // Test display because normal telemetry line is not visible
-    }    
+    }
 }
 #endif
 
@@ -2756,7 +2756,7 @@ void osdDrawNextElement(void)
     osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
     if (osdConfig()->telemetry>0){
       osdDisplayTelemetry();
-    }    
+    }
 }
 
 PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
@@ -3452,7 +3452,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             osdShowStatsPage1(); // show first page of statistics
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            statsPageAutoSwapCntl = 0;
+            statsPageAutoSwapCntl = osdConfig()->stats_page_auto_swap_time > 0 ? 0 : 2; // disable swapping pages when time = 0
         }
 
         armState = ARMING_FLAG(ARMED);

From 4727a40fb014b11e6b7c76d4cf19c6a5e82a4f29 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 4 Jun 2021 17:17:06 +0100
Subject: [PATCH 016/336] Update osd.c

---
 src/main/io/osd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 55d81e1961..2faac6e81e 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3452,7 +3452,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             osdShowStatsPage1(); // show first page of statistics
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            statsPageAutoSwapCntl = osdConfig()->stats_page_auto_swap_time > 0 ? 0 : 2; // disable swapping pages when time = 0
+            statsPageAutoSwapCntl = osdConfig()->stats_page_auto_swap_time > 0 ? 0 : 2; //  disable swapping pages when time = 0
         }
 
         armState = ARMING_FLAG(ARMED);

From 4f644a1fc4781f7c00fb7773639940b42564d91c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 4 Jun 2021 17:21:22 +0100
Subject: [PATCH 017/336] Remove CMS entry

---
 src/main/cms/cms_menu_misc.c | 2 +-
 src/main/io/osd.c            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index d7e7a55bda..cefd70e73c 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -48,7 +48,7 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),
 #endif
     OSD_SETTING_ENTRY("FS PROCEDURE", SETTING_FAILSAFE_PROCEDURE),
-    OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
+    // OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
 
     OSD_BACK_AND_END_ENTRY,
 };
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 2faac6e81e..55d81e1961 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3452,7 +3452,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             osdShowStatsPage1(); // show first page of statistics
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            statsPageAutoSwapCntl = osdConfig()->stats_page_auto_swap_time > 0 ? 0 : 2; //  disable swapping pages when time = 0
+            statsPageAutoSwapCntl = osdConfig()->stats_page_auto_swap_time > 0 ? 0 : 2; // disable swapping pages when time = 0
         }
 
         armState = ARMING_FLAG(ARMED);

From bd066fc1b138e71aaa92d3bc1d29442ec97ec502 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 4 Jun 2021 17:55:28 +0100
Subject: [PATCH 018/336] Update cms_menu_misc.c

---
 src/main/cms/cms_menu_misc.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index cefd70e73c..d7e7a55bda 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -48,7 +48,7 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),
 #endif
     OSD_SETTING_ENTRY("FS PROCEDURE", SETTING_FAILSAFE_PROCEDURE),
-    // OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
+    OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
 
     OSD_BACK_AND_END_ENTRY,
 };

From 786c3845e0af1a1db182917747b76cf54b4c8340 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 4 Jun 2021 19:46:37 +0100
Subject: [PATCH 019/336] Update cms_menu_misc.c

---
 src/main/cms/cms_menu_misc.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index d7e7a55bda..68d01ae658 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -43,12 +43,15 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_LABEL_ENTRY("-- MISC --"),
 
     OSD_SETTING_ENTRY("THR IDLE", SETTING_THROTTLE_IDLE),
-#if defined(USE_OSD) && defined(USE_ADC)
+#ifdef USE_OSD
+#ifdef USE_ADC
     OSD_SETTING_ENTRY("OSD VOLT DECIMALS", SETTING_OSD_MAIN_VOLTAGE_DECIMALS),
     OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),
-#endif
-    OSD_SETTING_ENTRY("FS PROCEDURE", SETTING_FAILSAFE_PROCEDURE),
+#endif // ADC
     OSD_SETTING_ENTRY("STATS PAGE SWAP TIME", SETTING_OSD_STATS_PAGE_AUTO_SWAP_TIME),
+#endif // OSD
+    OSD_SETTING_ENTRY("FS PROCEDURE", SETTING_FAILSAFE_PROCEDURE),
+
 
     OSD_BACK_AND_END_ENTRY,
 };

From 8797c9a6b1c893f330f61f343a230f2a4d996576 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 5 Jun 2021 10:40:06 +0100
Subject: [PATCH 020/336] Revert "remove *.ld files differing only in case, as
 this confuses case-insensitive, case-preserving (cicp) file-systems (#7064)"

This reverts commit 2fcb1cb83d1df64400e8fe19c4caba0703b4f12e.
---
 src/main/target/link/stm32_flash_F765xI.ld    | 55 ++++++++++++++++++
 src/main/target/link/stm32_flash_F765xI_bl.ld | 56 ++++++++++++++++++
 .../target/link/stm32_flash_F765xI_for_bl.ld  | 57 +++++++++++++++++++
 3 files changed, 168 insertions(+)
 create mode 100644 src/main/target/link/stm32_flash_F765xI.ld
 create mode 100644 src/main/target/link/stm32_flash_F765xI_bl.ld
 create mode 100644 src/main/target/link/stm32_flash_F765xI_for_bl.ld

diff --git a/src/main/target/link/stm32_flash_F765xI.ld b/src/main/target/link/stm32_flash_F765xI.ld
new file mode 100644
index 0000000000..130169290e
--- /dev/null
+++ b/src/main/target/link/stm32_flash_F765xI.ld
@@ -0,0 +1,55 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f765.ld
+**
+**  Abstract    : Linker script for STM32F765xITx Device with
+**                2048KByte FLASH, 512KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Stack & Heap sizes */
+_Min_Heap_Size = 0;
+_Min_Stack_Size = 0x1800;
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/*
+0x00000000 to 0x00003FFF   16K TCM RAM,
+
+0x08000000 to 0x081FFFFF 2048K full flash,
+0x08000000 to 0x08007FFF   32K isr vector, startup code,
+0x08008000 to 0x0800FFFF   32K config,
+0x08010000 to 0x081FFFFF  1984K firmware,
+*/
+
+/* Specify the memory areas */
+MEMORY
+{
+    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
+
+    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
+    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
+    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
+
+    AXIM_FLASH (rx)         : ORIGIN = 0x08000000, LENGTH = 32K
+    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08008000, LENGTH = 32K
+    AXIM_FLASH1 (rx)        : ORIGIN = 0x08010000, LENGTH = 1984K
+
+    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
+    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
+    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
+    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+REGION_ALIAS("FLASH",        AXIM_FLASH)
+REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
+REGION_ALIAS("FLASH1",       AXIM_FLASH1)
+
+REGION_ALIAS("STACKRAM", DTCM_RAM)
+REGION_ALIAS("FASTRAM",  DTCM_RAM)
+REGION_ALIAS("RAM",      SRAM1)
+
+INCLUDE "stm32_flash_f7_split.ld"
diff --git a/src/main/target/link/stm32_flash_F765xI_bl.ld b/src/main/target/link/stm32_flash_F765xI_bl.ld
new file mode 100644
index 0000000000..45ced4e7dd
--- /dev/null
+++ b/src/main/target/link/stm32_flash_F765xI_bl.ld
@@ -0,0 +1,56 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f765.ld
+**
+**  Abstract    : Linker script for STM32F765xITx Device with
+**                2048KByte FLASH, 512KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Stack & Heap sizes */
+_Min_Heap_Size = 0;
+_Min_Stack_Size = 0x1800;
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/*
+0x00000000 to 0x00003FFF   16K TCM RAM,
+
+0x08000000 to 0x081FFFFF 2048K full flash,
+0x08000000 to 0x08007FFF   32K isr vector, startup code,
+0x08008000 to 0x0800FFFF   32K config,
+0x08010000 to 0x081FFFFF  1984K firmware,
+*/
+
+/* Specify the memory areas */
+MEMORY
+{
+    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
+
+    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
+    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
+    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
+
+    AXIM_FLASH (rx)         : ORIGIN = 0x08000000, LENGTH = 32K
+    AXIM_FIRMWARE (rx)      : ORIGIN = 0x08008000, LENGTH = 32K
+    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08010000, LENGTH = 32K
+
+    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
+    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
+    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
+    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+REGION_ALIAS("FLASH",        AXIM_FLASH)
+REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
+
+REGION_ALIAS("STACKRAM", DTCM_RAM)
+REGION_ALIAS("FASTRAM",  DTCM_RAM)
+REGION_ALIAS("RAM",      SRAM1)
+
+__firmware_start = ORIGIN(AXIM_FIRMWARE);
+
+INCLUDE "stm32_flash_f7.ld"
diff --git a/src/main/target/link/stm32_flash_F765xI_for_bl.ld b/src/main/target/link/stm32_flash_F765xI_for_bl.ld
new file mode 100644
index 0000000000..14f2a4bedf
--- /dev/null
+++ b/src/main/target/link/stm32_flash_F765xI_for_bl.ld
@@ -0,0 +1,57 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f765.ld
+**
+**  Abstract    : Linker script for STM32F765xITx Device with
+**                2048KByte FLASH, 512KByte RAM
+**
+*****************************************************************************
+*/
+
+/* Stack & Heap sizes */
+_Min_Heap_Size = 0;
+_Min_Stack_Size = 0x1800;
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/*
+0x00000000 to 0x00003FFF   16K TCM RAM,
+
+0x08000000 to 0x081FFFFF 2048K full flash,
+0x08000000 to 0x08007FFF   32K isr vector, startup code,
+0x08008000 to 0x0800FFFF   32K config,
+0x08010000 to 0x081FFFFF  1984K firmware,
+*/
+
+/* Specify the memory areas */
+MEMORY
+{
+    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
+
+    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
+    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
+    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
+
+    AXIM_FLASH (rx)         : ORIGIN = 0x08008000, LENGTH = 32K
+    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08010000, LENGTH = 32K
+    AXIM_FLASH1 (rx)        : ORIGIN = 0x08018000, LENGTH = 1984K
+
+    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
+    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
+    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
+    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+REGION_ALIAS("FLASH",        AXIM_FLASH)
+REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
+REGION_ALIAS("FLASH1",       AXIM_FLASH1)
+
+REGION_ALIAS("STACKRAM", DTCM_RAM)
+REGION_ALIAS("FASTRAM",  DTCM_RAM)
+REGION_ALIAS("RAM",      SRAM1)
+
+__firmware_start = ORIGIN(AXIM_FLASH);
+
+INCLUDE "stm32_flash_f7_split.ld"

From e4bdafab2ca116c5794bf1efa17d2f5e9613b8ea Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 5 Jun 2021 10:44:22 +0100
Subject: [PATCH 021/336] Change setting description

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index edb9c18467..d105b89710 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -448,7 +448,7 @@
 | osd_speed_source | GROUND |  |  | Sets the speed type displayed by the DJI OSD and OSD canvas (FrSky Pixel): GROUND, 3D, AIR |
 | osd_stats_energy_unit | MAH |  |  | Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour) |
 | osd_stats_min_voltage_unit | BATTERY |  |  | Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. |
-| osd_stats_page_auto_swap_time | 3 | 0 | 10 | Auto swap display time interval between disarm stats pages (seconds). Disabled when set to 0. |
+| osd_stats_page_auto_swap_time | 3 | 0 | 10 | Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0. |
 | osd_telemetry | OFF |  |  | To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST` |
 | osd_temp_label_align | LEFT |  |  | Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT` |
 | osd_time_alarm | 10 | 0 | 600 | Value above which to make the OSD flight time indicator blink (minutes) |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0426bf9188..b3c9e13d72 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3020,7 +3020,7 @@ groups:
         table: osd_stats_min_voltage_unit
         type: uint8_t
       - name: osd_stats_page_auto_swap_time
-        description: "Auto swap display time interval between disarm stats pages (seconds). Disabled when set to 0."
+        description: "Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0."
         default_value: 3
         field: stats_page_auto_swap_time
         min: 0

From dd125f4ece57dcd3021fb8accb4aad43b0ab9f23 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 9 Jun 2021 15:44:03 +0200
Subject: [PATCH 022/336] docs hopefully

---
 docs/Settings.md | 547 +----------------------------------------------
 1 file changed, 6 insertions(+), 541 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 6caf91d62e..08cfb71013 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1,545 +1,5 @@
 # CLI Variable Reference
 
-<<<<<<< HEAD
-| Variable Name | Default Value | Description |
-| ------------- | ------------- | ----------- |
-| 3d_deadband_high | 1514 | High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead) |
-| 3d_deadband_low | 1406 | Low value of throttle deadband for 3D mode (when stick is in the 3d_deadband_throttle range, the fixed values of 3d_deadband_low / _high are used instead) |
-| 3d_deadband_throttle | 50 | Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter. |
-| 3d_neutral | 1460 | Neutral (stop) throttle value for 3D mode |
-| acc_event_threshold_high | 0 | Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off. |
-| acc_event_threshold_low | 0 | Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off. |
-| acc_event_threshold_neg_x | 0 | Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off. |
-| acc_hardware | AUTO | Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info |
-| acc_lpf_hz | 15 | Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. |
-| acc_lpf_type | BIQUAD | Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
-| acc_notch_cutoff | 1 |  |
-| acc_notch_hz | 0 |  |
-| accgain_x | 4096 | Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page. |
-| accgain_y | 4096 | Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page. |
-| accgain_z | 4096 | Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page. |
-| acczero_x | 0 | Calculated value after '6 position avanced calibration'. See Wiki page. |
-| acczero_y | 0 | Calculated value after '6 position avanced calibration'. See Wiki page. |
-| acczero_z | 0 | Calculated value after '6 position avanced calibration'. See Wiki page. |
-| airmode_throttle_threshold | 1300 | Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used |
-| airmode_type | STICK_CENTER | Defines the Airmode state handling type. Default **STICK_CENTER** is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). **THROTTLE_THRESHOLD** is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above `airmode_throttle_threshold` and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to **THROTTLE_THRESHOLD** since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use **STICK_CENTER_ONCE** or **STICK_CENTER** modes. |
-| airspeed_adc_channel | _target default_ | ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't have a dedicated connector for analog airspeed sensor will default to 0 |
-| align_acc | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
-| align_board_pitch | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
-| align_board_roll | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
-| align_board_yaw | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
-| align_gyro | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
-| align_mag | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
-| align_mag_pitch | 0 | Same as align_mag_roll, but for the pitch axis. |
-| align_mag_roll | 0 | Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw. |
-| align_mag_yaw | 0 | Same as align_mag_roll, but for the yaw axis. |
-| align_opflow | CW0FLIP | Optical flow module alignment (default CW0_DEG_FLIP) |
-| alt_hold_deadband | 50 | Defines the deadband of throttle during alt_hold [r/c points] |
-| antigravity_accelerator | 1 |  |
-| antigravity_cutoff_lpf_hz | 15 | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
-| antigravity_gain | 1 | Max Antigravity gain. `1` means Antigravity is disabled, `2` means Iterm is allowed to double during rapid throttle movements |
-| applied_defaults | 0 | Internal (configurator) hint. Should not be changed manually |
-| baro_cal_tolerance | 150 | Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm]. |
-| baro_hardware | AUTO | Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info |
-| baro_median_filter | ON | 3-point median filtering for barometer readouts. No reason to change this setting |
-| bat_cells | 0 | Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected. |
-| bat_voltage_src | RAW | Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP` |
-| battery_capacity | 0 | Set the battery capacity in mAh or mWh (see `battery_capacity_unit`). Used to calculate the remaining battery capacity. |
-| battery_capacity_critical | 0 | If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. |
-| battery_capacity_unit | MAH | Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour). |
-| battery_capacity_warning | 0 | If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. |
-| blackbox_device | _target default_ | Selection of where to write blackbox data |
-| blackbox_rate_denom | 1 | Blackbox logging rate denominator. See blackbox_rate_num. |
-| blackbox_rate_num | 1 | Blackbox logging rate numerator. Use num/denom settings to decide if a frame should be logged, allowing control of the portion of logged loop iterations |
-| cpu_underclock | OFF | This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz |
-| cruise_power | 0 | Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit |
-| current_adc_channel | _target default_ | ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled |
-| current_meter_offset | _target default_ | This sets the output offset voltage of the current sensor in millivolts. |
-| current_meter_scale | _target default_ | This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt. |
-| current_meter_type | ADC | ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position. |
-| d_boost_factor | 1.25 |  |
-| d_boost_gyro_delta_lpf_hz | 80 |  |
-| d_boost_max_at_acceleration | 7500 |  |
-| deadband | 5 | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. |
-| debug_mode | NONE | Defines debug values exposed in debug variables (developer / debugging setting) |
-| disarm_kill_switch | ON | Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. |
-| display_force_sw_blink | OFF | OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON |
-| dji_esc_temp_source | ESC | Re-purpose the ESC temperature field for IMU/BARO temperature |
-| dji_speed_source | GROUND | Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR |
-| dji_use_name_for_messages | ON | Re-purpose the craft name field for messages. Replace craft name with :WTSED for Warnings|Throttle|Speed|Efficiency|Trip distance |
-| dji_workarounds | 1 | Enables workarounds for different versions of MSP protocol used |
-| dterm_lpf2_hz | 0 | Cutoff frequency for stage 2 D-term low pass filter |
-| dterm_lpf2_type | BIQUAD | Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. |
-| dterm_lpf_hz | 40 | Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value |
-| dterm_lpf_type | BIQUAD | Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. |
-| dynamic_gyro_notch_enabled | OFF | Enable/disable dynamic gyro notch also known as Matrix Filter |
-| dynamic_gyro_notch_min_hz | 150 | Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70` |
-| dynamic_gyro_notch_q | 120 | Q factor for dynamic notches |
-| dynamic_gyro_notch_range | MEDIUM | Range for dynamic gyro notches. `MEDIUM` for 5", `HIGH` for 3" and `MEDIUM`/`LOW` for 7" and bigger propellers |
-| eleres_freq | 435 |  |
-| eleres_loc_delay | 240 |  |
-| eleres_loc_en | OFF |  |
-| eleres_loc_power | 7 |  |
-| eleres_signature | 0 |  |
-| eleres_telemetry_en | OFF |  |
-| eleres_telemetry_power | 7 |  |
-| esc_sensor_listen_only | OFF | Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case |
-| failsafe_delay | 5 | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay). |
-| failsafe_fw_pitch_angle | 100 | Amount of dive/climb when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb |
-| failsafe_fw_roll_angle | -200 | Amount of banking when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll |
-| failsafe_fw_yaw_rate | -45 | Requested yaw rate to execute when `SET-THR` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn |
-| failsafe_lights | ON | Enable or disable the lights when the `FAILSAFE` flight mode is enabled. The target needs to be compiled with `USE_LIGHTS` [ON/OFF]. |
-| failsafe_lights_flash_on_time | 100 | Flash lights ON time in milliseconds when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled. [20-65535]. |
-| failsafe_lights_flash_period | 1000 | Time in milliseconds between two flashes when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled [40-65535]. |
-| failsafe_min_distance | 0 | If failsafe happens when craft is closer than this distance in centimeters from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken. |
-| failsafe_min_distance_procedure | DROP | What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See [Failsafe documentation](Failsafe.md#failsafe_throttle). |
-| failsafe_mission | ON | If set to `OFF` the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode |
-| failsafe_off_delay | 200 | Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See [Failsafe documentation](Failsafe.md#failsafe_off_delay). |
-| failsafe_procedure | SET-THR | What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle). |
-| failsafe_recovery_delay | 5 | Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay). |
-| failsafe_stick_threshold | 50 | Threshold for stick motion to consider failsafe condition resolved. If non-zero failsafe won't clear even if RC link is restored - you have to move sticks to exit failsafe. |
-| failsafe_throttle | 1000 | Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle). |
-| failsafe_throttle_low_delay | 0 | If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout |
-| fixed_wing_auto_arm | OFF | Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured. |
-| flaperon_throw_offset | 200 | Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (`FEATURE FLAPS`) when FLAPERON mode is activated. |
-| flip_over_after_crash_power_factor | 65 | flip over after crash power factor |
-| fpv_mix_degrees | 0 |  |
-| frsky_coordinates_format | 0 | D-Series telemetry only: FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA |
-| frsky_default_latitude | 0 | D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired. |
-| frsky_default_longitude | 0 | D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired. |
-| frsky_pitch_roll | OFF | S.Port and D-Series telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data |
-| frsky_unit | METRIC | Not used? [METRIC/IMPERIAL] |
-| frsky_vfas_precision | 0 | D-Series telemetry only: Set to 1 to send raw VBat value in 0.1V resolution for receivers that can handle it, or 0 (default) to use the standard method |
-| fw_autotune_ff_to_i_tc | 600 | FF to I time (defines time for I to reach the same level of response as FF) [ms] |
-| fw_autotune_ff_to_p_gain | 10 | FF to P gain (strength relationship) [%] |
-| fw_autotune_overshoot_time | 100 | Time [ms] to detect sustained overshoot |
-| fw_autotune_threshold | 50 | Threshold [%] of max rate to consider overshoot/undershoot detection |
-| fw_autotune_undershoot_time | 200 | Time [ms] to detect sustained undershoot |
-| fw_d_level | 75 | Fixed-wing attitude stabilisation HORIZON transition point |
-| fw_d_pitch | 0 | Fixed wing rate stabilisation D-gain for PITCH |
-| fw_d_roll | 0 | Fixed wing rate stabilisation D-gain for ROLL |
-| fw_d_yaw | 0 | Fixed wing rate stabilisation D-gain for YAW |
-| fw_ff_pitch | 50 | Fixed-wing rate stabilisation FF-gain for PITCH |
-| fw_ff_roll | 50 | Fixed-wing rate stabilisation FF-gain for ROLL |
-| fw_ff_yaw | 60 | Fixed-wing rate stabilisation FF-gain for YAW |
-| fw_i_level | 5 | Fixed-wing attitude stabilisation low-pass filter cutoff |
-| fw_i_pitch | 7 | Fixed-wing rate stabilisation I-gain for PITCH |
-| fw_i_roll | 7 | Fixed-wing rate stabilisation I-gain for ROLL |
-| fw_i_yaw | 10 | Fixed-wing rate stabilisation I-gain for YAW |
-| fw_iterm_limit_stick_position | 0.5 | Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side |
-| fw_iterm_throw_limit | 165 | Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely. |
-| fw_level_pitch_trim | 0 | Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level |
-| fw_loiter_direction | RIGHT | Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick. |
-| fw_min_throttle_down_pitch | 0 | Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees) |
-| fw_p_level | 20 | Fixed-wing attitude stabilisation P-gain |
-| fw_p_pitch | 5 | Fixed-wing rate stabilisation P-gain for PITCH |
-| fw_p_roll | 5 | Fixed-wing rate stabilisation P-gain for ROLL |
-| fw_p_yaw | 6 | Fixed-wing rate stabilisation P-gain for YAW |
-| fw_reference_airspeed | 1000 | Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present. |
-| fw_tpa_time_constant | 0 | TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups |
-| fw_turn_assist_pitch_gain | 1 | Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |
-| fw_turn_assist_yaw_gain | 1 | Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |
-| fw_yaw_iterm_freeze_bank_angle | 0 | Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. |
-| gps_auto_baud | ON | Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports |
-| gps_auto_config | ON | Enable automatic configuration of UBlox GPS receivers. |
-| gps_dyn_model | AIR_1G | GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying. |
-| gps_min_sats | 6 | Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count. |
-| gps_provider | UBLOX | Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N). |
-| gps_sbas_mode | NONE | Which SBAS mode to be used |
-| gps_ublox_use_galileo | OFF | Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. |
-| gyro_dyn_lpf_curve_expo | 5 | Expo value for the throttle-to-frequency mapping for Dynamic LPF |
-| gyro_dyn_lpf_max_hz | 500 | Maximum frequency of the gyro Dynamic LPF |
-| gyro_dyn_lpf_min_hz | 200 | Minimum frequency of the gyro Dynamic LPF |
-| gyro_hardware_lpf | 256HZ | Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first. |
-| gyro_lpf_hz | 60 | Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. |
-| gyro_lpf_type | BIQUAD | Specifies the type of the software LPF of the gyro signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
-| gyro_notch_cutoff | 1 |  |
-| gyro_notch_hz | 0 |  |
-| gyro_stage2_lowpass_hz | 0 | Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz) |
-| gyro_stage2_lowpass_type | BIQUAD | Defines the type of stage 2 gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. |
-| gyro_sync | ON | This option enables gyro_sync feature. In this case the loop will be synced to gyro refresh rate. Loop will always wait for the newest gyro measurement. Maximum gyro refresh rate is determined by gyro_hardware_lpf |
-| gyro_to_use | 0 |  |
-| gyro_use_dyn_lpf | OFF | Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. |
-| has_flaps | OFF | Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot |
-| heading_hold_rate_limit | 90 | This setting limits yaw rotation rate that HEADING_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when HEADING_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes. |
-| hott_alarm_sound_interval | 5 | Battery alarm delay in seconds for Hott telemetry |
-| i2c_speed | 400KHZ | This setting controls the clock speed of I2C bus. 400KHZ is the default that most setups are able to use. Some noise-free setups may be overclocked to 800KHZ. Some sensor chips or setups with long wires may work unreliably at 400KHZ - user can try lowering the clock speed to 200KHZ or even 100KHZ. User need to bear in mind that lower clock speeds might require higher looptimes (lower looptime rate) |
-| ibus_telemetry_type | 0 | Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details. |
-| idle_power | 0 | Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit |
-| imu2_align_pitch | 0 | Pitch alignment for Secondary IMU. 1/10 of a degree |
-| imu2_align_roll | 0 | Roll alignment for Secondary IMU. 1/10 of a degree |
-| imu2_align_yaw | 0 | Yaw alignment for Secondary IMU. 1/10 of a degree |
-| imu2_gain_acc_x | 0 | Secondary IMU ACC calibration data |
-| imu2_gain_acc_y | 0 | Secondary IMU ACC calibration data |
-| imu2_gain_acc_z | 0 | Secondary IMU ACC calibration data |
-| imu2_gain_mag_x | 0 | Secondary IMU MAG calibration data |
-| imu2_gain_mag_y | 0 | Secondary IMU MAG calibration data |
-| imu2_gain_mag_z | 0 | Secondary IMU MAG calibration data |
-| imu2_hardware | NONE | Selection of a Secondary IMU hardware type. NONE disables this functionality |
-| imu2_radius_acc | 0 | Secondary IMU MAG calibration data |
-| imu2_radius_mag | 0 | Secondary IMU MAG calibration data |
-| imu2_use_for_osd_ahi | OFF | If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon |
-| imu2_use_for_osd_heading | OFF | If set to ON, Secondary IMU data will be used for Analog OSD heading |
-| imu2_use_for_stabilized | OFF | If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) |
-| imu_acc_ignore_rate | 0 | Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes |
-| imu_acc_ignore_slope | 0 | Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight) |
-| imu_dcm_ki | 50 | Inertial Measurement Unit KI Gain for accelerometer measurements |
-| imu_dcm_ki_mag | 0 | Inertial Measurement Unit KI Gain for compass measurements |
-| imu_dcm_kp | 2500 | Inertial Measurement Unit KP Gain for accelerometer measurements |
-| imu_dcm_kp_mag | 10000 | Inertial Measurement Unit KP Gain for compass measurements |
-| inav_allow_dead_reckoning | OFF | Defines if inav will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation |
-| inav_auto_mag_decl | ON | Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored. |
-| inav_baro_epv | 100 | Uncertainty value for barometric sensor [cm] |
-| inav_gravity_cal_tolerance | 5 | Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value. |
-| inav_max_eph_epv | 1000 | Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm] |
-| inav_max_surface_altitude | 200 | Max allowed altitude for surface following mode. [cm] |
-| inav_reset_altitude | FIRST_ARM | Defines when relative estimated altitude is reset to zero. Variants - `NEVER` (once reference is acquired it's used regardless); `FIRST_ARM` (keep altitude at zero until firstly armed), `EACH_ARM` (altitude is reset to zero on each arming) |
-| inav_reset_home | FIRST_ARM | Allows to chose when the home position is reset. Can help prevent resetting home position after accidental mid-air disarm. Possible values are: NEVER, FIRST_ARM and EACH_ARM |
-| inav_use_gps_no_baro | OFF |  |
-| inav_use_gps_velned | ON | Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance. |
-| inav_w_acc_bias | 0.01 | Weight for accelerometer drift estimation |
-| inav_w_xy_flow_p | 1.0 |  |
-| inav_w_xy_flow_v | 2.0 |  |
-| inav_w_xy_gps_p | 1.0 | Weight of GPS coordinates in estimated UAV position and speed. |
-| inav_w_xy_gps_v | 2.0 | Weight of GPS velocity data in estimated UAV speed |
-| inav_w_xy_res_v | 0.5 | Decay coefficient for estimated velocity when GPS reference for position is lost |
-| inav_w_xyz_acc_p | 1.0 |  |
-| inav_w_z_baro_p | 0.35 | Weight of barometer measurements in estimated altitude and climb rate |
-| inav_w_z_gps_p | 0.2 | Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes |
-| inav_w_z_gps_v | 0.1 | Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. If GPS doesn't support native climb rate reporting (i.e. NMEA GPS) you may consider setting this to zero |
-| inav_w_z_res_v | 0.5 | Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost |
-| inav_w_z_surface_p | 3.5 |  |
-| inav_w_z_surface_v | 6.1 |  |
-| iterm_windup | 50 | Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter) |
-| ledstrip_visual_beeper | OFF |  |
-| log_level | ERROR | Defines serial debugging log level. See `docs/development/serial_printf_debugging.md` for usage. |
-| log_topics | 0 | Defines serial debugging log topic. See `docs/development/serial_printf_debugging.md` for usage. |
-| looptime | 1000 | This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible. |
-| ltm_update_rate | NORMAL | Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details. |
-| mag_calibration_time | 30 | Adjust how long time the Calibration of mag will last. |
-| mag_declination | 0 | Current location magnetic declination in format. For example, -6deg 37min = -637 for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/ . Not in use if inav_auto_mag_decl is turned on and you acquire valid GPS fix. |
-| mag_hardware | AUTO | Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info |
-| mag_to_use | 0 | Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target |
-| maggain_x | 1024 | Magnetometer calibration X gain. If 1024, no calibration or calibration failed |
-| maggain_y | 1024 | Magnetometer calibration Y gain. If 1024, no calibration or calibration failed |
-| maggain_z | 1024 | Magnetometer calibration Z gain. If 1024, no calibration or calibration failed |
-| magzero_x | 0 | Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed. |
-| magzero_y | 0 | Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed. |
-| magzero_z | 0 | Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed. |
-| manual_pitch_rate | 100 | Servo travel multiplier for the PITCH axis in `MANUAL` flight mode [0-100]% |
-| manual_rc_expo | 70 | Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100] |
-| manual_rc_yaw_expo | 20 | Exposition value used for the YAW axis by the `MANUAL` flight mode [0-100] |
-| manual_roll_rate | 100 | Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]% |
-| manual_yaw_rate | 100 | Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]% |
-| mavlink_ext_status_rate | 2 |  |
-| mavlink_extra1_rate | 10 |  |
-| mavlink_extra2_rate | 2 |  |
-| mavlink_extra3_rate | 1 |  |
-| mavlink_pos_rate | 2 |  |
-| mavlink_rc_chan_rate | 5 |  |
-| mavlink_version | 2 | Version of MAVLink to use |
-| max_angle_inclination_pit | 300 | Maximum inclination in level (angle) mode (PITCH axis). 100=10° |
-| max_angle_inclination_rll | 300 | Maximum inclination in level (angle) mode (ROLL axis). 100=10° |
-| max_check | 1900 | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. |
-| max_throttle | 1850 | This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000. |
-| mc_cd_lpf_hz | 30 | Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky |
-| mc_cd_pitch | 60 | Multicopter Control Derivative gain for PITCH |
-| mc_cd_roll | 60 | Multicopter Control Derivative gain for ROLL |
-| mc_cd_yaw | 60 | Multicopter Control Derivative gain for YAW |
-| mc_d_level | 75 | Multicopter attitude stabilisation HORIZON transition point |
-| mc_d_pitch | 23 | Multicopter rate stabilisation D-gain for PITCH |
-| mc_d_roll | 23 | Multicopter rate stabilisation D-gain for ROLL |
-| mc_d_yaw | 0 | Multicopter rate stabilisation D-gain for YAW |
-| mc_i_level | 15 | Multicopter attitude stabilisation low-pass filter cutoff |
-| mc_i_pitch | 30 | Multicopter rate stabilisation I-gain for PITCH |
-| mc_i_roll | 30 | Multicopter rate stabilisation I-gain for ROLL |
-| mc_i_yaw | 45 | Multicopter rate stabilisation I-gain for YAW |
-| mc_iterm_relax | RP |  |
-| mc_iterm_relax_cutoff | 15 |  |
-| mc_p_level | 20 | Multicopter attitude stabilisation P-gain |
-| mc_p_pitch | 40 | Multicopter rate stabilisation P-gain for PITCH |
-| mc_p_roll | 40 | Multicopter rate stabilisation P-gain for ROLL |
-| mc_p_yaw | 85 | Multicopter rate stabilisation P-gain for YAW |
-| min_check | 1100 | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. |
-| min_command | 1000 | This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once. |
-| mode_range_logic_operator | OR | Control how Mode selection works in flight modes. If you example have Angle mode configured on two different Aux channels, this controls if you need both activated ( AND ) or if you only need one activated ( OR ) to active angle mode. |
-| model_preview_type | -1 | ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons. |
-| moron_threshold | 32 | When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered. |
-| motor_accel_time | 0 | Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000] |
-| motor_decel_time | 0 | Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000] |
-| motor_direction_inverted | OFF | Use if you need to inverse yaw motor direction. |
-| motor_poles | 14 | The number of motor poles. Required to compute motor RPM |
-| motor_pwm_protocol | ONESHOT125 | Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED |
-| motor_pwm_rate | 400 | Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000. |
-| msp_override_channels | 0 | Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode. |
-| name | _empty_ | Craft name |
-| nav_auto_climb_rate | 500 | Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] |
-| nav_auto_speed | 300 | Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only] |
-| nav_disarm_on_landing | OFF | If set to ON, iNav disarms the FC after landing |
-| nav_emerg_landing_speed | 500 | Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s] |
-| nav_extra_arming_safety | ON | If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured. ALLOW_BYPASS allows the user to momentarily disable this check by holding yaw high (left stick held at the bottom right in mode 2) when switch arming is used |
-| nav_fw_allow_manual_thr_increase | OFF | Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing |
-| nav_fw_bank_angle | 35 | Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll |
-| nav_fw_climb_angle | 20 | Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit |
-| nav_fw_control_smoothness | 0 | How smoothly the autopilot controls the airplane to correct the navigation error |
-| nav_fw_cruise_speed | 0 | Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s |
-| nav_fw_cruise_thr | 1400 | Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded ) |
-| nav_fw_cruise_yaw_rate | 20 | Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps] |
-| nav_fw_dive_angle | 15 | Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit |
-| nav_fw_heading_p | 60 | P gain of Heading Hold controller (Fixedwing) |
-| nav_fw_land_dive_angle | 2 | Dive angle that airplane will use during final landing phase. During dive phase, motor is stopped or IDLE and roll control is locked to 0 degrees |
-| nav_fw_launch_accel | 1863 | Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s |
-| nav_fw_launch_climb_angle | 18 | Climb angle for launch sequence (degrees), is also restrained by global max_angle_inclination_pit |
-| nav_fw_launch_detect_time | 40 | Time for which thresholds have to breached to consider launch happened [ms] |
-| nav_fw_launch_end_time | 3000 | Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms] |
-| nav_fw_launch_idle_thr | 1000 | Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position) |
-| nav_fw_launch_max_altitude | 0 | Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. |
-| nav_fw_launch_max_angle | 45 | Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg] |
-| nav_fw_launch_min_time | 0 | Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. |
-| nav_fw_launch_motor_delay | 500 | Delay between detected launch and launch sequence start and throttling up (ms) |
-| nav_fw_launch_spinup_time | 100 | Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller |
-| nav_fw_launch_thr | 1700 | Launch throttle - throttle to be set during launch sequence (pwm units) |
-| nav_fw_launch_timeout | 5000 | Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms) |
-| nav_fw_launch_velocity | 300 | Forward velocity threshold for swing-launch detection [cm/s] |
-| nav_fw_loiter_radius | 7500 | PosHold radius. 3000 to 7500 is a good value (30-75m) [cm] |
-| nav_fw_max_thr | 1700 | Maximum throttle for flying wing in GPS assisted modes |
-| nav_fw_min_thr | 1200 | Minimum throttle for flying wing in GPS assisted modes |
-| nav_fw_pitch2thr | 10 | Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr) |
-| nav_fw_pitch2thr_smoothing | 6 | How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh. |
-| nav_fw_pitch2thr_threshold | 50 | Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees] |
-| nav_fw_pos_hdg_d | 0 | D gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
-| nav_fw_pos_hdg_i | 2 | I gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
-| nav_fw_pos_hdg_p | 30 | P gain of heading PID controller. (Fixedwing, rovers, boats) |
-| nav_fw_pos_hdg_pidsum_limit | 350 | Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats) |
-| nav_fw_pos_xy_d | 8 | D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero |
-| nav_fw_pos_xy_i | 5 | I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero |
-| nav_fw_pos_xy_p | 75 | P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH |
-| nav_fw_pos_z_d | 10 | D gain of altitude PID controller (Fixedwing) |
-| nav_fw_pos_z_i | 5 | I gain of altitude PID controller (Fixedwing) |
-| nav_fw_pos_z_p | 40 | P gain of altitude PID controller (Fixedwing) |
-| nav_fw_yaw_deadband | 0 | Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course |
-| nav_land_slowdown_maxalt | 2000 | Defines at what altitude the descent velocity should start to ramp down from 100% nav_landing_speed to 25% nav_landing_speed. [cm] |
-| nav_land_slowdown_minalt | 500 | Defines at what altitude the descent velocity should start to be 25% of nav_landing_speed [cm] |
-| nav_landing_speed | 200 | Vertical descent velocity during the RTH landing phase. [cm/s] |
-| nav_manual_climb_rate | 200 | Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] |
-| nav_manual_speed | 500 | Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only] |
-| nav_max_terrain_follow_alt | 100 | Max allowed above the ground altitude for terrain following mode |
-| nav_mc_auto_disarm_delay | 2000 | Delay before multi-rotor disarms when `nav_disarm_on_landing` is set (m/s) |
-| nav_mc_bank_angle | 30 | Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude |
-| nav_mc_braking_bank_angle | 40 | max angle that MR is allowed to bank in BOOST mode |
-| nav_mc_braking_boost_disengage_speed | 100 | BOOST will be disabled when speed goes below this value |
-| nav_mc_braking_boost_factor | 100 | acceleration factor for BOOST phase |
-| nav_mc_braking_boost_speed_threshold | 150 | BOOST can be enabled when speed is above this value |
-| nav_mc_braking_boost_timeout | 750 | how long in ms BOOST phase can happen |
-| nav_mc_braking_disengage_speed | 75 | braking is disabled when speed goes below this value |
-| nav_mc_braking_speed_threshold | 100 | min speed in cm/s above which braking can happen |
-| nav_mc_braking_timeout | 2000 | timeout in ms for braking |
-| nav_mc_heading_p | 60 | P gain of Heading Hold controller (Multirotor) |
-| nav_mc_hover_thr | 1500 | Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering. |
-| nav_mc_pos_deceleration_time | 120 | Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting |
-| nav_mc_pos_expo | 10 | Expo for PosHold control |
-| nav_mc_pos_xy_p | 65 | Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity |
-| nav_mc_pos_z_p | 50 | P gain of altitude PID controller (Multirotor) |
-| nav_mc_vel_xy_d | 100 | D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target. |
-| nav_mc_vel_xy_dterm_attenuation | 90 | Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating. |
-| nav_mc_vel_xy_dterm_attenuation_end | 60 | A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum |
-| nav_mc_vel_xy_dterm_attenuation_start | 10 | A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins |
-| nav_mc_vel_xy_dterm_lpf_hz | 2 |  |
-| nav_mc_vel_xy_ff | 40 |  |
-| nav_mc_vel_xy_i | 15 | I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot |
-| nav_mc_vel_xy_p | 40 | P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations |
-| nav_mc_vel_z_d | 10 | D gain of velocity PID controller |
-| nav_mc_vel_z_i | 50 | I gain of velocity PID controller |
-| nav_mc_vel_z_p | 100 | P gain of velocity PID controller |
-| nav_mc_wp_slowdown | ON | When ON, NAV engine will slow down when switching to the next waypoint. This prioritizes turning over forward movement. When OFF, NAV engine will continue to the next waypoint and turn as it goes. |
-| nav_min_rth_distance | 500 | Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase. |
-| nav_overrides_motor_stop | ALL_NAV | When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV |
-| nav_position_timeout | 5 | If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable) |
-| nav_rth_abort_threshold | 50000 | RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm] |
-| nav_rth_allow_landing | ALWAYS | If set to ON drone will land as a last phase of RTH. |
-| nav_rth_alt_mode | AT_LEAST | Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details |
-| nav_rth_altitude | 1000 | Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters) |
-| nav_rth_climb_first | ON | If set to ON or ON_FW_SPIRAL aircraft will climb to nav_rth_altitude first before turning to head home. If set to OFF aircraft will turn and head home immediately climbing on the way. For a fixed wing ON will use a linear climb, ON_FW_SPIRAL will use a loiter turning climb with climb rate set by nav_auto_climb_rate, turn rate set by nav_fw_loiter_radius (ON_FW_SPIRAL is a fixed wing setting and behaves the same as ON for a multirotor) |
-| nav_rth_climb_ignore_emerg | OFF | If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status. |
-| nav_rth_home_altitude | 0 | Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm] |
-| nav_rth_tail_first | OFF | If set to ON drone will return tail-first. Obviously meaningless for airplanes. |
-| nav_use_fw_yaw_control | OFF | Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats |
-| nav_use_midthr_for_althold | OFF | If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude |
-| nav_user_control_mode | ATTI | Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction. |
-| nav_wp_radius | 100 | Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius |
-| nav_wp_safe_distance | 10000 | First waypoint in the mission should be closer than this value [cm]. A value of 0 disables this check. |
-| opflow_hardware | NONE | Selection of OPFLOW hardware. |
-| opflow_scale | 10.5 |  |
-| osd_ahi_bordered | OFF | Shows a border/corners around the AHI region (pixel OSD only) |
-| osd_ahi_height | 162 | AHI height in pixels (pixel OSD only) |
-| osd_ahi_max_pitch | 20 | Max pitch, in degrees, for OSD artificial horizon |
-| osd_ahi_reverse_roll | OFF |  |
-| osd_ahi_style | DEFAULT | Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD. |
-| osd_ahi_vertical_offset | -18 | AHI vertical offset from center (pixel OSD only) |
-| osd_ahi_width | 132 | AHI width in pixels (pixel OSD only) |
-| osd_alt_alarm | 100 | Value above which to make the OSD relative altitude indicator blink (meters) |
-| osd_baro_temp_alarm_max | 600 | Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_baro_temp_alarm_min | -200 | Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_camera_fov_h | 135 | Horizontal field of view for the camera in degres |
-| osd_camera_fov_v | 85 | Vertical field of view for the camera in degres |
-| osd_camera_uptilt | 0 | Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal |
-| osd_coordinate_digits | 9 |  |
-| osd_crosshairs_style | DEFAULT | To set the visual type for the crosshair |
-| osd_crsf_lq_format | TYPE1 | To select LQ format |
-| osd_current_alarm | 0 | Value above which the OSD current consumption element will start blinking. Measured in full Amperes. |
-| osd_dist_alarm | 1000 | Value above which to make the OSD distance from home indicator blink (meters) |
-| osd_esc_temp_alarm_max | 900 | Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_esc_temp_alarm_min | -200 | Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_estimations_wind_compensation | ON | Use wind estimation for remaining flight time/distance estimation |
-| osd_failsafe_switch_layout | OFF | If enabled the OSD automatically switches to the first layout during failsafe |
-| osd_force_grid | OFF | Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development) |
-| osd_gforce_alarm | 5 | Value above which the OSD g force indicator will blink (g) |
-| osd_gforce_axis_alarm_max | 5 | Value above which the OSD axis g force indicators will blink (g) |
-| osd_gforce_axis_alarm_min | -5 | Value under which the OSD axis g force indicators will blink (g) |
-| osd_home_position_arm_screen | ON | Should home position coordinates be displayed on the arming screen. |
-| osd_horizon_offset | 0 | To vertically adjust the whole OSD and AHI and scrolling bars |
-| osd_hud_homepoint | OFF | To 3D-display the home point location in the hud |
-| osd_hud_homing | OFF | To display little arrows around the crossair showing where the home point is in the hud |
-| osd_hud_margin_h | 3 | Left and right margins for the hud area |
-| osd_hud_margin_v | 3 | Top and bottom margins for the hud area |
-| osd_hud_radar_disp | 0 | Maximum count of nearby aircrafts or points of interest to display in the hud, as sent from an ESP32 LoRa module. Set to 0 to disable (show nothing). The nearby aircrafts will appear as markers A, B, C, etc |
-| osd_hud_radar_nearest | 0 | To display an extra bar of informations at the bottom of the hud area for the closest radar aircraft found, if closest than the set value, in meters. Shows relative altitude (meters or feet, with an up or down arrow to indicate if above or below), speed (in m/s or f/s), and absolute heading (in °, 0 is north, 90 is east, 180 is south, 270 is west). Set to 0 (zero) to disable. |
-| osd_hud_radar_range_max | 4000 | In meters, radar aircrafts further away than this will not be displayed in the hud |
-| osd_hud_radar_range_min | 3 | In meters, radar aircrafts closer than this will not be displayed in the hud |
-| osd_hud_wp_disp | 0 | How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2) |
-| osd_imu_temp_alarm_max | 600 | Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_imu_temp_alarm_min | -200 | Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade) |
-| osd_left_sidebar_scroll | NONE |  |
-| osd_left_sidebar_scroll_step | 0 | How many units each sidebar step represents. 0 means the default value for the scroll type. |
-| osd_link_quality_alarm | 70 | LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50% |
-| osd_main_voltage_decimals | 1 | Number of decimals for the battery voltages displayed in the OSD [1-2]. |
-| osd_neg_alt_alarm | 5 | Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters) |
-| osd_pan_servo_index | 0 | Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos. |
-| osd_pan_servo_pwm2centideg | 0 | Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction. |
-| osd_plus_code_digits | 11 | Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm. |
-| osd_plus_code_short | 0 | Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requires a reference location within, respectively, ~800km, ~40 km and ~2km to recover the original coordinates. |
-| osd_right_sidebar_scroll | NONE |  |
-| osd_right_sidebar_scroll_step | 0 | Same as left_sidebar_scroll_step, but for the right sidebar |
-| osd_row_shiftdown | 0 | Number of rows to shift the OSD display (increase if top rows are cut off) |
-| osd_rssi_alarm | 20 | Value below which to make the OSD RSSI indicator blink |
-| osd_sidebar_horizontal_offset | 0 | Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges. |
-| osd_sidebar_scroll_arrows | OFF |  |
-| osd_snr_alarm | 4 | Value below which Crossfire SNR Alarm pops-up. (dB) |
-| osd_stats_energy_unit | MAH | Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour) |
-| osd_temp_label_align | LEFT | Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT` |
-| osd_time_alarm | 10 | Value above which to make the OSD flight time indicator blink (minutes) |
-| osd_units | METRIC | IMPERIAL, METRIC, UK |
-| osd_video_system | AUTO | Video system used. Possible values are `AUTO`, `PAL` and `NTSC` |
-| pid_type | AUTO | Allows to set type of PID controller used in control loop. Possible values: `NONE`, `PID`, `PIFF`, `AUTO`. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use `PIFF` and multirotors `PID` |
-| pidsum_limit | 500 | A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |
-| pidsum_limit_yaw | 350 | A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |
-| pinio_box1 | `BOX_PERMANENT_ID_NONE` | Mode assignment for PINIO#1 |
-| pinio_box2 | `BOX_PERMANENT_ID_NONE` | Mode assignment for PINIO#1 |
-| pinio_box3 | `BOX_PERMANENT_ID_NONE` | Mode assignment for PINIO#1 |
-| pinio_box4 | `BOX_PERMANENT_ID_NONE` | Mode assignment for PINIO#1 |
-| pitch_rate | 20 | Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. |
-| pitot_hardware | NONE | Selection of pitot hardware. |
-| pitot_lpf_milli_hz | 350 |  |
-| pitot_scale | 1.0 |  |
-| platform_type | MULTIROTOR | Defines UAV platform type. Allowed values: "MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented |
-| pos_hold_deadband | 10 | Stick deadband in [r/c points], applied after r/c deadband and expo |
-| prearm_timeout | 10000 | Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout. |
-| rangefinder_hardware | NONE | Selection of rangefinder hardware. |
-| rangefinder_median_filter | OFF | 3-point median filtering for rangefinder readouts |
-| rate_accel_limit_roll_pitch | 0 | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting. |
-| rate_accel_limit_yaw | 10000 | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting. |
-| rate_dynamics_center_correction | 10 | The center stick correction for Rate Dynamics |
-| rate_dynamics_center_sensitivity | 100 | The center stick sensitivity for Rate Dynamics |
-| rate_dynamics_center_weight | 0 | The center stick weight for Rate Dynamics |
-| rate_dynamics_end_correction | 10 | The end  stick correction for Rate Dynamics |
-| rate_dynamics_end_sensitivity | 100 | The end stick sensitivity for Rate Dynamics |
-| rate_dynamics_end_weight | 0 | The end  stick weight for Rate Dynamics |
-| rc_expo | 70 | Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`) |
-| rc_filter_frequency | 50 | RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
-| rc_yaw_expo | 20 | Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`) |
-| reboot_character | 82 | Special character used to trigger reboot |
-| receiver_type | _target default_ | Selection of receiver (RX) type. Additional configuration of a `serialrx_provider` and a UART will be needed for `SERIAL` |
-| report_cell_voltage | OFF | S.Port, D-Series, and IBUS telemetry: Send the average cell voltage if set to ON |
-| roll_rate | 20 | Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. |
-| rpm_gyro_filter_enabled | OFF | Enables gyro RPM filtere. Set to `ON` only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV |
-| rpm_gyro_harmonics | 1 | Number of harmonic frequences to be covered by gyro RPM filter. Default value of `1` usually works just fine |
-| rpm_gyro_min_hz | 100 | The lowest frequency for gyro RPM filtere. Default `150` is fine for 5" mini-quads. On 7-inch drones you can lower even down to `60`-`70` |
-| rpm_gyro_q | 500 | Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting |
-| rssi_adc_channel | _target default_ | ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled |
-| rssi_channel | 0 | RX channel containing the RSSI signal |
-| rssi_max | 100 | The maximum RSSI value sent by the receiver, in %. For example, if your receiver's maximum RSSI value shows as 83% in the configurator/OSD set this parameter to 83. See also rssi_min. |
-| rssi_min | 0 | The minimum RSSI value sent by the receiver, in %. For example, if your receiver's minimum RSSI value shows as 42% in the configurator/OSD set this parameter to 42. See also rssi_max. Note that rssi_min can be set to a value bigger than rssi_max to invert the RSSI calculation (i.e. bigger values mean lower RSSI). |
-| rssi_source | AUTO | Source of RSSI input. Possible values: `NONE`, `AUTO`, `ADC`, `CHANNEL`, `PROTOCOL`, `MSP` |
-| rth_energy_margin | 5 | Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation |
-| rx_max_usec | 2115 | Defines the longest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value higher than this value then the channel will be marked as bad and will default to the value of mid_rc. |
-| rx_min_usec | 885 | Defines the shortest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value lower than this value then the channel will be marked as bad and will default to the value of mid_rc. |
-| rx_spi_id | 0 |  |
-| rx_spi_protocol | _target default_ |  |
-| rx_spi_rf_channel_count | 0 |  |
-| safehome_max_distance | 20000 | In order for a safehome to be used, it must be less than this distance (in cm) from the arming point. |
-| sbus_sync_interval | 3000 |  |
-| sdcard_detect_inverted | _target default_ | This setting drives the way SD card is detected in card slot. On some targets (AnyFC F7 clone) different card slot was used and depending of hardware revision ON or OFF setting might be required. If card is not detected, change this value. |
-| serialrx_halfduplex | AUTO | Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire. |
-| serialrx_inverted | OFF | Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal (e.g. SBUS will use an inverted signal). Some OpenLRS receivers produce a non-inverted SBUS signal. This setting supports this type of receivers (including modified FrSKY). |
-| serialrx_provider | _target default_ | When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section. |
-| servo_center_pulse | 1500 | Servo midpoint |
-| servo_lpf_hz | 20 | Selects the servo PWM output cutoff frequency. Value is in [Hz] |
-| servo_protocol | PWM | An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port) |
-| servo_pwm_rate | 50 | Output frequency (in Hz) servo pins. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz. |
-| setpoint_kalman_enabled | OFF | Enable Kalman filter on the PID controller setpoint |
-| setpoint_kalman_q | 100 | Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher of clean builds |
-| setpoint_kalman_sharpness | 100 | Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets |
-| setpoint_kalman_w | 4 | Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response |
-| sim_ground_station_number | _empty_ | Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
-| sim_low_altitude | -32767 | Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in `sim_transmit_flags`. |
-| sim_pin | 0000 | PIN code for the SIM module |
-| sim_transmit_flags | `SIM_TX_FLAG_FAILSAFE` | Bitmask specifying text message transmit condition flags for the SIM module. 1: continuous transmission, 2: continuous transmission in failsafe mode, 4: continuous transmission when GPS signal quality is low, 8: acceleration events, 16: continuous transmission when altitude is below `sim_low_altitude` |
-| sim_transmit_interval | 60 | Text message transmission interval in seconds for SIM module. Minimum value: 10 |
-| small_angle | 25 | If the aircraft tilt angle exceed this value the copter will refuse to arm. |
-| smartport_fuel_unit | MAH | S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH] |
-| smartport_master_halfduplex | ON |  |
-| smartport_master_inverted | OFF |  |
-| spektrum_sat_bind | `SPEKTRUM_SAT_BIND_DISABLED` | 0 = disabled. Used to bind the spektrum satellite to RX |
-| srxl2_baud_fast | ON |  |
-| srxl2_unit_id | 1 |  |
-| stats | OFF | General switch of the statistics recording feature (a.k.a. odometer) |
-| stats_total_dist | 0 | Total flight distance [in meters]. The value is updated on every disarm when "stats" are enabled. |
-| stats_total_energy | 0 |  |
-| stats_total_time | 0 | Total flight time [in seconds]. The value is updated on every disarm when "stats" are enabled. |
-| switch_disarm_delay | 250 | Delay before disarming when requested by switch (ms) [0-1000] |
-| telemetry_halfduplex | ON | S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details |
-| telemetry_inverted | OFF | Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used. |
-| telemetry_switch | OFF | Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed. |
-| thr_comp_weight | 1 | Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage) |
-| thr_expo | 0 | Throttle exposition value |
-| thr_mid | 50 | Throttle value when the stick is set to mid-position. Used in the throttle curve calculation. |
-| throttle_idle | 15 | The percentage of the throttle range (`max_throttle` - `min_command`) above `min_command` used for minimum / idle throttle. |
-| throttle_scale | 1.0 | Throttle scaling factor. `1` means no throttle scaling. `0.5` means throttle scaled down by 50% |
-| throttle_tilt_comp_str | 0 | Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled. |
-| tpa_breakpoint | 1500 | See tpa_rate. |
-| tpa_rate | 0 | Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate. |
-| tri_unarmed_servo | ON | On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF. |
-| tz_automatic_dst | OFF | Automatically add Daylight Saving Time to the GPS time when needed or simply ignore it. Includes presets for EU and the USA - if you live outside these areas it is suggested to manage DST manually via `tz_offset`. |
-| tz_offset | 0 | Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs |
-| vbat_adc_channel | _target default_ | ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled |
-| vbat_cell_detect_voltage | 425 | Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units. |
-| vbat_max_cell_voltage | 420 | Maximum voltage per cell in 0.01V units, default is 4.20V |
-| vbat_meter_type | ADC | Vbat voltage source. Possible values: `NONE`, `ADC`, `ESC`. `ESC` required ESC telemetry enebled and running |
-| vbat_min_cell_voltage | 330 | Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V) |
-| vbat_scale | _target default_ | Battery voltage calibration value. 1100 = 11:1 voltage divider (10k:1k) x 100. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli. |
-| vbat_warning_cell_voltage | 350 | Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V) |
-| vtx_band | 4 | Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race. |
-| vtx_channel | 1 | Channel to use within the configured `vtx_band`. Valid values are [1, 8]. |
-| vtx_halfduplex | ON | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC. |
-| vtx_low_power_disarm | OFF | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled. |
-| vtx_max_power_override | 0 | Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use this to override max supported power. 0 to disable and use whatever VTX reports as its capabilities |
-| vtx_pit_mode_chan | 1 |  |
-| vtx_power | 1 | VTX RF power level to use. The exact number of mw depends on the VTX hardware. |
-| vtx_smartaudio_early_akk_workaround | ON | Enable workaround for early AKK SAudio-enabled VTX bug. |
-| yaw_deadband | 5 | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. |
-| yaw_lpf_hz | 0 | Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below) |
-| yaw_rate | 20 | Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. |
-=======
 | Variable Name | Default Value | Min | Max | Description |
 | ------------- | ------------- | --- | --- | ----------- |
 | 3d_deadband_high | 1514 | PWM_RANGE_MIN | PWM_RANGE_MAX | High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead) |
@@ -1011,6 +471,12 @@
 | rangefinder_median_filter | OFF |  |  | 3-point median filtering for rangefinder readouts |
 | rate_accel_limit_roll_pitch | 0 |  | 500000 | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting. |
 | rate_accel_limit_yaw | 10000 |  | 500000 | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting. |
+| rate_dynamics_center_correction | 10 | 10 | 95 | The center stick correction for Rate Dynamics |
+| rate_dynamics_center_sensitivity | 100 | 25 | 175 | The center stick sensitivity for Rate Dynamics |
+| rate_dynamics_center_weight | 0 | 0 | 95 | The center stick weight for Rate Dynamics |
+| rate_dynamics_end_correction | 10 | 10 | 95 | The end  stick correction for Rate Dynamics |
+| rate_dynamics_end_sensitivity | 100 | 25 | 175 | The end stick sensitivity for Rate Dynamics |
+| rate_dynamics_end_weight | 0 | 0 | 95 | The end  stick weight for Rate Dynamics |
 | rc_expo | 70 | 0 | 100 | Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`) |
 | rc_filter_frequency | 50 | 0 | 100 | RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
 | rc_yaw_expo | 20 | 0 | 100 | Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`) |
@@ -1102,6 +568,5 @@
 | yaw_deadband | 5 | 0 | 100 | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. |
 | yaw_lpf_hz | 0 | 0 | 200 | Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below) |
 | yaw_rate | 20 | 2 | 180 | Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. |
->>>>>>> master
 
 > Note: this table is autogenerated. Do not edit it manually.
\ No newline at end of file

From 7cec9d87e8f8d9eed9f386d1b2ef21692043246d Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 9 Jun 2021 15:48:04 +0200
Subject: [PATCH 023/336] remove conflict marker

---
 src/main/target/common.h | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/main/target/common.h b/src/main/target/common.h
index 08d79b7809..88144a0c7b 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -87,11 +87,8 @@
 #define USE_ALPHA_BETA_GAMMA_FILTER
 #define USE_DYNAMIC_FILTERS
 #define USE_GYRO_KALMAN
-<<<<<<< HEAD
-#define USE_RATE_DYNAMICS
-=======
 #define USE_SMITH_PREDICTOR
->>>>>>> master
+#define USE_RATE_DYNAMICS
 #define USE_EXTENDED_CMS_MENUS
 #define USE_HOTT_TEXTMODE
 

From 15be7e1621f70e13838666765926f56959bba356 Mon Sep 17 00:00:00 2001
From: wenzhicode <linkwenzhi@gmail.com>
Date: Thu, 10 Jun 2021 10:58:10 +0800
Subject: [PATCH 024/336] add BETAFPVF722 target

---
 src/main/target/BETAFPVF722/CMakeLists.txt |   1 +
 src/main/target/BETAFPVF722/target.c       |  44 ++++++
 src/main/target/BETAFPVF722/target.h       | 165 +++++++++++++++++++++
 3 files changed, 210 insertions(+)
 create mode 100644 src/main/target/BETAFPVF722/CMakeLists.txt
 create mode 100755 src/main/target/BETAFPVF722/target.c
 create mode 100755 src/main/target/BETAFPVF722/target.h

diff --git a/src/main/target/BETAFPVF722/CMakeLists.txt b/src/main/target/BETAFPVF722/CMakeLists.txt
new file mode 100644
index 0000000000..bad557907d
--- /dev/null
+++ b/src/main/target/BETAFPVF722/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(BETAFPVF722)
diff --git a/src/main/target/BETAFPVF722/target.c b/src/main/target/BETAFPVF722/target.c
new file mode 100755
index 0000000000..2d02a8a71e
--- /dev/null
+++ b/src/main/target/BETAFPVF722/target.c
@@ -0,0 +1,44 @@
+/*
+* This file is part of Cleanflight.
+*
+* Cleanflight is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* Cleanflight is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM,     0, 0),                     // PPM
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR, 0, 0),                     // S1 D(1, 4, 5)
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR, 0, 0),                     // S2 D(2, 3, 7)
+    DEF_TIM(TIM2, CH2, PA1, TIM_USE_MC_MOTOR, 0, 0),                     // S3 D(2, 4, 7)
+    DEF_TIM(TIM2, CH1, PA0, TIM_USE_MC_MOTOR, 0, 0),                     // S4 D(2, 7, 7)
+
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR, 0, 0),                     // S5 DMA1_ST2
+
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR, 0, 0),                     // S6 DMA2_ST6
+
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_ANY, 0, 0),                          //camera
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0),                          // LED STRIP  D(1, 5, 3)
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
new file mode 100755
index 0000000000..cdedf65f31
--- /dev/null
+++ b/src/main/target/BETAFPVF722/target.h
@@ -0,0 +1,165 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "BHF7"
+
+#define USBD_PRODUCT_STRING  "BETAFPVF722"
+
+#define LED0                    PC15
+
+#define BEEPER                  PC14
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+
+#define USE_EXTI
+#define GYRO_INT_EXTI           PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8        // SCL pad
+#define I2C1_SDA                PB9        // SDA pad
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+
+// *************** OSD*************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PA15
+
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PC11
+#define UART4_TX_PIN            PC10
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART3
+
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+
+// *************** FLASH *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN                    PB13
+#define SPI2_MISO_PIN                   PB14
+#define SPI2_MOSI_PIN                   PB15
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN                   PB12
+#define M25P16_SPI_BUS                  BUS_SPI2
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+
+#define DEFAULT_FEATURES                (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY| FEATURE_VBAT | FEATURE_OSD )
+
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA                 0xffff
+#define TARGET_IO_PORTB                 0xffff
+#define TARGET_IO_PORTC                 0xffff
+#define TARGET_IO_PORTD                 (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS            6
+#define TARGET_MOTOR_COUNT              4           
+
+// ESC-related features
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIALSHOT

From 39feced157dee8555646c532147244e42433cd5e Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Thu, 10 Jun 2021 14:51:50 +0200
Subject: [PATCH 025/336] simplify calculateK

---
 src/main/flight/rate_dynamics.c | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/main/flight/rate_dynamics.c b/src/main/flight/rate_dynamics.c
index 570976a4d1..7576787f21 100644
--- a/src/main/flight/rate_dynamics.c
+++ b/src/main/flight/rate_dynamics.c
@@ -35,12 +35,7 @@ FAST_CODE static float calculateK(const float k, const float dT) {
         return 0;
     }
     // scale so it feels like running at 62.5hz (16ms) regardless of the current rx rate
-    const float rxRate = 1.0f / dT;
-    const float rxRateFactor = (rxRate / 62.5f) * rxRate;
-    const float freq = k / ((1.0f / rxRateFactor) * (1.0f - k));
-    const float RC = 1.0f / freq;
-
-    return dT / (RC + dT);
+    return k / (62.5f * dT * (1 - k) + k);
 }
 
 FAST_CODE int applyRateDynamics(int rcCommand, const int axis, const float dT) {

From beb72ddf1a4fae749172fef285363ba287a01633 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 11 Jun 2021 23:36:07 +0100
Subject: [PATCH 026/336] First build

---
 src/main/io/osd.c                        |  8 +++++++-
 src/main/io/osd.h                        |  1 -
 src/main/navigation/navigation.c         | 11 +++++------
 src/main/navigation/navigation_private.h |  2 ++
 4 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f0c4af8c24..a868c923ed 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -654,6 +654,9 @@ static void osdFormatCraftName(char *buff)
 
 static const char * osdArmingDisabledReasonMessage(void)
 {
+    const char *message = NULL;
+    char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)];
+
     switch (isArmingDisabledReason()) {
         case ARMING_DISABLED_FAILSAFE_SYSTEM:
             // See handling of FAILSAFE_RX_LOSS_MONITORING in failsafe.c
@@ -678,6 +681,7 @@ static const char * osdArmingDisabledReasonMessage(void)
 #if defined(USE_NAV)
             // Check the exact reason
             switch (navigationIsBlockingArming(NULL)) {
+                char buf[6];
                 case NAV_ARMING_BLOCKER_NONE:
                     break;
                 case NAV_ARMING_BLOCKER_MISSING_GPS_FIX:
@@ -685,7 +689,9 @@ static const char * osdArmingDisabledReasonMessage(void)
                 case NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE:
                     return OSD_MESSAGE_STR(OSD_MSG_DISABLE_NAV_FIRST);
                 case NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR:
-                    return OSD_MESSAGE_STR(OSD_MSG_1ST_WP_TOO_FAR);
+                    osdFormatDistanceSymbol(buf, posControl.distanceToFirstWP, 0);
+                    tfp_sprintf(messageBuf, "FIRST WP TOO FAR (%s)", buf);
+                    return message = messageBuf;
                 case NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR:
                     return OSD_MESSAGE_STR(OSD_MSG_JUMP_WP_MISCONFIG);
             }
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 8f4e4d4bf9..0c53bbed16 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -53,7 +53,6 @@
 #define OSD_MSG_SYS_OVERLOADED      "SYSTEM OVERLOADED"
 #define OSD_MSG_WAITING_GPS_FIX     "WAITING FOR GPS FIX"
 #define OSD_MSG_DISABLE_NAV_FIRST   "DISABLE NAVIGATION FIRST"
-#define OSD_MSG_1ST_WP_TOO_FAR      "FIRST WAYPOINT IS TOO FAR"
 #define OSD_MSG_JUMP_WP_MISCONFIG   "JUMP WAYPOINT MISCONFIGURED"
 #define OSD_MSG_MAG_NOT_CAL         "COMPASS NOT CALIBRATED"
 #define OSD_MSG_ACC_NOT_CAL         "ACCELEROMETER NOT CALIBRATED"
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 37a6c3c000..da4e96108b 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2579,11 +2579,11 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti
     }
     else {
 
-        /* 
+        /*
          * If max altitude is set, reset climb rate if altitude is reached and climb rate is > 0
          * In other words, when altitude is reached, allow it only to shrink
          */
-        if (navConfig()->general.max_altitude > 0 && 
+        if (navConfig()->general.max_altitude > 0 &&
             altitudeToUse >= navConfig()->general.max_altitude &&
             desiredClimbRate > 0
         ) {
@@ -3343,7 +3343,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
     // Apply extra arming safety only if pilot has any of GPS modes configured
     if ((isUsingNavigationModes() || failsafeMayRequireNavigationMode()) && !((posControl.flags.estPosStatus >= EST_USABLE) && STATE(GPS_FIX_HOME))) {
         if (navConfig()->general.flags.extra_arming_safety == NAV_EXTRA_ARMING_SAFETY_ALLOW_BYPASS &&
-            (STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || rxGetChannelValue(YAW) > 1750)) {
+            (STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED) || checkStickPosition(YAW_HI))) {
             if (usedBypass) {
                 *usedBypass = true;
             }
@@ -3361,10 +3361,9 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
     if ((posControl.waypointCount > 0) && (navConfig()->general.waypoint_safe_distance != 0)) {
         fpVector3_t startingWaypointPos;
         mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[0], GEO_ALT_RELATIVE);
+        posControl.distanceToFirstWP = calculateDistanceToDestination(&startingWaypointPos);
 
-        const bool navWpMissionStartTooFar = calculateDistanceToDestination(&startingWaypointPos) > navConfig()->general.waypoint_safe_distance;
-
-        if (navWpMissionStartTooFar) {
+        if (posControl.distanceToFirstWP > navConfig()->general.waypoint_safe_distance && !checkStickPosition(YAW_HI)) {
             return NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR;
         }
     }
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index b26299e707..0fd6c731c6 100755
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -364,6 +364,8 @@ typedef struct {
     float                       wpDistance;        // Distance to active WP
     timeMs_t                    wpReachedTime;     // Time the waypoint was reached
 
+    uint32_t                    distanceToFirstWP; // Distance to first waypoint from arming location
+
     /* Internals & statistics */
     int16_t                     rcAdjustment[4];
     float                       totalTripDistance;

From ed95ca9d2371e008d049afe1e3152429c32b86a9 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 12 Jun 2021 11:44:30 +0100
Subject: [PATCH 027/336] Change to function

---
 src/main/io/osd.c                        |  2 +-
 src/main/navigation/navigation.c         | 13 ++++++++-----
 src/main/navigation/navigation.h         |  1 +
 src/main/navigation/navigation_private.h |  2 --
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index a868c923ed..22ad0e5686 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -689,7 +689,7 @@ static const char * osdArmingDisabledReasonMessage(void)
                 case NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE:
                     return OSD_MESSAGE_STR(OSD_MSG_DISABLE_NAV_FIRST);
                 case NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR:
-                    osdFormatDistanceSymbol(buf, posControl.distanceToFirstWP, 0);
+                    osdFormatDistanceSymbol(buf, distanceToFirstWP(), 0);
                     tfp_sprintf(messageBuf, "FIRST WP TOO FAR (%s)", buf);
                     return message = messageBuf;
                 case NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR:
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index da4e96108b..2c6594f70b 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3327,6 +3327,13 @@ bool navigationTerrainFollowingEnabled(void)
     return posControl.flags.isTerrainFollowEnabled;
 }
 
+uint32_t distanceToFirstWP(void)
+{
+    fpVector3_t startingWaypointPos;
+    mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[0], GEO_ALT_RELATIVE);
+    return calculateDistanceToDestination(&startingWaypointPos);
+}
+
 navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
 {
     const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
@@ -3359,11 +3366,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
 
     // Don't allow arming if first waypoint is farther than configured safe distance
     if ((posControl.waypointCount > 0) && (navConfig()->general.waypoint_safe_distance != 0)) {
-        fpVector3_t startingWaypointPos;
-        mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[0], GEO_ALT_RELATIVE);
-        posControl.distanceToFirstWP = calculateDistanceToDestination(&startingWaypointPos);
-
-        if (posControl.distanceToFirstWP > navConfig()->general.waypoint_safe_distance && !checkStickPosition(YAW_HI)) {
+        if (distanceToFirstWP() > navConfig()->general.waypoint_safe_distance && !checkStickPosition(YAW_HI)) {
             return NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR;
         }
     }
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index b71f932f99..fa674bdbc2 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -513,6 +513,7 @@ geoAltitudeConversionMode_e waypointMissionAltConvMode(geoAltitudeDatumFlag_e da
 
 /* Distance/bearing calculation */
 bool navCalculatePathToDestination(navDestinationPath_t *result, const fpVector3_t * destinationPos);
+uint32_t distanceToFirstWP(void);
 
 /* Failsafe-forced RTH mode */
 void activateForcedRTH(void);
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 0fd6c731c6..b26299e707 100755
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -364,8 +364,6 @@ typedef struct {
     float                       wpDistance;        // Distance to active WP
     timeMs_t                    wpReachedTime;     // Time the waypoint was reached
 
-    uint32_t                    distanceToFirstWP; // Distance to first waypoint from arming location
-
     /* Internals & statistics */
     int16_t                     rcAdjustment[4];
     float                       totalTripDistance;

From d772d8a5a13d24c71d67d4b6a64dbc619639bbcb Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 12 Jun 2021 16:14:27 +0100
Subject: [PATCH 028/336] Updated FM strings for 3.0

Changed the old __3CRS__ to **CRUZ** and __CRS__ to **CRSH**, to reflect the mode changes.
---
 src/main/telemetry/crsf.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c
index 439ca8f2d0..079abf95d2 100755
--- a/src/main/telemetry/crsf.c
+++ b/src/main/telemetry/crsf.c
@@ -332,9 +332,9 @@ static void crsfFrameFlightMode(sbuf_t *dst)
         } else if (FLIGHT_MODE(NAV_POSHOLD_MODE)) {
             flightMode = "HOLD";
         } else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
-            flightMode = "3CRS";
+            flightMode = "CRUZ";
         } else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
-            flightMode = "CRS";
+            flightMode = "CRSH";
         } else if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
             flightMode = "AH";
         } else if (FLIGHT_MODE(NAV_WP_MODE)) {

From bd3f6efadbed76dca24f059f2dec42ffaf053b62 Mon Sep 17 00:00:00 2001
From: scavanger <andi_kanzler@gmx.de>
Date: Tue, 15 Jun 2021 09:52:51 +0200
Subject: [PATCH 029/336] Enable OSD for all targets

---
 src/main/io/osd.c                          | 12 +++++++++---
 src/main/target/AIKONF4/target.h           |  1 -
 src/main/target/AIRBOTF7/target.h          |  1 -
 src/main/target/ALIENFLIGHTNGF7/target.h   |  1 -
 src/main/target/ANYFCF7/target.h           |  1 -
 src/main/target/ANYFCM7/target.h           |  1 -
 src/main/target/ASGARD32F4/target.h        |  1 -
 src/main/target/ASGARD32F7/target.h        |  1 -
 src/main/target/BEEROTORF4/target.h        |  1 -
 src/main/target/BETAFLIGHTF3/target.h      |  1 -
 src/main/target/BETAFLIGHTF4/target.h      |  1 -
 src/main/target/CLRACINGF4AIR/target.h     |  1 -
 src/main/target/DALRCF405/target.h         |  1 -
 src/main/target/DALRCF722DUAL/target.h     |  1 -
 src/main/target/FF_F35_LIGHTNING/target.h  |  1 -
 src/main/target/FF_FORTINIF4/target.h      |  1 -
 src/main/target/FF_PIKOF4/target.h         |  1 -
 src/main/target/FIREWORKSV2/target.h       |  1 -
 src/main/target/FISHDRONEF4/target.h       |  1 -
 src/main/target/FLYWOOF411/target.h        |  1 -
 src/main/target/FLYWOOF745/target.h        |  1 -
 src/main/target/FLYWOOF7DUAL/target.h      |  1 -
 src/main/target/FOXEERF405/target.h        |  4 ++--
 src/main/target/FOXEERF722DUAL/target.h    |  4 ++--
 src/main/target/FRSKYF3/target.h           |  1 -
 src/main/target/FRSKYF4/target.h           |  1 -
 src/main/target/FRSKYPILOT/target.h        |  1 -
 src/main/target/FRSKY_ROVERF7/target.h     |  1 -
 src/main/target/FURYF4OSD/target.h         |  1 -
 src/main/target/HGLRCF722/target.h         |  4 ++--
 src/main/target/IFLIGHTF4_SUCCEXD/target.h |  1 -
 src/main/target/IFLIGHTF4_TWING/target.h   |  1 -
 src/main/target/IFLIGHTF7_TWING/target.h   |  1 -
 src/main/target/KAKUTEF4/target.h          |  1 -
 src/main/target/KAKUTEF7/target.h          |  4 ++--
 src/main/target/KAKUTEF7MINIV3/target.h    |  4 ++--
 src/main/target/KROOZX/target.h            |  1 -
 src/main/target/MAMBAF405US/target.h       |  4 ++--
 src/main/target/MAMBAF722/target.h         |  4 ++--
 src/main/target/MATEKF405/target.h         |  1 -
 src/main/target/MATEKF405SE/target.h       |  1 -
 src/main/target/MATEKF411/target.h         |  1 -
 src/main/target/MATEKF411SE/target.h       |  1 -
 src/main/target/MATEKF722/target.h         |  1 -
 src/main/target/MATEKF722PX/target.h       |  1 -
 src/main/target/MATEKF722SE/target.h       |  4 ++--
 src/main/target/MATEKF765/target.h         |  1 -
 src/main/target/MATEKH743/target.h         |  4 ++--
 src/main/target/NOX/target.h               |  1 -
 src/main/target/OMNIBUS/target.h           |  1 -
 src/main/target/OMNIBUSF4/target.h         |  1 -
 src/main/target/OMNIBUSF7/target.h         |  1 -
 src/main/target/OMNIBUSF7NXT/target.h      |  1 -
 src/main/target/RUSH_BLADE_F7/target.h     |  1 -
 src/main/target/SPEEDYBEEF4/target.h       |  4 ++--
 src/main/target/SPEEDYBEEF7/target.h       |  1 -
 src/main/target/SPRACINGF4EVO/target.h     |  1 -
 src/main/target/SPRACINGF7DUAL/target.h    |  2 --
 src/main/target/YUPIF4/target.h            |  1 -
 src/main/target/YUPIF7/target.h            |  1 -
 src/main/target/ZEEZF7/target.h            |  1 -
 src/main/target/common.h                   |  1 +
 62 files changed, 30 insertions(+), 74 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 855ff9e840..1c3965c1d3 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1755,10 +1755,11 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH:
         {
-            static timeUs_t updatedTimestamp = 0;
             /*static int32_t updatedTimeSeconds = 0;*/
-            timeUs_t currentTimeUs = micros();
             static int32_t timeSeconds = -1;
+#if defined(USE_ADC) && defined(USE_GPS)
+            static timeUs_t updatedTimestamp = 0;
+            timeUs_t currentTimeUs = micros();
             if (cmpTimeUs(currentTimeUs, updatedTimestamp) >= MS2US(1000)) {
 #ifdef USE_WIND_ESTIMATOR
                 timeSeconds = calculateRemainingFlightTimeBeforeRTH(osdConfig()->estimations_wind_compensation);
@@ -1767,10 +1768,13 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
                 updatedTimestamp = currentTimeUs;
             }
+#endif
             if ((!ARMING_FLAG(ARMED)) || (timeSeconds == -1)) {
                 buff[0] = SYM_FLY_M;
                 strcpy(buff + 1, "--:--");
+#if defined(USE_ADC) && defined(USE_GPS)
                 updatedTimestamp = 0;
+#endif
             } else if (timeSeconds == -2) {
                 // Wind is too strong to come back with cruise throttle
                 buff[0] = SYM_FLY_M;
@@ -1787,9 +1791,10 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_REMAINING_DISTANCE_BEFORE_RTH:;
+        static int32_t distanceMeters = -1;
+#if defined(USE_ADC) && defined(USE_GPS)
         static timeUs_t updatedTimestamp = 0;
         timeUs_t currentTimeUs = micros();
-        static int32_t distanceMeters = -1;
         if (cmpTimeUs(currentTimeUs, updatedTimestamp) >= MS2US(1000)) {
 #ifdef USE_WIND_ESTIMATOR
             distanceMeters = calculateRemainingDistanceBeforeRTH(osdConfig()->estimations_wind_compensation);
@@ -1798,6 +1803,7 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
             updatedTimestamp = currentTimeUs;
         }
+#endif
         buff[0] = SYM_TRIP_DIST;
         if ((!ARMING_FLAG(ARMED)) || (distanceMeters == -1)) {
             buff[4] = SYM_DIST_M;
diff --git a/src/main/target/AIKONF4/target.h b/src/main/target/AIKONF4/target.h
index d0e13b8a12..28ee33cf22 100644
--- a/src/main/target/AIKONF4/target.h
+++ b/src/main/target/AIKONF4/target.h
@@ -146,7 +146,6 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/AIRBOTF7/target.h b/src/main/target/AIRBOTF7/target.h
index 4a554cdd56..460d2ae820 100644
--- a/src/main/target/AIRBOTF7/target.h
+++ b/src/main/target/AIRBOTF7/target.h
@@ -59,7 +59,6 @@
 #endif
 
 // *************** OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PC15
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index 9f48f87c37..8e727f1171 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -138,7 +138,6 @@
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index fbd9683c92..0d9b879e04 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -125,7 +125,6 @@
 #define SPI4_MISO_PIN           PE13
 #define SPI4_MOSI_PIN           PE14
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/ANYFCM7/target.h b/src/main/target/ANYFCM7/target.h
index 0bb51355ec..2ba9486297 100644
--- a/src/main/target/ANYFCM7/target.h
+++ b/src/main/target/ANYFCM7/target.h
@@ -111,7 +111,6 @@
 #define USE_FLASH_M25P16
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/ASGARD32F4/target.h b/src/main/target/ASGARD32F4/target.h
index d9018a5cd9..ea2699dc2f 100644
--- a/src/main/target/ASGARD32F4/target.h
+++ b/src/main/target/ASGARD32F4/target.h
@@ -117,7 +117,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/ASGARD32F7/target.h b/src/main/target/ASGARD32F7/target.h
index 97e2ad210e..dc82fb74be 100644
--- a/src/main/target/ASGARD32F7/target.h
+++ b/src/main/target/ASGARD32F7/target.h
@@ -119,7 +119,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
index 9d86514f9d..9c78cf7738 100644
--- a/src/main/target/BEEROTORF4/target.h
+++ b/src/main/target/BEEROTORF4/target.h
@@ -57,7 +57,6 @@
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define BNO055_I2C_BUS          BUS_I2C1
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/BETAFLIGHTF3/target.h b/src/main/target/BETAFLIGHTF3/target.h
index 1c4cc3fe68..71e469db2c 100755
--- a/src/main/target/BETAFLIGHTF3/target.h
+++ b/src/main/target/BETAFLIGHTF3/target.h
@@ -79,7 +79,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA1
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index 872327b41a..4116a52001 100755
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -45,7 +45,6 @@
 #define BMP280_SPI_BUS		BUS_SPI2
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS		BUS_SPI2
 #define MAX7456_CS_PIN      PB12
diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
index 56c3918aff..45778103a9 100644
--- a/src/main/target/CLRACINGF4AIR/target.h
+++ b/src/main/target/CLRACINGF4AIR/target.h
@@ -64,7 +64,6 @@
 #define BMP280_SPI_BUS          BUS_SPI3
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/DALRCF405/target.h b/src/main/target/DALRCF405/target.h
index c2787f71ef..a36a59a63a 100644
--- a/src/main/target/DALRCF405/target.h
+++ b/src/main/target/DALRCF405/target.h
@@ -66,7 +66,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h
index ca29604c6c..2ff18eeccb 100644
--- a/src/main/target/DALRCF722DUAL/target.h
+++ b/src/main/target/DALRCF722DUAL/target.h
@@ -103,7 +103,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/FF_F35_LIGHTNING/target.h b/src/main/target/FF_F35_LIGHTNING/target.h
index a916b186d7..a415ae541a 100644
--- a/src/main/target/FF_F35_LIGHTNING/target.h
+++ b/src/main/target/FF_F35_LIGHTNING/target.h
@@ -48,7 +48,6 @@
 #define BMP280_CS_PIN           PC5
 #define BMP280_SPI_BUS          BUS_SPI3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PA4
 #define MAX7456_SPI_BUS         BUS_SPI1
diff --git a/src/main/target/FF_FORTINIF4/target.h b/src/main/target/FF_FORTINIF4/target.h
index 669f4bd440..00c154dd94 100644
--- a/src/main/target/FF_FORTINIF4/target.h
+++ b/src/main/target/FF_FORTINIF4/target.h
@@ -58,7 +58,6 @@
 /*---------------------------------*/
 
 /*-------------OSD-----------------*/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB3
diff --git a/src/main/target/FF_PIKOF4/target.h b/src/main/target/FF_PIKOF4/target.h
index 59337ad53b..244ddec53b 100644
--- a/src/main/target/FF_PIKOF4/target.h
+++ b/src/main/target/FF_PIKOF4/target.h
@@ -73,7 +73,6 @@
 
 #if defined(FF_PIKOF4OSD)
 /*-------------OSD-----------------*/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA4
diff --git a/src/main/target/FIREWORKSV2/target.h b/src/main/target/FIREWORKSV2/target.h
index a0ea4428da..51ea748abc 100644
--- a/src/main/target/FIREWORKSV2/target.h
+++ b/src/main/target/FIREWORKSV2/target.h
@@ -175,7 +175,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 45b8b5b865..331de0d918 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -78,7 +78,6 @@
 #define SPI2_MISO_PIN   PC2
 #define SPI2_MOSI_PIN   PC3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/FLYWOOF411/target.h b/src/main/target/FLYWOOF411/target.h
index 34d110d7a5..f949cbf4f6 100644
--- a/src/main/target/FLYWOOF411/target.h
+++ b/src/main/target/FLYWOOF411/target.h
@@ -88,7 +88,6 @@
 #define USE_MAG_LIS3MDL
 
 // *************** SPI OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h
index c58690f9b8..c129a87c0b 100644
--- a/src/main/target/FLYWOOF745/target.h
+++ b/src/main/target/FLYWOOF745/target.h
@@ -107,7 +107,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/FLYWOOF7DUAL/target.h b/src/main/target/FLYWOOF7DUAL/target.h
index 10b8d285bb..8cae941538 100644
--- a/src/main/target/FLYWOOF7DUAL/target.h
+++ b/src/main/target/FLYWOOF7DUAL/target.h
@@ -73,7 +73,6 @@
 #define M25P16_SPI_BUS          BUS_SPI3
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PB12
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/FOXEERF405/target.h b/src/main/target/FOXEERF405/target.h
index 2b8d4e2ac0..2b9f5ae7a0 100644
--- a/src/main/target/FOXEERF405/target.h
+++ b/src/main/target/FOXEERF405/target.h
@@ -72,7 +72,6 @@
 #define M25P16_SPI_BUS          BUS_SPI2
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
@@ -147,4 +146,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/FOXEERF722DUAL/target.h b/src/main/target/FOXEERF722DUAL/target.h
index b339cef7a9..f946150985 100644
--- a/src/main/target/FOXEERF722DUAL/target.h
+++ b/src/main/target/FOXEERF722DUAL/target.h
@@ -81,7 +81,6 @@
 #define M25P16_SPI_BUS          BUS_SPI2
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PC3
@@ -158,4 +157,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/FRSKYF3/target.h b/src/main/target/FRSKYF3/target.h
index b046c399cb..304fa22214 100644
--- a/src/main/target/FRSKYF3/target.h
+++ b/src/main/target/FRSKYF3/target.h
@@ -56,7 +56,6 @@
 #define I2C1_SDA                PB7
 
 #define USE_SPI
-#define USE_OSD
 
 // include the max7456 driver
 #define USE_MAX7456
diff --git a/src/main/target/FRSKYF4/target.h b/src/main/target/FRSKYF4/target.h
index 4d950a18a7..9b6cee6b39 100755
--- a/src/main/target/FRSKYF4/target.h
+++ b/src/main/target/FRSKYF4/target.h
@@ -37,7 +37,6 @@
 #define BMP280_SPI_BUS          BUS_SPI3
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/FRSKYPILOT/target.h b/src/main/target/FRSKYPILOT/target.h
index d4da84dde0..2dd56aa73d 100644
--- a/src/main/target/FRSKYPILOT/target.h
+++ b/src/main/target/FRSKYPILOT/target.h
@@ -152,7 +152,6 @@
 #define UART5_AF                1
 
 // OSD
-#define USE_OSD
 #define USE_UART6
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7
diff --git a/src/main/target/FRSKY_ROVERF7/target.h b/src/main/target/FRSKY_ROVERF7/target.h
index 6347cd9bd9..f729d2bd60 100755
--- a/src/main/target/FRSKY_ROVERF7/target.h
+++ b/src/main/target/FRSKY_ROVERF7/target.h
@@ -87,7 +87,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PD2
diff --git a/src/main/target/FURYF4OSD/target.h b/src/main/target/FURYF4OSD/target.h
index d5ccf15a95..5b7b75dd5b 100644
--- a/src/main/target/FURYF4OSD/target.h
+++ b/src/main/target/FURYF4OSD/target.h
@@ -67,7 +67,6 @@
 #define SPI2_MISO_PIN   	      PB14
 #define SPI2_MOSI_PIN   	      PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index 440a657c1b..a2453b1e61 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -92,7 +92,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -177,4 +176,5 @@
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
 #define USE_SERIALSHOT
-#define USE_ESC_SENSOR
\ No newline at end of file
+#define USE_ESC_SENSOR
+
diff --git a/src/main/target/IFLIGHTF4_SUCCEXD/target.h b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
index aee436548c..7d603cc116 100644
--- a/src/main/target/IFLIGHTF4_SUCCEXD/target.h
+++ b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
@@ -49,7 +49,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/IFLIGHTF4_TWING/target.h b/src/main/target/IFLIGHTF4_TWING/target.h
index ab5d0bf5f3..5a3943e11a 100644
--- a/src/main/target/IFLIGHTF4_TWING/target.h
+++ b/src/main/target/IFLIGHTF4_TWING/target.h
@@ -87,7 +87,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS		    BUS_SPI2
 #define MAX7456_CS_PIN          PB12 
diff --git a/src/main/target/IFLIGHTF7_TWING/target.h b/src/main/target/IFLIGHTF7_TWING/target.h
index 2fb765bce7..fb74f2d530 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.h
+++ b/src/main/target/IFLIGHTF7_TWING/target.h
@@ -100,7 +100,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 2b0f908a91..f64101ea75 100755
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -75,7 +75,6 @@
 #   define USE_MAG
 #endif
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB14
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 0d42c7e2d6..97764f6e92 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -104,7 +104,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 
 #ifndef KAKUTEF7HDV
 #define USE_MAX7456
@@ -179,4 +178,5 @@
 
 #define MAX_PWM_OUTPUT_PORTS       6
 
-#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file
+#define BNO055_I2C_BUS          BUS_I2C1
+
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 7ecc7a3d1e..6e7188f9f7 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -106,7 +106,6 @@
 /*
  * OSD
  */
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
@@ -173,4 +172,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
index 4f5eac5f7c..cde87e45d2 100755
--- a/src/main/target/KROOZX/target.h
+++ b/src/main/target/KROOZX/target.h
@@ -61,7 +61,6 @@
 #define SDCARD_DETECT_INVERTED
 #define SDCARD_DETECT_PIN       PC13
 
-#define USE_OSD
 #ifdef USE_MSP_DISPLAYPORT
 #undef USE_MSP_DISPLAYPORT
 #endif
diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index adb4c09f1e..969b725bf4 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -158,7 +158,6 @@
 #define VBAT_SCALE_DEFAULT              1100
 
 // ******* OSD ********
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS                 BUS_SPI2
 #define MAX7456_CS_PIN                  PB12
@@ -199,4 +198,5 @@
 #define TEMPERATURE_I2C_BUS             DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
 #define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
\ No newline at end of file
+#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
+
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 2c1cb07cf7..3efdde2835 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -156,7 +156,6 @@
 #define VBAT_SCALE_DEFAULT              1100
 
 // ******* OSD ********
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS                 BUS_SPI2
 #define MAX7456_CS_PIN                  SPI2_NSS_PIN
@@ -207,4 +206,5 @@
 
 #define BNO055_I2C_BUS              DEFAULT_I2C_BUS
 
-#endif
\ No newline at end of file
+#endif
+
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index a70cc55583..c3dd007b4d 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -76,7 +76,6 @@
 #define SPI2_MISO_PIN   	    PB14
 #define SPI2_MOSI_PIN   	    PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB10
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 75afdea322..805f6cea42 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -85,7 +85,6 @@
 #define SPI2_MISO_PIN   	    PC2
 #define SPI2_MOSI_PIN   	    PC3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PB12
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/MATEKF411/target.h b/src/main/target/MATEKF411/target.h
index ac6962a350..b73c6013c7 100755
--- a/src/main/target/MATEKF411/target.h
+++ b/src/main/target/MATEKF411/target.h
@@ -55,7 +55,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 2da0393f54..8bb3e933ef 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -50,7 +50,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index 331ad65821..b1b657e424 100755
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -90,7 +90,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB10
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index ca9dd843a6..83d7d669cb 100755
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -169,7 +169,6 @@
 #define TARGET_IO_PORTD 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        10
-#define USE_OSD
 #define USE_DSHOT
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index ecff68fa66..6f62d53406 100644
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -95,7 +95,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -195,4 +194,5 @@
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
-#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file
+#define BNO055_I2C_BUS          BUS_I2C1
+
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 8f5b256026..449801cc50 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -98,7 +98,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index ca99c9ddcc..cf49efb232 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -92,7 +92,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -189,4 +188,5 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
\ No newline at end of file
+#define USE_SERIALSHOT
+
diff --git a/src/main/target/NOX/target.h b/src/main/target/NOX/target.h
index 9a40ea5050..764e889bb4 100755
--- a/src/main/target/NOX/target.h
+++ b/src/main/target/NOX/target.h
@@ -61,7 +61,6 @@
 #define BMP280_CS_PIN           PA9
 
 // *************** SPI OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PA10
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index 3338db998e..273f41097f 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -103,7 +103,6 @@
 #define SDCARD_SPI_BUS          BUS_SPI2
 #define SDCARD_CS_PIN           SPI2_NSS_PIN
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS             BUS_SPI1
 #define MAX7456_CS_PIN              PB1
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index 4027144c8d..fd0991fb94 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -213,7 +213,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index 50e10578b4..8296e531e5 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -126,7 +126,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/OMNIBUSF7NXT/target.h b/src/main/target/OMNIBUSF7NXT/target.h
index 241322b5d6..de7da72927 100644
--- a/src/main/target/OMNIBUSF7NXT/target.h
+++ b/src/main/target/OMNIBUSF7NXT/target.h
@@ -128,7 +128,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h
index cdae1860b3..1a701ed987 100644
--- a/src/main/target/RUSH_BLADE_F7/target.h
+++ b/src/main/target/RUSH_BLADE_F7/target.h
@@ -141,7 +141,6 @@
 #define TARGET_IO_PORTD 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        10
-#define USE_OSD
 #define USE_DSHOT
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/SPEEDYBEEF4/target.h b/src/main/target/SPEEDYBEEF4/target.h
index 3920653df7..0258ac2974 100644
--- a/src/main/target/SPEEDYBEEF4/target.h
+++ b/src/main/target/SPEEDYBEEF4/target.h
@@ -73,7 +73,6 @@
 #define USE_FLASH_M25P16	
 
 /*** OSD ***/
-#define USE_OSD								
 #define USE_MAX7456							
 #define MAX7456_SPI_BUS         BUS_SPI2	
 #define MAX7456_CS_PIN          PB10		
@@ -171,4 +170,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define RANGEFINDER_I2C_BUS BUS_I2C1
\ No newline at end of file
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
diff --git a/src/main/target/SPEEDYBEEF7/target.h b/src/main/target/SPEEDYBEEF7/target.h
index 71e855af0a..559ad0924e 100644
--- a/src/main/target/SPEEDYBEEF7/target.h
+++ b/src/main/target/SPEEDYBEEF7/target.h
@@ -73,7 +73,6 @@
 
 // OSD -- SPI2
 #define USE_SPI_DEVICE_2
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/SPRACINGF4EVO/target.h b/src/main/target/SPRACINGF4EVO/target.h
index efe89add1e..8722883d01 100755
--- a/src/main/target/SPRACINGF4EVO/target.h
+++ b/src/main/target/SPRACINGF4EVO/target.h
@@ -143,7 +143,6 @@
 // PC4 - NC - Free for ADC12_IN14 / VTX CS
 // PC5 - NC - Free for ADC12_IN15 / VTX Enable / OSD VSYNC
 
-//#define USE_OSD
 //#define USE_MAX7456
 //#define USE_OSD_OVER_MSP_DISPLAYPORT
 
diff --git a/src/main/target/SPRACINGF7DUAL/target.h b/src/main/target/SPRACINGF7DUAL/target.h
index 9bbc2a7455..c41c61732a 100644
--- a/src/main/target/SPRACINGF7DUAL/target.h
+++ b/src/main/target/SPRACINGF7DUAL/target.h
@@ -168,8 +168,6 @@
 
 #define CURRENT_METER_SCALE         300
 
-#define USE_OSD
-
 #define USE_LED_STRIP
 #define WS2811_PIN                      PA1
 
diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h
index 741f224252..97e389826c 100644
--- a/src/main/target/YUPIF4/target.h
+++ b/src/main/target/YUPIF4/target.h
@@ -74,7 +74,6 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP280
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA14
diff --git a/src/main/target/YUPIF7/target.h b/src/main/target/YUPIF7/target.h
index a95336a738..6a146a1c50 100644
--- a/src/main/target/YUPIF7/target.h
+++ b/src/main/target/YUPIF7/target.h
@@ -115,7 +115,6 @@
 #define I2C_DEVICE              (I2CDEV_1)
 
 // OSD
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA14
diff --git a/src/main/target/ZEEZF7/target.h b/src/main/target/ZEEZF7/target.h
index 4558922417..5ad4f85e6e 100755
--- a/src/main/target/ZEEZF7/target.h
+++ b/src/main/target/ZEEZF7/target.h
@@ -140,7 +140,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 068e6b8dde..c110a6112f 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -127,6 +127,7 @@
 
 #define USE_PWM_DRIVER_PCA9685
 
+#define USE_OSD
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
 #define USE_SMARTPORT_MASTER

From c0a0729fa1bfa0d40e90e7d46e2669b945446876 Mon Sep 17 00:00:00 2001
From: scavanger <andi_kanzler@gmx.de>
Date: Fri, 18 Jun 2021 12:39:43 +0200
Subject: [PATCH 030/336] Bugfixes

---
 src/main/io/osd_dji_hd.c | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index f6a0b9e4d0..bc3c7b720b 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -986,7 +986,7 @@ static bool djiFormatMessages(char *buff)
             }
         } else {
 #ifdef USE_SERIALRX_CRSF
-            if (rxLinkStatistics.rfMode == 0) {
+            if (djiOsdConfig()->rssi_source == DJI_CRSF_LQ && rxLinkStatistics.rfMode == 0) {
                 messages[messageCount++] = "CRSF LOW RF";
             }
 #endif
@@ -1156,19 +1156,17 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
 
         case DJI_MSP_NAME:
             {
-                const char * name = systemConfig()->name;
-
 #if defined(USE_OSD)
                 if (djiOsdConfig()->use_name_for_messages)  {
                     djiSerializeCraftNameOverride(dst);
-                }
-                else
+                } else {
 #endif
-                {
-                    int len = strlen(name);
-                    sbufWriteData(dst, name, MAX(len, 12));
-                    break;
+                    sbufWriteData(dst, systemConfig()->name, MAX((int)strlen(systemConfig()->name), OSD_MESSAGE_LENGTH));
+#if defined(USE_OSD)
                 }
+#endif
+
+                break;
             }
             break;
 

From 9573bfe47bdae57f1a0ce88e39c1886d023834c5 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 19 Jun 2021 17:39:28 +0100
Subject: [PATCH 031/336] Update Building in Windows 10 with Linux Subsystem.md

Added instructions for compiling generated documents
---
 ...uilding in Windows 10 with Linux Subsystem.md | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/docs/development/Building in Windows 10 with Linux Subsystem.md b/docs/development/Building in Windows 10 with Linux Subsystem.md
index 2b8439c543..6357584bac 100644
--- a/docs/development/Building in Windows 10 with Linux Subsystem.md	
+++ b/docs/development/Building in Windows 10 with Linux Subsystem.md	
@@ -20,13 +20,13 @@ Install Ubuntu:
 NOTE: from this point all commands are entered into the Ubunto shell command window
 
 Update the repo packages:
-1.  `sudo apt update`
+-  `sudo apt update`
 
 Install Git, Make, gcc and Ruby
-1.  `sudo apt-get install git`
-1.  `sudo apt-get install make`
-1.  `sudo apt-get install cmake`
-1.  `sudo apt-get install ruby`
+-  `sudo apt-get install git make cmake ruby`
+
+Install python and python-yaml to allow updates to settings.md
+-  `sudo apt-get install python python-yaml`
 
 ### CMAKE and Ubuntu 18_04
 
@@ -78,6 +78,12 @@ cd build
 make MATEKF722
 ```
 
+## Updating the documents
+```
+cd /mnt/c/inav
+python src/utils/update_cli_docs.py
+```
+
 ## Flashing:
 Launch windows configurator GUI and from within the firmware flasher select `Load firmware[Local]`
 Hex files can be found in the folder `c:\inav\build`

From 28b4f2dcff0104bd029b2db70b724bfb28a1cb34 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 19 Jun 2021 17:53:03 +0100
Subject: [PATCH 032/336] Update Building in Windows 10 with Linux Subsystem.md

Corrected python version
---
 .../Building in Windows 10 with Linux Subsystem.md            | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/development/Building in Windows 10 with Linux Subsystem.md b/docs/development/Building in Windows 10 with Linux Subsystem.md
index 6357584bac..b03797d8c4 100644
--- a/docs/development/Building in Windows 10 with Linux Subsystem.md	
+++ b/docs/development/Building in Windows 10 with Linux Subsystem.md	
@@ -26,7 +26,7 @@ Install Git, Make, gcc and Ruby
 -  `sudo apt-get install git make cmake ruby`
 
 Install python and python-yaml to allow updates to settings.md
--  `sudo apt-get install python python-yaml`
+-  `sudo apt-get install python3 python-yaml`
 
 ### CMAKE and Ubuntu 18_04
 
@@ -81,7 +81,7 @@ make MATEKF722
 ## Updating the documents
 ```
 cd /mnt/c/inav
-python src/utils/update_cli_docs.py
+python3 src/utils/update_cli_docs.py
 ```
 
 ## Flashing:

From f2d60802453487cf76d16c4d057286594dc4c615 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 19 Jun 2021 18:04:30 +0100
Subject: [PATCH 033/336] Update IDE - Visual Studio Code with Windows 10.md

Updated tasks to include compiling the autogenerated docs, like settings.md, and an example to build multiple targets.
---
 ...DE - Visual Studio Code with Windows 10.md | 57 +++++++++++--------
 1 file changed, 32 insertions(+), 25 deletions(-)

diff --git a/docs/development/IDE - Visual Studio Code with Windows 10.md b/docs/development/IDE - Visual Studio Code with Windows 10.md
index 6095fec4e3..66c3928d50 100644
--- a/docs/development/IDE - Visual Studio Code with Windows 10.md	
+++ b/docs/development/IDE - Visual Studio Code with Windows 10.md	
@@ -79,30 +79,6 @@ Edit `./.vscode/tasks.json` to enable Building with `Ctrl + Shift + B` keyboard
     // for the documentation about the tasks.json format
     "version": "2.0.0",
     "tasks": [
-        {
-            "label": "Build Matek F722-SE",
-            "type": "shell",
-            "command": "make MATEKF722SE",
-            "group": "build",
-            "problemMatcher": [],
-            "options": {
-                "cwd": "${workspaceFolder}/build"
-            }
-        },
-        {
-            "label": "Build Matek F722",
-            "type": "shell",
-            "command": "make MATEKF722",
-            "group": {
-                "kind": "build",
-                "isDefault": true
-            },
-            "problemMatcher": [],
-            "options": {
-                "cwd": "${workspaceFolder}/build"
-            }
-        }
-        ,
         {
             "label": "Install/Update CMAKE",
             "type": "shell",
@@ -112,7 +88,38 @@ Edit `./.vscode/tasks.json` to enable Building with `Ctrl + Shift + B` keyboard
             "options": {
                 "cwd": "${workspaceFolder}"
             }
-        }
+        },
+        {
+			"label": "Compile autogenerated docs",
+			"type": "shell",
+			"command": "python3 src/utils/update_cli_docs.py",
+			"problemMatcher": [],
+			"options": {
+				"cwd": "${workspaceFolder}"
+			}
+		},
+        // Example of building a single target
+       {
+            "label": "Build Matek F722-WPX",
+            "type": "shell",
+            "command": "make MATEKF722WPX",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        },
+        // Example of building multiple targets
+        {
+            "label": "Build Matek F405-STD & WING",
+            "type": "shell",
+            "command": "make MATEKF405 MATEKF405SE",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        },
     ]
 }
 ```

From 89ece87b7e30a0e7f9dadab4fc989770b517c374 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 19 Jun 2021 22:36:28 +0100
Subject: [PATCH 034/336] Update Settings.md

---
 docs/Settings.md | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/docs/Settings.md b/docs/Settings.md
index 5f64decf79..b0fa57e1c7 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1,3 +1,5 @@
+# CLI Variable Reference
+
 > Note: this document is autogenerated. Do not edit it manually.
 
 ### 3d_deadband_high
@@ -4540,6 +4542,16 @@ Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD st
 
 ---
 
+### osd_stats_page_auto_swap_time
+
+Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3 | 0 | 10 |
+
+---
+
 ### osd_telemetry
 
 To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`

From 946ff560f570d8fbb1eef17637ffcdff9c213036 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 19 Jun 2021 22:57:32 +0100
Subject: [PATCH 035/336] Revert "Revert "remove *.ld files differing only in
 case, as this confuses case-insensitive, case-preserving (cicp) file-systems
 (#7064)""

This reverts commit 8797c9a6b1c893f330f61f343a230f2a4d996576.
---
 src/main/target/link/stm32_flash_F765xI.ld    | 55 ------------------
 src/main/target/link/stm32_flash_F765xI_bl.ld | 56 ------------------
 .../target/link/stm32_flash_F765xI_for_bl.ld  | 57 -------------------
 3 files changed, 168 deletions(-)
 delete mode 100644 src/main/target/link/stm32_flash_F765xI.ld
 delete mode 100644 src/main/target/link/stm32_flash_F765xI_bl.ld
 delete mode 100644 src/main/target/link/stm32_flash_F765xI_for_bl.ld

diff --git a/src/main/target/link/stm32_flash_F765xI.ld b/src/main/target/link/stm32_flash_F765xI.ld
deleted file mode 100644
index 130169290e..0000000000
--- a/src/main/target/link/stm32_flash_F765xI.ld
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash_f765.ld
-**
-**  Abstract    : Linker script for STM32F765xITx Device with
-**                2048KByte FLASH, 512KByte RAM
-**
-*****************************************************************************
-*/
-
-/* Stack & Heap sizes */
-_Min_Heap_Size = 0;
-_Min_Stack_Size = 0x1800;
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/*
-0x00000000 to 0x00003FFF   16K TCM RAM,
-
-0x08000000 to 0x081FFFFF 2048K full flash,
-0x08000000 to 0x08007FFF   32K isr vector, startup code,
-0x08008000 to 0x0800FFFF   32K config,
-0x08010000 to 0x081FFFFF  1984K firmware,
-*/
-
-/* Specify the memory areas */
-MEMORY
-{
-    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
-
-    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
-    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
-    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
-
-    AXIM_FLASH (rx)         : ORIGIN = 0x08000000, LENGTH = 32K
-    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08008000, LENGTH = 32K
-    AXIM_FLASH1 (rx)        : ORIGIN = 0x08010000, LENGTH = 1984K
-
-    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
-    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
-    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
-    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-REGION_ALIAS("FLASH",        AXIM_FLASH)
-REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
-REGION_ALIAS("FLASH1",       AXIM_FLASH1)
-
-REGION_ALIAS("STACKRAM", DTCM_RAM)
-REGION_ALIAS("FASTRAM",  DTCM_RAM)
-REGION_ALIAS("RAM",      SRAM1)
-
-INCLUDE "stm32_flash_f7_split.ld"
diff --git a/src/main/target/link/stm32_flash_F765xI_bl.ld b/src/main/target/link/stm32_flash_F765xI_bl.ld
deleted file mode 100644
index 45ced4e7dd..0000000000
--- a/src/main/target/link/stm32_flash_F765xI_bl.ld
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash_f765.ld
-**
-**  Abstract    : Linker script for STM32F765xITx Device with
-**                2048KByte FLASH, 512KByte RAM
-**
-*****************************************************************************
-*/
-
-/* Stack & Heap sizes */
-_Min_Heap_Size = 0;
-_Min_Stack_Size = 0x1800;
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/*
-0x00000000 to 0x00003FFF   16K TCM RAM,
-
-0x08000000 to 0x081FFFFF 2048K full flash,
-0x08000000 to 0x08007FFF   32K isr vector, startup code,
-0x08008000 to 0x0800FFFF   32K config,
-0x08010000 to 0x081FFFFF  1984K firmware,
-*/
-
-/* Specify the memory areas */
-MEMORY
-{
-    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
-
-    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
-    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
-    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
-
-    AXIM_FLASH (rx)         : ORIGIN = 0x08000000, LENGTH = 32K
-    AXIM_FIRMWARE (rx)      : ORIGIN = 0x08008000, LENGTH = 32K
-    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08010000, LENGTH = 32K
-
-    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
-    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
-    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
-    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-REGION_ALIAS("FLASH",        AXIM_FLASH)
-REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
-
-REGION_ALIAS("STACKRAM", DTCM_RAM)
-REGION_ALIAS("FASTRAM",  DTCM_RAM)
-REGION_ALIAS("RAM",      SRAM1)
-
-__firmware_start = ORIGIN(AXIM_FIRMWARE);
-
-INCLUDE "stm32_flash_f7.ld"
diff --git a/src/main/target/link/stm32_flash_F765xI_for_bl.ld b/src/main/target/link/stm32_flash_F765xI_for_bl.ld
deleted file mode 100644
index 14f2a4bedf..0000000000
--- a/src/main/target/link/stm32_flash_F765xI_for_bl.ld
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash_f765.ld
-**
-**  Abstract    : Linker script for STM32F765xITx Device with
-**                2048KByte FLASH, 512KByte RAM
-**
-*****************************************************************************
-*/
-
-/* Stack & Heap sizes */
-_Min_Heap_Size = 0;
-_Min_Stack_Size = 0x1800;
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/*
-0x00000000 to 0x00003FFF   16K TCM RAM,
-
-0x08000000 to 0x081FFFFF 2048K full flash,
-0x08000000 to 0x08007FFF   32K isr vector, startup code,
-0x08008000 to 0x0800FFFF   32K config,
-0x08010000 to 0x081FFFFF  1984K firmware,
-*/
-
-/* Specify the memory areas */
-MEMORY
-{
-    ITCM_RAM (rx)           : ORIGIN = 0x00000000, LENGTH = 16K
-
-    ITCM_FLASH (rx)         : ORIGIN = 0x00200000, LENGTH = 32K
-    ITCM_FLASH_CFG (r)      : ORIGIN = 0x00208000, LENGTH = 32K
-    ITCM_FLASH1 (rx)        : ORIGIN = 0x00210000, LENGTH = 1984K
-
-    AXIM_FLASH (rx)         : ORIGIN = 0x08008000, LENGTH = 32K
-    AXIM_FLASH_CFG (r)      : ORIGIN = 0x08010000, LENGTH = 32K
-    AXIM_FLASH1 (rx)        : ORIGIN = 0x08018000, LENGTH = 1984K
-
-    DTCM_RAM (rwx)          : ORIGIN = 0x20000000, LENGTH = 128K
-    SRAM1 (rwx)             : ORIGIN = 0x20020000, LENGTH = 368K
-    SRAM2 (rwx)             : ORIGIN = 0x2007C000, LENGTH = 16K
-    MEMORY_B1 (rx)          : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-REGION_ALIAS("FLASH",        AXIM_FLASH)
-REGION_ALIAS("FLASH_CONFIG", AXIM_FLASH_CFG)
-REGION_ALIAS("FLASH1",       AXIM_FLASH1)
-
-REGION_ALIAS("STACKRAM", DTCM_RAM)
-REGION_ALIAS("FASTRAM",  DTCM_RAM)
-REGION_ALIAS("RAM",      SRAM1)
-
-__firmware_start = ORIGIN(AXIM_FLASH);
-
-INCLUDE "stm32_flash_f7_split.ld"

From def94bf4dce2dfe2d6cf268d4b2750234d5271dd Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 19 Jun 2021 23:25:48 +0100
Subject: [PATCH 036/336] Update IDE - Visual Studio Code with Windows 10.md

---
 docs/development/IDE - Visual Studio Code with Windows 10.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/development/IDE - Visual Studio Code with Windows 10.md b/docs/development/IDE - Visual Studio Code with Windows 10.md
index 66c3928d50..ee83ce74af 100644
--- a/docs/development/IDE - Visual Studio Code with Windows 10.md	
+++ b/docs/development/IDE - Visual Studio Code with Windows 10.md	
@@ -119,7 +119,7 @@ Edit `./.vscode/tasks.json` to enable Building with `Ctrl + Shift + B` keyboard
             "options": {
                 "cwd": "${workspaceFolder}/build"
             }
-        },
+        }
     ]
 }
 ```

From 5e63c47d66764c2c024d1302a43e8e2bcea2f1a0 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 19 Jun 2021 19:38:29 -0300
Subject: [PATCH 037/336] Uint8_t To Bool

---
 src/main/io/beeper.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
index cd7893f5e6..89b55564af 100644
--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@@ -157,8 +157,8 @@ static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];
 #define BEEPER_CONFIRMATION_BEEP_GAP_DURATION 20
 
 
-// Beeper off = 0 Beeper on = 1
-static uint8_t beeperIsOn = 0;
+// Beeper off = false Beeper on = true
+static bool beeperIsOn = 0;
 
 // Place in current sequence
 static uint16_t beeperPos = 0;
@@ -259,7 +259,7 @@ void beeperSilence(void)
     warningLedRefresh();
 
 
-    beeperIsOn = 0;
+    beeperIsOn = false;
 
     beeperNextToggleTime = 0;
     beeperPos = 0;
@@ -352,7 +352,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
         }
 #endif
 
-        beeperIsOn = 1;
+        beeperIsOn = true;
         if (currentBeeperEntry->sequence[beeperPos] != 0) {
             if (!(getBeeperOffMask() & (1 << (currentBeeperEntry->mode - 1))))
                 BEEP_ON;
@@ -368,7 +368,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
             }
         }
     } else {
-        beeperIsOn = 0;
+        beeperIsOn = false;
         if (currentBeeperEntry->sequence[beeperPos] != 0) {
             BEEP_OFF;
             warningLedDisable();

From 58a49f0064923f205275a92a5c839d92830142e4 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 19 Jun 2021 21:03:29 -0300
Subject: [PATCH 038/336] fix initial value

---
 src/main/io/beeper.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
index 89b55564af..57cba56a61 100644
--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@@ -158,7 +158,7 @@ static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];
 
 
 // Beeper off = false Beeper on = true
-static bool beeperIsOn = 0;
+static bool beeperIsOn = false;
 
 // Place in current sequence
 static uint16_t beeperPos = 0;

From 675f317f1dbd35b53deb808b7785237de36527ab Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 19 Jun 2021 23:53:19 -0300
Subject: [PATCH 039/336] [Telemetry/ghst.c]Fix Coding Style

---
 src/main/telemetry/ghst.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/telemetry/ghst.c b/src/main/telemetry/ghst.c
index c2aca3ac51..85f6f85b96 100644
--- a/src/main/telemetry/ghst.c
+++ b/src/main/telemetry/ghst.c
@@ -147,10 +147,12 @@ void ghstFrameGpsSecondaryTelemetry(sbuf_t *dst)
     sbufWriteU16(dst, GPS_directionToHome);
 
     uint8_t gpsFlags = 0;
-    if(STATE(GPS_FIX))
+    if (STATE(GPS_FIX)) {
         gpsFlags |= GPS_FLAGS_FIX;
-    if(STATE(GPS_FIX_HOME))
+    }
+    if (STATE(GPS_FIX_HOME)) {
         gpsFlags |= GPS_FLAGS_FIX_HOME;
+    }
     sbufWriteU8(dst, gpsFlags);
 }
 

From cbf0c361eef87604dc5f056fb50acf0ac670cbcd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 20 Jun 2021 10:16:30 +0200
Subject: [PATCH 040/336] Allso Dboost to shrink Dterm when measurement
 acceleration lacks behind setpoint acceleration

---
 src/main/flight/pid.c | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d54f5ff443..5dbf6f399e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -699,17 +699,21 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
 
     float dBoost = 1.0f;
 
-    if (dBoostFactor > 1) {
-        const float dBoostGyroDelta = (pidState->gyroRate - pidState->previousRateGyro) / dT;
-        const float dBoostGyroAcceleration = fabsf(biquadFilterApply(&pidState->dBoostGyroLpf, dBoostGyroDelta));
-        const float dBoostRateAcceleration = fabsf((pidState->rateTarget - pidState->previousRateTarget) / dT);
+    const float dBoostGyroDelta = (pidState->gyroRate - pidState->previousRateGyro) / dT;
+    const float dBoostGyroAcceleration = fabsf(biquadFilterApply(&pidState->dBoostGyroLpf, dBoostGyroDelta));
+    const float dBoostRateAcceleration = fabsf((pidState->rateTarget - pidState->previousRateTarget) / dT);
 
-        const float acceleration = MAX(dBoostGyroAcceleration, dBoostRateAcceleration);
-        dBoost = scaleRangef(acceleration, 0.0f, dBoostMaxAtAlleceleration, 1.0f, dBoostFactor);
-        dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
-        dBoost = constrainf(dBoost, 1.0f, dBoostFactor);
+    if (dBoostGyroAcceleration >= dBoostRateAcceleration) {
+        //Gyro is accelerating faster than setpoint, we want to smooth out
+        dBoost = scaleRangef(dBoostGyroAcceleration, 0.0f, dBoostMaxAtAlleceleration, 1.0f, dBoostFactor);
+    } else {
+        //Setpoint is accelerating, we want to boost response
+        dBoost = scaleRangef(dBoostRateAcceleration, 0.0f, dBoostMaxAtAlleceleration, 0.0f, 1.0f);
     }
 
+    dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
+    dBoost = constrainf(dBoost, 0.0f, dBoostFactor);
+
     return dBoost;
 }
 #else

From 724c1aa65fec0b341bb87b6437ca202dbd43a2e4 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 20 Jun 2021 12:04:59 +0200
Subject: [PATCH 041/336] Log Dterm boost factor

---
 src/main/flight/pid.c | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 5dbf6f399e..70b2c14bf2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -68,6 +68,7 @@ FILE_COMPILE_FOR_SPEED
 #include "programming/logic_condition.h"
 
 typedef struct {
+    uint8_t axis;
     float kP;   // Proportional gain
     float kI;   // Integral gain
     float kD;   // Derivative gain
@@ -78,11 +79,6 @@ typedef struct {
     float gyroRate;
     float rateTarget;
 
-    // Buffer for derivative calculation
-#define PID_GYRO_RATE_BUF_LENGTH 5
-    float gyroRateBuf[PID_GYRO_RATE_BUF_LENGTH];
-    firFilter_t gyroRateFilter;
-
     // Rate integrator
     float errorGyroIf;
     float errorGyroIfLimit;
@@ -714,6 +710,8 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
     dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
     dBoost = constrainf(dBoost, 0.0f, dBoostFactor);
 
+    DEBUG_SET(DEBUG_ALWAYS, pidState->axis, dBoost * 100);
+
     return dBoost;
 }
 #else
@@ -1199,6 +1197,7 @@ void pidInit(void)
 #endif
 
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
+        pidState[axis].axis = axis;
         if (axis == FD_YAW) {
             pidState[axis].pidSumLimit = pidProfile()->pidSumLimitYaw;
             if (yawLpfHz) {

From efd3f459786bf8f9c06aa5e4e944ac4a92d8d9e3 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 20 Jun 2021 12:14:48 +0200
Subject: [PATCH 042/336] Update readme

---
 README.md | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/README.md b/README.md
index f34db4d136..cf8eecc7e9 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,6 @@
 # INAV - navigation capable flight controller
 
-## F3 based flight controllers
-
-> STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are deprecated and soon they will reach the end of support in INAV. If you are still using F3 boards, please migrate to F4 or F7.
-
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
-![Travis CI status](https://travis-ci.org/iNavFlight/inav.svg?branch=master)
 
 ## Features
 
@@ -16,9 +11,9 @@
 * Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices
 * Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
 * SmartAudio and IRC Tramp VTX support
-* DSHOT and Multishot ESCs
 * Blackbox flight recorder logging
 * On Screen Display (OSD) - both character and pixel style
+* DJI OSD integration: all elements, system messages and warnings
 * Telemetry: SmartPort, FPort, MAVlink, LTM
 * Multi-color RGB LED Strip support
 * Advanced gyro filtering: Matrix Filter and RPM filter

From 066f36576b6fc9dbee9ba437a625e24c10fc0b8a Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 20 Jun 2021 12:39:03 +0200
Subject: [PATCH 043/336] Always apply MR ControlDerivative

---
 src/main/flight/pid.c | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d54f5ff443..10df32db96 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -820,14 +820,8 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
 
     /*
      * Compute Control Derivative
-     * CD is enabled only when ANGLE and HORIZON modes are not enabled!
      */
-    float newCDTerm;
-    if (levelingEnabled) {
-        newCDTerm = 0.0F;
-    } else {
-        newCDTerm = rateTargetDeltaFiltered * (pidState->kCD / dT);
-    }
+    const float newCDTerm = rateTargetDeltaFiltered * (pidState->kCD / dT);
     DEBUG_SET(DEBUG_CD, axis, newCDTerm);
 
     // TODO: Get feedback from mixer on available correction range for each axis

From 4a29673dd05e9c7b6f7f1729c0a1bca4dd8c14b8 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 20 Jun 2021 14:22:19 -0300
Subject: [PATCH 044/336] Fix name clashes in FAT filesystem

---
 src/main/io/asyncfatfs/asyncfatfs.c | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/main/io/asyncfatfs/asyncfatfs.c b/src/main/io/asyncfatfs/asyncfatfs.c
index f4f8af6d33..90c211410d 100644
--- a/src/main/io/asyncfatfs/asyncfatfs.c
+++ b/src/main/io/asyncfatfs/asyncfatfs.c
@@ -2593,8 +2593,18 @@ static void afatfs_createFileContinue(afatfsFile_t *file)
                                 opState->phase = AFATFS_CREATEFILE_PHASE_FAILURE;
                                 goto doMore;
                             }
+                        } else if (entry->attrib & FAT_FILE_ATTRIBUTE_VOLUME_ID) {
+                            break;
                         } else if (strncmp(entry->filename, (char*) opState->filename, FAT_FILENAME_LENGTH) == 0) {
-                            // We found a file with this name!
+                            // We found a file or directory with this name!
+
+                            // Do not open file as dir or dir as file
+                            if (((entry->attrib ^ file->attrib) & FAT_FILE_ATTRIBUTE_DIRECTORY) != 0) {
+                                afatfs_findLast(&afatfs.currentDirectory);
+                                opState->phase = AFATFS_CREATEFILE_PHASE_FAILURE;
+                                goto doMore;
+                            }
+
                             afatfs_fileLoadDirectoryEntry(file, entry);
 
                             afatfs_findLast(&afatfs.currentDirectory);

From 92bc8364cec394fd87905de8d6a7b3c880709038 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 21 Jun 2021 15:11:15 +0200
Subject: [PATCH 045/336] PT2 and PT3 LPFs

---
 src/main/common/filter.c | 66 ++++++++++++++++++++++++++++++++++++++++
 src/main/common/filter.h | 27 ++++++++++++++++
 2 files changed, 93 insertions(+)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 0656a5dba7..afa986e8df 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -109,6 +109,72 @@ void pt1FilterReset(pt1Filter_t *filter, float input)
     filter->state = input;
 }
 
+/*
+ * PT2 LowPassFilter
+ */
+float pt2FilterGain(float f_cut, float dT)
+{
+    const float order = 2.0f;
+    const float orderCutoffCorrection = 1 / sqrtf(powf(2, 1.0f / order) - 1);
+    float RC = 1 / (2 * orderCutoffCorrection * M_PIf * f_cut);
+    // float RC = 1 / (2 * 1.553773974f * M_PIf * f_cut);
+    // where 1.553773974 = 1 / sqrt( (2^(1 / order) - 1) ) and order is 2
+    return dT / (RC + dT);
+}
+
+void pt2FilterInit(pt2Filter_t *filter, float k)
+{
+    filter->state = 0.0f;
+    filter->state1 = 0.0f;
+    filter->k = k;
+}
+
+void pt2FilterUpdateCutoff(pt2Filter_t *filter, float k)
+{
+    filter->k = k;
+}
+
+FAST_CODE float pt2FilterApply(pt2Filter_t *filter, float input)
+{
+    filter->state1 = filter->state1 + filter->k * (input - filter->state1);
+    filter->state = filter->state + filter->k * (filter->state1 - filter->state);
+    return filter->state;
+}
+
+/*
+ * PT3 LowPassFilter
+ */
+float pt3FilterGain(float f_cut, float dT)
+{
+    const float order = 3.0f;
+    const float orderCutoffCorrection = 1 / sqrtf(powf(2, 1.0f / order) - 1);
+    float RC = 1 / (2 * orderCutoffCorrection * M_PIf * f_cut);
+    // float RC = 1 / (2 * 1.961459177f * M_PIf * f_cut);
+    // where 1.961459177 = 1 / sqrt( (2^(1 / order) - 1) ) and order is 3
+    return dT / (RC + dT);
+}
+
+void pt3FilterInit(pt3Filter_t *filter, float k)
+{
+    filter->state = 0.0f;
+    filter->state1 = 0.0f;
+    filter->state2 = 0.0f;
+    filter->k = k;
+}
+
+void pt3FilterUpdateCutoff(pt3Filter_t *filter, float k)
+{
+    filter->k = k;
+}
+
+FAST_CODE float pt3FilterApply(pt3Filter_t *filter, float input)
+{
+    filter->state1 = filter->state1 + filter->k * (input - filter->state1);
+    filter->state2 = filter->state2 + filter->k * (filter->state1 - filter->state2);
+    filter->state = filter->state + filter->k * (filter->state2 - filter->state);
+    return filter->state;
+}
+
 // rate_limit = maximum rate of change of the output value in units per second
 void rateLimitFilterInit(rateLimitFilter_t *filter)
 {
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index a6406ee91c..7e6a579efe 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -27,6 +27,17 @@ typedef struct pt1Filter_s {
     float dT;
     float alpha;
 } pt1Filter_t;
+typedef struct pt2Filter_s {
+    float state;
+    float state1;
+    float k;
+} pt2Filter_t;
+typedef struct pt3Filter_s {
+    float state;
+    float state1;
+    float state2;
+    float k;
+} pt3Filter_t;
 
 /* this holds the data required to update samples thru a filter */
 typedef struct biquadFilter_s {
@@ -87,6 +98,22 @@ float pt1FilterApply3(pt1Filter_t *filter, float input, float dT);
 float pt1FilterApply4(pt1Filter_t *filter, float input, float f_cut, float dt);
 void pt1FilterReset(pt1Filter_t *filter, float input);
 
+/*
+ * PT2 LowPassFilter
+ */
+float pt2FilterGain(float f_cut, float dT);
+void pt2FilterInit(pt2Filter_t *filter, float k);
+void pt2FilterUpdateCutoff(pt2Filter_t *filter, float k);
+float pt2FilterApply(pt2Filter_t *filter, float input);
+
+/*
+ * PT3 LowPassFilter
+ */
+float pt3FilterGain(float f_cut, float dT);
+void pt3FilterInit(pt3Filter_t *filter, float k);
+void pt3FilterUpdateCutoff(pt3Filter_t *filter, float k);
+float pt3FilterApply(pt3Filter_t *filter, float input);
+
 void rateLimitFilterInit(rateLimitFilter_t *filter);
 float rateLimitFilterApply4(rateLimitFilter_t *filter, float input, float rate_limit, float dT);
 

From a8ec3b209ffa0c3bff6ddfe4ccc219638598e444 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Mon, 21 Jun 2021 16:30:36 +0200
Subject: [PATCH 046/336] only consider roll/pitch for allow bypass arming

---
 src/main/fc/fc_core.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index d9b83c9ad0..775e2b33dc 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -223,7 +223,7 @@ static void updateArmingStatus(void)
 
 	/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
 	if (isNavLaunchEnabled()) {
-	  if (areSticksDeflected()) {
+	  if (isRollPitchStickDeflected()) {
 	    ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
 	  } else {
 	    DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);

From 42054c97e6c6b17a25488ff56c99eb05caa39cb3 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Wed, 23 Jun 2021 10:05:35 -0400
Subject: [PATCH 047/336] Switched regular RSSI from LQ injection to scaled
 signal RSSI.

---
 src/main/rx/crsf.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index 8af07bce1c..3c4266aab9 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -232,10 +232,7 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
             }
             crsfFrame.frame.frameLength = CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC;
 
-            // Inject link quality into channel 17.
             const crsfPayloadLinkStatistics_t* linkStats = (crsfPayloadLinkStatistics_t*)&crsfFrame.frame.payload;
-            crsfChannelData[16] = scaleRange(constrain(linkStats->uplinkLQ, 0, 100), 0, 100, 191, 1791);    // will map to [1000;2000] range
-            lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(linkStats->uplinkLQ, 0, 100), 0, 100, 0, RSSI_MAX_VALUE));
 
             rxLinkStatistics.uplinkRSSI = -1* (linkStats->activeAntenna ? linkStats->uplinkRSSIAnt2 : linkStats->uplinkRSSIAnt1);
             rxLinkStatistics.uplinkLQ = linkStats->uplinkLQ;
@@ -244,6 +241,8 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
             rxLinkStatistics.uplinkTXPower = crsfPowerStates[linkStats->uplinkTXPower];
             rxLinkStatistics.activeAnt = linkStats->activeAntenna;
 
+            lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -130, -30), -130, -30, 0, RSSI_MAX_VALUE));
+
             // This is not RC channels frame, update channel value but don't indicate frame completion
             return RX_FRAME_PENDING;
         }

From 3c0f710658d70bb2d51dae4e5e9c702326f9a4dd Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Wed, 23 Jun 2021 10:10:27 -0400
Subject: [PATCH 048/336] Added CRSF % RSSI to disarm page

---
 src/main/io/osd.c | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index ecb0011c8f..eb536d4acd 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3377,15 +3377,20 @@ static void osdShowStatsPage1(void)
 
     switch (rxConfig()->serialrx_provider) {
         case SERIALRX_CRSF:
-            displayWrite(osdDisplayPort, statNameX, top, "MIN LQ           :");
-            itoa(stats.min_lq, buff, 10);
+            displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI %       :");
+            itoa(stats.min_rssi, buff, 10);
             strcat(buff, "%");
             displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
-            displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI         :");
+            displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI DBM     :");
             itoa(stats.min_rssi_dbm, buff, 10);
             tfp_sprintf(buff, "%s%c", buff, SYM_DBM);
             displayWrite(osdDisplayPort, statValuesX, top++, buff);
+
+            displayWrite(osdDisplayPort, statNameX, top, "MIN LQ           :");
+            itoa(stats.min_lq, buff, 10);
+            strcat(buff, "%");
+            displayWrite(osdDisplayPort, statValuesX, top++, buff);
             break;
         default:
             displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI         :");

From 0be545566ec83415aff37de0cff95ae04dd2c9b4 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 23 Jun 2021 20:14:27 +0200
Subject: [PATCH 049/336] display UK efficiency in metric

---
 src/main/io/osd.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index ecb0011c8f..357a8acd7b 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2410,8 +2410,6 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
-                case OSD_UNIT_UK:
-                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, 3);
                     if (!moreThanAh) {
@@ -2426,6 +2424,8 @@ static bool osdDrawSingleElement(uint8_t item)
                         buff[5] = '\0';
                     }
                     break;
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, 3);
                     if (!moreThanAh) {
@@ -2465,12 +2465,12 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
-                case OSD_UNIT_UK:
-                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3);
                     buff[3] = SYM_WH_MI;
                     break;
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     osdFormatCentiNumber(buff, value / 10, 0, 2, 0, 3);
                     buff[3] = SYM_WH_KM;

From 7f27c5c9fce5c84928f62b33ccd84f52810891bc Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 23 Jun 2021 20:58:29 +0200
Subject: [PATCH 050/336] correct comment

---
 src/main/drivers/osd_symbols.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 750ac0d8ec..5fa0872d30 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -34,7 +34,7 @@
 #define SYM_AH_KM                 0x08 // 008 Ah/km
 #define SYM_AH_MI                 0x09 // 009 Ah/mi
 #define SYM_MAH_MI_0              0x0A // 010 mAh/mi left
-#define SYM_MAH_MI_1              0x0B // 010 mAh/mi left
+#define SYM_MAH_MI_1              0x0B // 011 mAh/mi right
 #define SYM_LQ                    0x0C // 012 LQ
 
 #define SYM_TEMP_F                0x0D // 013 °F

From 26c99813eb020edf9612337332e612285b6ee63c Mon Sep 17 00:00:00 2001
From: Nikita Shestakov <42568603+nekida@users.noreply.github.com>
Date: Thu, 24 Jun 2021 14:56:48 +0300
Subject: [PATCH 051/336] Minor update

Reduce Scope of Variable throttleForRPM
Ternary operator instead of if-else
---
 src/main/telemetry/frsky_d.c | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/main/telemetry/frsky_d.c b/src/main/telemetry/frsky_d.c
index b551f6b9d1..0bc65d3457 100644
--- a/src/main/telemetry/frsky_d.c
+++ b/src/main/telemetry/frsky_d.c
@@ -193,10 +193,10 @@ static void sendGpsAltitude(void)
 
 static void sendThrottleOrBatterySizeAsRpm(void)
 {
-    uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
     sendDataHead(ID_RPM);
     if (ARMING_FLAG(ARMED)) {
         const throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
+        uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
         if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
                     throttleForRPM = 0;
         serialize16(throttleForRPM);
@@ -265,11 +265,7 @@ static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
     absgps = (absgps - deg * GPS_DEGREES_DIVIDER) * 60;        // absgps = Minutes left * 10^7
     min    = absgps / GPS_DEGREES_DIVIDER;                     // minutes left
 
-    if (telemetryConfig()->frsky_coordinate_format == FRSKY_FORMAT_DMS) {
-        result->dddmm = deg * 100 + min;
-    } else {
-        result->dddmm = deg * 60 + min;
-    }
+    result->dddmm = deg * ((FRSKY_FORMAT_DMS == telemetryConfig()->frsky_coordinate_format) ? (100) : (60)) + min;
 
     result->mmmm  = (absgps - min * GPS_DEGREES_DIVIDER) / 1000;
 }

From 5d628f655414fad67604f5022ebbf7bf0491cd3d Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Thu, 24 Jun 2021 09:40:00 -0400
Subject: [PATCH 052/336] Change sensitivity min to -120

from Semtech numbers
---
 src/main/rx/crsf.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index 3c4266aab9..64e5a13d98 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -241,7 +241,7 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
             rxLinkStatistics.uplinkTXPower = crsfPowerStates[linkStats->uplinkTXPower];
             rxLinkStatistics.activeAnt = linkStats->activeAntenna;
 
-            lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -130, -30), -130, -30, 0, RSSI_MAX_VALUE));
+            lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -120, -30), -120, -30, 0, RSSI_MAX_VALUE));
 
             // This is not RC channels frame, update channel value but don't indicate frame completion
             return RX_FRAME_PENDING;

From c664212ab530467222f6f3574c55509f5249a205 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 25 Jun 2021 00:39:33 -0300
Subject: [PATCH 053/336] Rename Development Docs

---
 ...em.md => Building in Windows 10 or 11 with Linux Subsystem.md} | 0
 ...0 with MSYS2.md => Building in Windows 10 or 11 with MSYS2.md} | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename docs/development/{Building in Windows 10 with Linux Subsystem.md => Building in Windows 10 or 11 with Linux Subsystem.md} (100%)
 rename docs/development/{Building in Windows 10 with MSYS2.md => Building in Windows 10 or 11 with MSYS2.md} (100%)

diff --git a/docs/development/Building in Windows 10 with Linux Subsystem.md b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
similarity index 100%
rename from docs/development/Building in Windows 10 with Linux Subsystem.md
rename to docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
diff --git a/docs/development/Building in Windows 10 with MSYS2.md b/docs/development/Building in Windows 10 or 11 with MSYS2.md
similarity index 100%
rename from docs/development/Building in Windows 10 with MSYS2.md
rename to docs/development/Building in Windows 10 or 11 with MSYS2.md

From f8dc04aad67512c6b3125fac494fa29a108f7f2d Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Fri, 25 Jun 2021 09:16:15 +0200
Subject: [PATCH 054/336] change target defelction to 80%

---
 src/main/fc/settings.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 22e8946f3a..f442d2d32e 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2220,7 +2220,7 @@ groups:
     condition: USE_AUTOTUNE_FIXED_WING
     members:
       - name: fw_autotune_min_stick
-        description: "Minimum stick input [%] to consider overshoot/undershoot detection"
+        description: "Minimum stick input [%], after applying deadband and expo, to consider overshoot/undershoot detection"
         default_value: 50
         field: fw_min_stick
         min: 0
@@ -2251,7 +2251,7 @@ groups:
         type: uint8_t
       - name: fw_autotune_max_rate_deflection
         description: "The target percentage of maximum mixer output used for determining the rates in `AUTO` and `LIMIT`."
-        default_value: 90
+        default_value: 80
         field: fw_max_rate_deflection
         min: 50
         max: 100

From 4e5a2f3950922731b629a2eb15063d89d9ddcb63 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Fri, 25 Jun 2021 09:23:17 +0200
Subject: [PATCH 055/336] change setting description

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index f442d2d32e..a81207a1af 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2220,7 +2220,7 @@ groups:
     condition: USE_AUTOTUNE_FIXED_WING
     members:
       - name: fw_autotune_min_stick
-        description: "Minimum stick input [%], after applying deadband and expo, to consider overshoot/undershoot detection"
+        description: "Minimum stick input [%], after applying deadband and expo, to start recording the plane's response to stick input."
         default_value: 50
         field: fw_min_stick
         min: 0

From ed0de5dfc708a3cac48a2e76066acee441f390f5 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Fri, 25 Jun 2021 09:32:46 +0200
Subject: [PATCH 056/336] docs

---
 docs/Settings.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index d8cf7304aa..cebd4b72cb 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1158,13 +1158,13 @@ The target percentage of maximum mixer output used for determining the rates in
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 90 | 50 | 100 |
+| 80 | 50 | 100 |
 
 ---
 
 ### fw_autotune_min_stick
 
-Minimum stick input [%] to consider overshoot/undershoot detection
+Minimum stick input [%], after applying deadband and expo, to start recording the plane's response to stick input.
 
 | Default | Min | Max |
 | --- | --- | --- |

From d74cdc80a8194c38ff274bd90743b943d810ac3c Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 25 Jun 2021 12:12:25 +0200
Subject: [PATCH 057/336] Version bump

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 400e890b7f..795d95934f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,7 +37,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 3.0.0)
+project(INAV VERSION 3.0.1)
 
 enable_language(ASM)
 

From a13fd02efc0b39d509d32613a14b8625e0017375 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Mon, 21 Jun 2021 16:30:36 +0200
Subject: [PATCH 058/336] only consider roll/pitch for allow bypass arming

---
 src/main/fc/fc_core.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 529de05f61..da579b6793 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -216,7 +216,7 @@ static void updateArmingStatus(void)
 
 	/* CHECK: pitch / roll sticks centered when NAV_LAUNCH_MODE enabled */
 	if (isNavLaunchEnabled()) {
-	  if (areSticksDeflected()) {
+	  if (isRollPitchStickDeflected()) {
 	    ENABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);
 	  } else {
 	    DISABLE_ARMING_FLAG(ARMING_DISABLED_ROLLPITCH_NOT_CENTERED);

From 8095b23ae29d5db10cc4f1e470cd914a8c585763 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 23 Jun 2021 20:14:27 +0200
Subject: [PATCH 059/336] display UK efficiency in metric

---
 src/main/io/osd.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 2e15ce9563..eb22c96960 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2397,8 +2397,6 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
-                case OSD_UNIT_UK:
-                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, 3);
                     if (!moreThanAh) {
@@ -2413,6 +2411,8 @@ static bool osdDrawSingleElement(uint8_t item)
                         buff[5] = '\0';
                     }
                     break;
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, 3);
                     if (!moreThanAh) {
@@ -2452,12 +2452,12 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
-                case OSD_UNIT_UK:
-                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3);
                     buff[3] = SYM_WH_MI;
                     break;
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     osdFormatCentiNumber(buff, value / 10, 0, 2, 0, 3);
                     buff[3] = SYM_WH_KM;

From 64d88ff7b49f78efc42ac3a7f6e9cf8caf820836 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Wed, 23 Jun 2021 20:58:29 +0200
Subject: [PATCH 060/336] correct comment

---
 src/main/drivers/osd_symbols.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 750ac0d8ec..5fa0872d30 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -34,7 +34,7 @@
 #define SYM_AH_KM                 0x08 // 008 Ah/km
 #define SYM_AH_MI                 0x09 // 009 Ah/mi
 #define SYM_MAH_MI_0              0x0A // 010 mAh/mi left
-#define SYM_MAH_MI_1              0x0B // 010 mAh/mi left
+#define SYM_MAH_MI_1              0x0B // 011 mAh/mi right
 #define SYM_LQ                    0x0C // 012 LQ
 
 #define SYM_TEMP_F                0x0D // 013 °F

From 8595613a67946296b74cb4d2059279552ce59f8e Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sat, 29 May 2021 15:33:53 +0200
Subject: [PATCH 061/336] h7: enable uart RCC

---
 src/main/drivers/serial_uart_stm32h7xx.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/drivers/serial_uart_stm32h7xx.c b/src/main/drivers/serial_uart_stm32h7xx.c
index 2ad67b583a..0e22206bed 100644
--- a/src/main/drivers/serial_uart_stm32h7xx.c
+++ b/src/main/drivers/serial_uart_stm32h7xx.c
@@ -331,6 +331,10 @@ uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_t mode,
 
     s->Handle.Instance = uart->dev;
 
+    if (uart->rcc) {
+        RCC_ClockCmd(uart->rcc, ENABLE);
+    }
+
     IO_t tx = IOGetByTag(uart->tx);
     IO_t rx = IOGetByTag(uart->rx);
 

From 0a2c0802526853d330a89f51cbc54f95367e7c24 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Mon, 3 May 2021 20:27:46 +0200
Subject: [PATCH 062/336] h7: enable DPS310

---
 src/main/target/MATEKH743/target.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index cc3409c8f5..7390760331 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -146,6 +146,7 @@
 #define BARO_I2C_BUS            BUS_I2C2
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

From d676a189d73c27688a6b662bdd1e4b6c45628b83 Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Fri, 25 Jun 2021 13:22:27 +0200
Subject: [PATCH 063/336] Fix the time window calculation problem in
 zeroCalibration code

---
 src/main/common/calibration.c | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/main/common/calibration.c b/src/main/common/calibration.c
index 4c5efba684..be67a0932f 100644
--- a/src/main/common/calibration.c
+++ b/src/main/common/calibration.c
@@ -34,7 +34,7 @@ void zeroCalibrationStartS(zeroCalibrationScalar_t * s, timeMs_t window, float t
 {
     // Reset parameters and state
     s->params.state = ZERO_CALIBRATION_IN_PROGRESS;
-    s->params.startTimeMs = millis();
+    s->params.startTimeMs = 0;
     s->params.windowSizeMs = window;
     s->params.stdDevThreshold = threshold;
     s->params.allowFailure = allowFailure;
@@ -60,6 +60,13 @@ void zeroCalibrationAddValueS(zeroCalibrationScalar_t * s, const float v)
         return;
     }
 
+    // An unknown delay may have passed between `zeroCalibrationStartS` and first sample acquisition
+    // therefore our window measurement might be incorrect
+    // To account for that we reset the startTimeMs when acquiring the first sample
+    if (s->params.sampleCount == 0 && s->params.startTimeMs == 0) {
+        s->params.startTimeMs = millis();
+    }
+
     // Add value
     s->val.accumulatedValue += v;
     s->params.sampleCount++;

From 20260b9538d3e77a941498917c921953d644356b Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sat, 29 May 2021 20:54:42 +0200
Subject: [PATCH 064/336] import dma impl for h7

---
 cmake/stm32h7.cmake              |   2 +-
 src/main/drivers/dma_stm32h7xx.c | 128 +++++++++++++++++++++++++++++++
 2 files changed, 129 insertions(+), 1 deletion(-)
 create mode 100644 src/main/drivers/dma_stm32h7xx.c

diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
index 3642b23d0d..2cddbbfb4d 100644
--- a/cmake/stm32h7.cmake
+++ b/cmake/stm32h7.cmake
@@ -145,7 +145,7 @@ main_sources(STM32H7_SRC
 
 #    drivers/adc_stm32h7xx.c
     drivers/bus_i2c_hal.c
-#    drivers/dma_stm32h7xx.c
+    drivers/dma_stm32h7xx.c
     drivers/bus_spi_hal.c
     drivers/memprot.h
     drivers/memprot_hal.c
diff --git a/src/main/drivers/dma_stm32h7xx.c b/src/main/drivers/dma_stm32h7xx.c
new file mode 100644
index 0000000000..eef3d0c28b
--- /dev/null
+++ b/src/main/drivers/dma_stm32h7xx.c
@@ -0,0 +1,128 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <platform.h>
+
+#include "common/utils.h"
+#include "drivers/nvic.h"
+#include "drivers/dma.h"
+#include "drivers/rcc.h"
+
+/*
+ * DMA descriptors.
+ */
+static dmaChannelDescriptor_t dmaDescriptors[] = {
+    [0]  = DEFINE_DMA_CHANNEL(1, 0,  0), // DMA1_ST0
+    [1]  = DEFINE_DMA_CHANNEL(1, 1,  6), // DMA1_ST1
+    [2]  = DEFINE_DMA_CHANNEL(1, 2, 16), // DMA1_ST2
+    [3]  = DEFINE_DMA_CHANNEL(1, 3, 22), // DMA1_ST3
+    [4]  = DEFINE_DMA_CHANNEL(1, 4, 32), // DMA1_ST4
+    [5]  = DEFINE_DMA_CHANNEL(1, 5, 38), // DMA1_ST5
+    [6]  = DEFINE_DMA_CHANNEL(1, 6, 48), // DMA1_ST6
+    [7]  = DEFINE_DMA_CHANNEL(1, 7, 54), // DMA1_ST7
+
+    [8]  = DEFINE_DMA_CHANNEL(2, 0,  0), // DMA2_ST0
+    [9]  = DEFINE_DMA_CHANNEL(2, 1,  6), // DMA2_ST1
+    [10] = DEFINE_DMA_CHANNEL(2, 2, 16), // DMA2_ST2
+    [11] = DEFINE_DMA_CHANNEL(2, 3, 22), // DMA2_ST3
+    [12] = DEFINE_DMA_CHANNEL(2, 4, 32), // DMA2_ST4
+    [13] = DEFINE_DMA_CHANNEL(2, 5, 38), // DMA2_ST5
+    [14] = DEFINE_DMA_CHANNEL(2, 6, 48), // DMA2_ST6
+    [15] = DEFINE_DMA_CHANNEL(2, 7, 54), // DMA2_ST7
+};
+
+/*
+ * DMA IRQ Handlers
+ */
+DEFINE_DMA_IRQ_HANDLER(1, 0, 0) // DMA1_ST0
+DEFINE_DMA_IRQ_HANDLER(1, 1, 1) // DMA1_ST1
+DEFINE_DMA_IRQ_HANDLER(1, 2, 2) // DMA1_ST2
+DEFINE_DMA_IRQ_HANDLER(1, 3, 3) // DMA1_ST3
+DEFINE_DMA_IRQ_HANDLER(1, 4, 4) // DMA1_ST4
+DEFINE_DMA_IRQ_HANDLER(1, 5, 5) // DMA1_ST5
+DEFINE_DMA_IRQ_HANDLER(1, 6, 6) // DMA1_ST6
+DEFINE_DMA_IRQ_HANDLER(1, 7, 7) // DMA1_ST7
+DEFINE_DMA_IRQ_HANDLER(2, 0, 8) // DMA2_ST0
+DEFINE_DMA_IRQ_HANDLER(2, 1, 9) // DMA2_ST1
+DEFINE_DMA_IRQ_HANDLER(2, 2, 10) // DMA2_ST2
+DEFINE_DMA_IRQ_HANDLER(2, 3, 11) // DMA2_ST3
+DEFINE_DMA_IRQ_HANDLER(2, 4, 12) // DMA2_ST4
+DEFINE_DMA_IRQ_HANDLER(2, 5, 13) // DMA2_ST5
+DEFINE_DMA_IRQ_HANDLER(2, 6, 14) // DMA2_ST6
+DEFINE_DMA_IRQ_HANDLER(2, 7, 15) // DMA2_ST7
+
+DMA_t dmaGetByTag(dmaTag_t tag)
+{
+    for (unsigned i = 0; i < ARRAYLEN(dmaDescriptors); i++) {
+        if (DMATAG_GET_DMA(dmaDescriptors[i].tag) == DMATAG_GET_DMA(tag) && DMATAG_GET_STREAM(dmaDescriptors[i].tag) == DMATAG_GET_STREAM(tag)) {
+            return (DMA_t)&dmaDescriptors[i];
+        }
+    }
+
+    return (DMA_t) NULL;
+}
+
+void dmaEnableClock(DMA_t dma)
+{
+    if (dma->dma == DMA1) {
+        RCC_ClockCmd(RCC_AHB1(DMA1), ENABLE);
+    }
+    else {
+        RCC_ClockCmd(RCC_AHB1(DMA2), ENABLE);
+    }
+}
+
+resourceOwner_e dmaGetOwner(DMA_t dma)
+{
+    return dma->owner;
+}
+
+void dmaInit(DMA_t dma, resourceOwner_e owner, uint8_t resourceIndex)
+{
+    dmaEnableClock(dma);
+    dma->owner = owner;
+    dma->resourceIndex = resourceIndex;
+}
+
+void dmaSetHandler(DMA_t dma, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
+{
+    dmaEnableClock(dma);
+
+    dma->irqHandlerCallback = callback;
+    dma->userParam = userParam;
+
+    HAL_NVIC_SetPriority(dma->irqNumber, priority, 0);
+    HAL_NVIC_EnableIRQ(dma->irqNumber);
+}
+
+DMA_t dmaGetByRef(const DMA_Stream_TypeDef* ref)
+{
+    for (unsigned i = 0; i < (sizeof(dmaDescriptors) / sizeof(dmaDescriptors[0])); i++) {
+        if (ref == dmaDescriptors[i].ref) {
+            return &dmaDescriptors[i];
+        }
+    }
+
+    return NULL;
+}

From 71bfae46c3edeedd064fcc2890458e710928e9b7 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sat, 29 May 2021 21:06:47 +0200
Subject: [PATCH 065/336] MATEKH743: tidy target, enable dshot related options

---
 src/main/target/MATEKH743/target.h | 32 ++++++++++--------------------
 1 file changed, 11 insertions(+), 21 deletions(-)

diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 7390760331..21b7abf0e8 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -27,9 +27,6 @@
 #define BEEPER                  PA15
 #define BEEPER_INVERTED
 
-
-
-
 // *************** UART *****************************
 #define USE_VCP
 
@@ -67,19 +64,6 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART6
 
-
-
-#define MAX_PWM_OUTPUT_PORTS        15
-
-
-
-
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTE 0xffff
-
 // *************** IMU generic ***********************
 #define USE_DUAL_GYRO
 #define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
@@ -164,7 +148,18 @@
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        15
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIALSHOT
 
 #if 0
 #define USE_EXTI
@@ -197,9 +192,4 @@
 #define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define CURRENT_METER_SCALE         250
 
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define USE_DSHOT
-#define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #endif
\ No newline at end of file

From e7a1b33b0ab80ea4a34196d90798ae98d39e7c7d Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sun, 30 May 2021 01:18:27 +0200
Subject: [PATCH 066/336] move adcChannel to 32bit h7 indexes them differently.

---
 src/main/drivers/adc.c      | 2 +-
 src/main/drivers/adc_impl.h | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
index e45ffce32f..21b0975937 100644
--- a/src/main/drivers/adc.c
+++ b/src/main/drivers/adc.c
@@ -57,7 +57,7 @@ static int adcFunctionMap[ADC_FUNCTION_COUNT];
 adc_config_t adcConfig[ADC_CHN_COUNT];  // index 0 is dummy for ADC_CHN_NONE
 volatile uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_SAMPLES];
 
-uint8_t adcChannelByTag(ioTag_t ioTag)
+uint32_t adcChannelByTag(ioTag_t ioTag)
 {
     for (uint8_t i = 0; i < ARRAYLEN(adcTagMap); i++) {
         if (ioTag == adcTagMap[i].tag)
diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 901122daa9..2546cfeac4 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -46,7 +46,7 @@ typedef enum ADCDevice {
 
 typedef struct adcTagMap_s {
     ioTag_t tag;
-    uint8_t channel;
+    uint32_t channel;
 } adcTagMap_t;
 
 typedef struct adcDevice_s {
@@ -70,7 +70,7 @@ typedef struct adcDevice_s {
 typedef struct adc_config_s {
     ioTag_t tag;
     ADCDevice adcDevice;
-    uint8_t adcChannel;         // ADC1_INxx channel number
+    uint32_t adcChannel;         // ADC1_INxx channel number
     uint8_t dmaIndex;           // index into DMA buffer in case of sparse channels
     bool enabled;
     uint8_t sampleTime;
@@ -82,4 +82,4 @@ extern volatile uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_S
 
 void adcHardwareInit(drv_adc_config_t *init);
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance);
-uint8_t adcChannelByTag(ioTag_t ioTag);
+uint32_t adcChannelByTag(ioTag_t ioTag);

From 4ad6ade4687172a8bf1228ffc87deb82b9eee8d4 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sun, 30 May 2021 01:23:03 +0200
Subject: [PATCH 067/336] h7: add adc implementation

---
 cmake/stm32h7.cmake                |   2 +-
 src/main/drivers/adc.c             |   2 +-
 src/main/drivers/adc_impl.h        |  16 +-
 src/main/drivers/adc_stm32h7xx.c   | 230 +++++++++++++++++++++++++++++
 src/main/target/MATEKH743/target.h |  33 +++--
 5 files changed, 262 insertions(+), 21 deletions(-)
 create mode 100644 src/main/drivers/adc_stm32h7xx.c

diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
index 2cddbbfb4d..758f9dca25 100644
--- a/cmake/stm32h7.cmake
+++ b/cmake/stm32h7.cmake
@@ -143,7 +143,7 @@ main_sources(STM32H7_SRC
 
     config/config_streamer_stm32h7.c
 
-#    drivers/adc_stm32h7xx.c
+    drivers/adc_stm32h7xx.c
     drivers/bus_i2c_hal.c
     drivers/dma_stm32h7xx.c
     drivers/bus_spi_hal.c
diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
index 21b0975937..573c1e69b7 100644
--- a/src/main/drivers/adc.c
+++ b/src/main/drivers/adc.c
@@ -55,7 +55,7 @@ static uint8_t activeChannelCount[ADCDEV_COUNT] = {0};
 
 static int adcFunctionMap[ADC_FUNCTION_COUNT];
 adc_config_t adcConfig[ADC_CHN_COUNT];  // index 0 is dummy for ADC_CHN_NONE
-volatile uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_SAMPLES];
+volatile ADC_VALUES_ALIGNMENT(uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_SAMPLES]);
 
 uint32_t adcChannelByTag(ioTag_t ioTag)
 {
diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 2546cfeac4..41f2635ce9 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -22,19 +22,27 @@
 
 #if defined(STM32F4) || defined(STM32F7)
 #define ADC_TAG_MAP_COUNT 16
+#elif defined(STM32H7)
+#define ADC_TAG_MAP_COUNT 28
 #elif defined(STM32F3)
 #define ADC_TAG_MAP_COUNT 39
 #else
 #define ADC_TAG_MAP_COUNT 10
 #endif
 
+#if defined(STM32H7)
+#define ADC_VALUES_ALIGNMENT(def) def __attribute__ ((aligned (32)))
+#else
+#define ADC_VALUES_ALIGNMENT(def) def 
+#endif
+
 typedef enum ADCDevice {
     ADCINVALID = -1,
     ADCDEV_1   = 0,
 #if defined(STM32F3)
     ADCDEV_2,
     ADCDEV_MAX = ADCDEV_2,
-#elif defined(STM32F4) || defined(STM32F7)
+#elif defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
     ADCDEV_2,
     ADCDEV_3,
     ADCDEV_MAX = ADCDEV_3,
@@ -53,13 +61,13 @@ typedef struct adcDevice_s {
     ADC_TypeDef* ADCx;
     rccPeriphTag_t rccADC;
     rccPeriphTag_t rccDMA;
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
     DMA_Stream_TypeDef* DMAy_Streamx;
     uint32_t channel;
 #else
     DMA_Channel_TypeDef* DMAy_Channelx;
 #endif
-#if defined(STM32F7)
+#if defined(STM32F7) || defined(STM32H7)
     ADC_HandleTypeDef ADCHandle;
     DMA_HandleTypeDef DmaHandle;
 #endif
@@ -78,7 +86,7 @@ typedef struct adc_config_s {
 
 extern const adcTagMap_t adcTagMap[ADC_TAG_MAP_COUNT];
 extern adc_config_t adcConfig[ADC_CHN_COUNT];
-extern volatile uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_SAMPLES];
+extern volatile ADC_VALUES_ALIGNMENT(uint16_t adcValues[ADCDEV_COUNT][ADC_CHN_COUNT * ADC_AVERAGE_N_SAMPLES]);
 
 void adcHardwareInit(drv_adc_config_t *init);
 ADCDevice adcDeviceByInstance(ADC_TypeDef *instance);
diff --git a/src/main/drivers/adc_stm32h7xx.c b/src/main/drivers/adc_stm32h7xx.c
new file mode 100644
index 0000000000..be9f302ff1
--- /dev/null
+++ b/src/main/drivers/adc_stm32h7xx.c
@@ -0,0 +1,230 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "build/debug.h"
+
+#include "platform.h"
+#include "drivers/time.h"
+
+#include "drivers/io.h"
+#include "io_impl.h"
+#include "rcc.h"
+#include "dma.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro/accgyro.h"
+
+#include "adc.h"
+#include "adc_impl.h"
+
+
+static adcDevice_t adcHardware[ADCDEV_COUNT] = {
+    {
+        .ADCx = ADC1,
+        .rccADC = RCC_AHB1(ADC12),
+        .rccDMA = RCC_AHB1(DMA2), 
+        .DMAy_Streamx = DMA2_Stream0,
+        .channel = DMA_REQUEST_ADC1,
+        .enabled = false, 
+        .usedChannelCount = 0
+    },
+    /* currently not used
+    { 
+        .ADCx = ADC2,
+        .rccADC = RCC_AHB1(ADC12),
+        .rccDMA = RCC_AHB1(DMA2), 
+        .DMAy_Streamx = DMA2_Stream1,
+        .channel = DMA_REQUEST_ADC2,
+        .enabled = false, 
+        .usedChannelCount = 0
+    }
+    */
+};
+
+adcDevice_t adcDevice[ADCDEV_COUNT];
+
+/* note these could be packed up for saving space */
+const adcTagMap_t adcTagMap[] = {
+    { DEFIO_TAG_E__PC0, ADC_CHANNEL_10 },
+    { DEFIO_TAG_E__PC1, ADC_CHANNEL_11 },
+    { DEFIO_TAG_E__PC2, ADC_CHANNEL_0  },
+    { DEFIO_TAG_E__PC3, ADC_CHANNEL_1  },
+    { DEFIO_TAG_E__PC4, ADC_CHANNEL_4  },
+    { DEFIO_TAG_E__PC5, ADC_CHANNEL_8  },
+    { DEFIO_TAG_E__PB0, ADC_CHANNEL_9  },
+    { DEFIO_TAG_E__PB1, ADC_CHANNEL_5  },
+    { DEFIO_TAG_E__PA0, ADC_CHANNEL_16 },
+    { DEFIO_TAG_E__PA1, ADC_CHANNEL_17 },
+    { DEFIO_TAG_E__PA2, ADC_CHANNEL_14 },
+    { DEFIO_TAG_E__PA3, ADC_CHANNEL_15 },
+    { DEFIO_TAG_E__PA4, ADC_CHANNEL_18 },
+    { DEFIO_TAG_E__PA5, ADC_CHANNEL_19 },
+    { DEFIO_TAG_E__PA6, ADC_CHANNEL_3  },
+    { DEFIO_TAG_E__PA7, ADC_CHANNEL_7  },
+};
+
+// Translate rank number x to ADC_REGULAR_RANK_x (Note that array index is 0-origin)
+static const uint32_t adcRegularRankMap[] = {
+    ADC_REGULAR_RANK_1,
+    ADC_REGULAR_RANK_2,
+    ADC_REGULAR_RANK_3,
+    ADC_REGULAR_RANK_4,
+    ADC_REGULAR_RANK_5,
+    ADC_REGULAR_RANK_6,
+    ADC_REGULAR_RANK_7,
+    ADC_REGULAR_RANK_8,
+    ADC_REGULAR_RANK_9,
+    ADC_REGULAR_RANK_10,
+    ADC_REGULAR_RANK_11,
+    ADC_REGULAR_RANK_12,
+    ADC_REGULAR_RANK_13,
+    ADC_REGULAR_RANK_14,
+    ADC_REGULAR_RANK_15,
+    ADC_REGULAR_RANK_16,
+};
+
+ADCDevice adcDeviceByInstance(ADC_TypeDef *instance)
+{
+    if (instance == ADC1)
+        return ADCDEV_1;
+
+    if (instance == ADC2)
+        return ADCDEV_2;
+
+    return ADCINVALID;
+}
+
+static void adcInstanceInit(ADCDevice adcDevice)
+{
+    adcDevice_t * adc = &adcHardware[adcDevice];
+
+    RCC_ClockCmd(adc->rccDMA, ENABLE);
+    RCC_ClockCmd(adc->rccADC, ENABLE);
+
+    adc->ADCHandle.Instance = adc->ADCx;
+
+    adc->ADCHandle.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV4;
+    adc->ADCHandle.Init.Resolution            = ADC_RESOLUTION_12B;
+    adc->ADCHandle.Init.ContinuousConvMode    = ENABLE;
+    adc->ADCHandle.Init.ExternalTrigConv      = ADC_EXTERNALTRIG_T1_CC1;
+    adc->ADCHandle.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_NONE;
+    adc->ADCHandle.Init.NbrOfConversion       = adc->usedChannelCount;
+    adc->ADCHandle.Init.ScanConvMode          = adc->usedChannelCount > 1 ? ENABLE : DISABLE; // 1=scan more that one channel in group
+    adc->ADCHandle.Init.DiscontinuousConvMode = DISABLE;
+    adc->ADCHandle.Init.NbrOfDiscConversion   = 0;
+    adc->ADCHandle.Init.EOCSelection          = DISABLE;
+    adc->ADCHandle.Init.LowPowerAutoWait      = DISABLE;
+
+    // Enable circular DMA.
+    adc->ADCHandle.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DMA_CIRCULAR;
+
+    adc->ADCHandle.Init.Overrun                  = ADC_OVR_DATA_OVERWRITTEN;
+    adc->ADCHandle.Init.OversamplingMode         = DISABLE;
+
+    if (HAL_ADC_Init(&adc->ADCHandle) != HAL_OK) {
+        return;
+    }
+
+    if (HAL_ADCEx_Calibration_Start(&adc->ADCHandle, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED) != HAL_OK) {
+      return;
+    }
+
+    adc->DmaHandle.Init.Request = adc->channel;
+    adc->DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    adc->DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+    adc->DmaHandle.Init.MemInc = ((adc->usedChannelCount > 1) || (ADC_AVERAGE_N_SAMPLES > 1)) ? DMA_MINC_ENABLE : DMA_MINC_DISABLE;
+    adc->DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    adc->DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    adc->DmaHandle.Init.Mode = DMA_CIRCULAR;
+    adc->DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
+    adc->DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    adc->DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+    adc->DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
+    adc->DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
+    adc->DmaHandle.Instance = adc->DMAy_Streamx;
+
+    if (HAL_DMA_Init(&adc->DmaHandle) != HAL_OK) {
+        return;
+    }
+
+    __HAL_LINKDMA(&adc->ADCHandle, DMA_Handle, adc->DmaHandle);
+
+    uint8_t rank = 0;
+    for (int i = ADC_CHN_1; i < ADC_CHN_COUNT; i++) {
+        if (!adcConfig[i].enabled || adcConfig[i].adcDevice != adcDevice) {
+            continue;
+        }
+
+        ADC_ChannelConfTypeDef sConfig;
+        sConfig.Channel      = adcConfig[i].adcChannel;
+        sConfig.Rank         = adcRegularRankMap[rank++];
+        sConfig.SamplingTime = adcConfig[i].sampleTime;
+        sConfig.SingleDiff   = ADC_SINGLE_ENDED;
+        sConfig.OffsetNumber = ADC_OFFSET_NONE;
+        sConfig.Offset       = 0;
+
+        if (HAL_ADC_ConfigChannel(&adc->ADCHandle, &sConfig) != HAL_OK) {
+            return;
+        }
+    }
+
+    if (HAL_ADC_Start_DMA(&adc->ADCHandle, (uint32_t*)&adcValues[adcDevice], adc->usedChannelCount * ADC_AVERAGE_N_SAMPLES) != HAL_OK) {
+        return;
+    }
+}
+
+void adcHardwareInit(drv_adc_config_t *init)
+{
+    UNUSED(init);
+    int configuredAdcChannels = 0;
+
+    for (int i = ADC_CHN_1; i < ADC_CHN_COUNT; i++) {
+        if (!adcConfig[i].tag)
+            continue;
+
+        adcDevice_t * adc = &adcHardware[adcConfig[i].adcDevice];
+
+        IOInit(IOGetByTag(adcConfig[i].tag), OWNER_ADC, RESOURCE_ADC_CH1 + (i - ADC_CHN_1), 0);
+        IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_MODE_ANALOG, 0, GPIO_NOPULL));
+
+        adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
+        adcConfig[i].dmaIndex = adc->usedChannelCount++;
+        adcConfig[i].sampleTime = ADC_SAMPLETIME_387CYCLES_5;
+        adcConfig[i].enabled = true;
+
+        adc->enabled = true;
+        configuredAdcChannels++;
+    }
+
+    if (configuredAdcChannels == 0)
+        return;
+
+    for (int i = 0; i < ADCDEV_COUNT; i++) {
+        if (adcHardware[i].enabled) {
+            adcInstanceInit(i);
+        }
+    }
+}
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 21b7abf0e8..6380723d31 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -148,6 +148,24 @@
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+
+#define ADC_CHANNEL_1_PIN           PC0  //ADC123 VBAT1
+#define ADC_CHANNEL_2_PIN           PC1  //ADC123 CURR1
+#define ADC_CHANNEL_3_PIN           PC5  //ADC12  RSSI
+#define ADC_CHANNEL_4_PIN           PC4  //ADC12  AirS
+#define ADC_CHANNEL_5_PIN           PA4  //ADC12  VB2
+#define ADC_CHANNEL_6_PIN           PA7  //ADC12  CU2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
+
+#define CURRENT_METER_SCALE         250
+
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA 0xffff
@@ -165,20 +183,6 @@
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
 
-// *************** ADC *****************************
-#define USE_ADC
-#define ADC_INSTANCE                ADC1
-
-#define ADC_CHANNEL_1_PIN           PC2
-#define ADC_CHANNEL_2_PIN           PC3
-#define ADC_CHANNEL_3_PIN           PC1
-#define ADC_CHANNEL_4_PIN           PC0
-
-#define VBAT_ADC_CHANNEL            ADC_CHN_1
-#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
-#define RSSI_ADC_CHANNEL            ADC_CHN_3
-#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
-
 // *************** PINIO ***************************
 #define USE_PINIO
 #define USE_PINIOBOX
@@ -190,6 +194,5 @@
 #define WS2811_PIN                  PA8
 
 #define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
-#define CURRENT_METER_SCALE         250
 
 #endif
\ No newline at end of file

From a35fe40a470e8d2d8a538e56c8c65618468a2011 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Mon, 31 May 2021 20:30:33 +0200
Subject: [PATCH 068/336] h7: move adc values to dma_ram section to ensure
 coherent reads

---
 src/main/drivers/adc_impl.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 41f2635ce9..290a9ef583 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -31,7 +31,7 @@
 #endif
 
 #if defined(STM32H7)
-#define ADC_VALUES_ALIGNMENT(def) def __attribute__ ((aligned (32)))
+#define ADC_VALUES_ALIGNMENT(def) __attribute__ ((section(".DMA_RAM"))) def __attribute__ ((aligned (32)))
 #else
 #define ADC_VALUES_ALIGNMENT(def) def 
 #endif

From 38f8be72e357dc2941d5d945f03520457c552dd4 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sat, 29 May 2021 21:37:41 +0200
Subject: [PATCH 069/336] h7: enable exti support

---
 src/main/drivers/accgyro/accgyro.c |  2 +-
 src/main/drivers/exti.c            | 29 +++++++++++++++++++----------
 src/main/target/MATEKH743/target.h |  2 +-
 3 files changed, 21 insertions(+), 12 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro.c b/src/main/drivers/accgyro/accgyro.c
index 23bd5c0b16..99c69a5c80 100644
--- a/src/main/drivers/accgyro/accgyro.c
+++ b/src/main/drivers/accgyro/accgyro.c
@@ -98,7 +98,7 @@ void gyroIntExtiInit(gyroDev_t *gyro)
     }
 #endif
 
-#if defined (STM32F7)
+#if defined (STM32F7) || defined (STM32H7)
     IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
 
     EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler);
diff --git a/src/main/drivers/exti.c b/src/main/drivers/exti.c
index 9185257e95..6d3a36e5ed 100644
--- a/src/main/drivers/exti.c
+++ b/src/main/drivers/exti.c
@@ -24,7 +24,7 @@ extiChannelRec_t extiChannelRecs[16];
 static const uint8_t extiGroups[16] = { 0, 1, 2, 3, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6 };
 static uint8_t extiGroupPriority[EXTI_IRQ_GROUPS];
 
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
 static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
     EXTI0_IRQn,
     EXTI1_IRQn,
@@ -48,6 +48,15 @@ static const uint8_t extiGroupIRQn[EXTI_IRQ_GROUPS] = {
 # warning "Unknown CPU"
 #endif
 
+// Absorb the difference in IMR and PR assignments to registers
+#if defined(STM32H7)
+#define EXTI_REG_IMR (EXTI_D1->IMR1)
+#define EXTI_REG_PR  (EXTI_D1->PR1)
+#else
+#define EXTI_REG_IMR (EXTI->IMR)
+#define EXTI_REG_PR  (EXTI->PR)
+#endif
+
 
 void EXTIInit(void)
 {
@@ -64,7 +73,7 @@ void EXTIHandlerInit(extiCallbackRec_t *self, extiHandlerCallback *fn)
     self->fn = fn;
 }
 
-#if defined(STM32F7)
+#if defined(STM32F7) || defined(STM32H7)
 void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, ioConfig_t config)
 {
     (void)config;
@@ -156,23 +165,23 @@ void EXTIRelease(IO_t io)
 
 void EXTIEnable(IO_t io, bool enable)
 {
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
     uint32_t extiLine = IO_EXTI_Line(io);
     if (!extiLine)
         return;
     if (enable)
-        EXTI->IMR |= extiLine;
+        EXTI_REG_IMR |= extiLine;
     else
-        EXTI->IMR &= ~extiLine;
+        EXTI_REG_IMR &= ~extiLine;
 #elif defined(STM32F303xC)
     int extiLine = IO_EXTI_Line(io);
     if (extiLine < 0)
         return;
     // assume extiLine < 32 (valid for all EXTI pins)
     if (enable)
-        EXTI->IMR |= 1 << extiLine;
+        EXTI_REG_IMR |= 1 << extiLine;
     else
-        EXTI->IMR &= ~(1 << extiLine);
+        EXTI_REG_IMR &= ~(1 << extiLine);
 #else
 # error "Unsupported target"
 #endif
@@ -180,13 +189,13 @@ void EXTIEnable(IO_t io, bool enable)
 
 void EXTI_IRQHandler(void)
 {
-    uint32_t exti_active = EXTI->IMR & EXTI->PR;
+    uint32_t exti_active = EXTI_REG_IMR & EXTI_REG_PR;
 
     while (exti_active) {
         unsigned idx = 31 - __builtin_clz(exti_active);
         uint32_t mask = 1 << idx;
         extiChannelRecs[idx].handler->fn(extiChannelRecs[idx].handler);
-        EXTI->PR = mask;  // clear pending mask (by writing 1)
+        EXTI_REG_PR = mask;  // clear pending mask (by writing 1)
         exti_active &= ~mask;
     }
 }
@@ -201,7 +210,7 @@ void EXTI_IRQHandler(void)
 
 _EXTI_IRQ_HANDLER(EXTI0_IRQHandler);
 _EXTI_IRQ_HANDLER(EXTI1_IRQHandler);
-#if defined(STM32F7)
+#if defined(STM32F7) || defined(STM32H7)
 _EXTI_IRQ_HANDLER(EXTI2_IRQHandler);
 #elif defined(STM32F3) || defined(STM32F4)
 _EXTI_IRQ_HANDLER(EXTI2_TS_IRQHandler);
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 6380723d31..931868ecc4 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -179,10 +179,10 @@
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT
 
-#if 0
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
 
+#if 0
 // *************** PINIO ***************************
 #define USE_PINIO
 #define USE_PINIOBOX

From ff63110bbfa5fba118a11a5d202e7d626bc3d4c5 Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Tue, 1 Jun 2021 09:49:10 +0200
Subject: [PATCH 070/336] MATEKH743: fix target id, enable pinio & osd

---
 src/main/target/MATEKH743/target.c |  3 ---
 src/main/target/MATEKH743/target.h | 40 +++++++++++++-----------------
 2 files changed, 17 insertions(+), 26 deletions(-)

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 5a7f27b98d..5a77e56bcf 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -29,9 +29,6 @@
 BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6000,   DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,    IMU1_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU1_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
-//BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6500,   DEVHW_MPU6500,  IMU1_SPI_BUS,   IMU1_CS_PIN,    IMU1_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-//BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6000,   DEVHW_MPU6000,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
-
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S1
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S2
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 931868ecc4..ca99c9ddcc 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -18,8 +18,8 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "H765"
-#define USBD_PRODUCT_STRING     "MATEKH765"
+#define TARGET_BOARD_IDENTIFIER "H743"
+#define USBD_PRODUCT_STRING     "MATEKH743"
 
 #define LED0                    PE3
 #define LED1                    PE4
@@ -68,6 +68,9 @@
 #define USE_DUAL_GYRO
 #define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
 
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
 // *************** SPI1 IMU1 *************************
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -89,12 +92,10 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-/*
 #define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
-*/
 
 // *************** SPI3 SD BLACKBOX*******************
 /*
@@ -164,6 +165,17 @@
 #define RSSI_ADC_CHANNEL            ADC_CHN_3
 #define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
 
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PE4  // VTX power switcher
+#define PINIO2_PIN                  PE15 // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define CURRENT_METER_SCALE         250
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
@@ -177,22 +189,4 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
-
-#define USE_EXTI
-#define USE_MPU_DATA_READY_SIGNAL
-
-#if 0
-// *************** PINIO ***************************
-#define USE_PINIO
-#define USE_PINIOBOX
-#define PINIO1_PIN                  PE4  // VTX power switcher
-#define PINIO2_PIN                  PE15 // 2xCamera switcher
-
-// *************** LEDSTRIP ************************
-#define USE_LED_STRIP
-#define WS2811_PIN                  PA8
-
-#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
-
-#endif
\ No newline at end of file
+#define USE_SERIALSHOT
\ No newline at end of file

From cb317627f4f32f8b6a7b5e497eced49ab3479a3c Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Wed, 9 Jun 2021 15:40:06 +0200
Subject: [PATCH 071/336] MATEKH743: statically assign motor pins to DMAMUX
 streams

---
 src/main/target/MATEKH743/target.c | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 5a77e56bcf..94b2ff7b75 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -30,21 +30,21 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6000,   DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1
 BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
 const timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S1
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),   // S1
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S2
 
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S3  
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S4
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S4
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S6
 
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 1),   // S7
-    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 1),   // S8
-    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 1),   // S9
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 8),   // S8
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S9
     DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
 
-    DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S11
-    DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S12
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12 DMA_NONE
 
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 0),    // LED_2812
     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_BEEPER, 0, 0),  // BEEPER PWM

From 7df468058e59edf2149eae0d3b59b039999e7f2b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 15 Jun 2021 13:19:22 +0200
Subject: [PATCH 072/336] Fix DSHOT on H7 by moving to DMA_RAM

---
 src/main/build/build_config.h |  6 ++++++
 src/main/drivers/adc_impl.h   |  2 +-
 src/main/drivers/pwm_output.c | 10 +++++-----
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/main/build/build_config.h b/src/main/build/build_config.h
index b6a561fecd..ae4eb1a3a4 100644
--- a/src/main/build/build_config.h
+++ b/src/main/build/build_config.h
@@ -51,5 +51,11 @@
 #define EXTENDED_FASTRAM
 #endif
 
+#ifdef STM32H7
+#define DMA_RAM __attribute__ ((section(".DMA_RAM")))
+#else
+#define DMA_RAM
+#endif
+
 #define STATIC_FASTRAM              static FASTRAM
 #define STATIC_FASTRAM_UNIT_TESTED  STATIC_UNIT_TESTED FASTRAM
diff --git a/src/main/drivers/adc_impl.h b/src/main/drivers/adc_impl.h
index 290a9ef583..3a1783a04d 100644
--- a/src/main/drivers/adc_impl.h
+++ b/src/main/drivers/adc_impl.h
@@ -31,7 +31,7 @@
 #endif
 
 #if defined(STM32H7)
-#define ADC_VALUES_ALIGNMENT(def) __attribute__ ((section(".DMA_RAM"))) def __attribute__ ((aligned (32)))
+#define ADC_VALUES_ALIGNMENT(def) DMA_RAM def __attribute__ ((aligned (32)))
 #else
 #define ADC_VALUES_ALIGNMENT(def) def 
 #endif
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 48f7a10d5c..c02a14672c 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -91,7 +91,7 @@ typedef struct {
     bool                requestTelemetry;
 } pwmOutputMotor_t;
 
-static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
+static DMA_RAM pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
 
 static pwmOutputMotor_t        motors[MAX_MOTORS];
 static motorPwmProtocolTypes_e initMotorProtocol;
@@ -142,7 +142,7 @@ static pwmOutputPort_t *pwmOutAllocatePort(void)
         return NULL;
     }
 
-    pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
+    volatile pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
 
     p->tch = NULL;
     p->configured = false;
@@ -150,7 +150,7 @@ static pwmOutputPort_t *pwmOutAllocatePort(void)
     return p;
 }
 
-static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
+volatile static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
 {
     // Attempt to allocate TCH
     TCH_t * tch = timerGetTCH(timHw);
@@ -159,7 +159,7 @@ static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t
     }
 
     // Allocate motor output port
-    pwmOutputPort_t *p = pwmOutAllocatePort();
+    volatile pwmOutputPort_t *p = pwmOutAllocatePort();
     if (p == NULL) {
         return NULL;
     }
@@ -232,7 +232,7 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
     const uint32_t timerHz = baseClockHz / prescaler;
     const uint32_t period = timerHz / motorPwmRateHz;
 
-    pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, timerHz, period, 0, enableOutput);
+    volatile pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, timerHz, period, 0, enableOutput);
 
     if (port) {
         port->pulseScale = ((sLen == 0) ? period : (sLen * timerHz)) / 1000.0f;

From ec094190ec0cf727d47818241ae3c9efabc035ed Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 15 Jun 2021 13:21:05 +0200
Subject: [PATCH 073/336] Too volatile

---
 src/main/drivers/pwm_output.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index c02a14672c..620c25a22a 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -142,7 +142,7 @@ static pwmOutputPort_t *pwmOutAllocatePort(void)
         return NULL;
     }
 
-    volatile pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
+    pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
 
     p->tch = NULL;
     p->configured = false;
@@ -150,7 +150,7 @@ static pwmOutputPort_t *pwmOutAllocatePort(void)
     return p;
 }
 
-volatile static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
+static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
 {
     // Attempt to allocate TCH
     TCH_t * tch = timerGetTCH(timHw);
@@ -159,7 +159,7 @@ volatile static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw,
     }
 
     // Allocate motor output port
-    volatile pwmOutputPort_t *p = pwmOutAllocatePort();
+    pwmOutputPort_t *p = pwmOutAllocatePort();
     if (p == NULL) {
         return NULL;
     }
@@ -232,7 +232,7 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
     const uint32_t timerHz = baseClockHz / prescaler;
     const uint32_t period = timerHz / motorPwmRateHz;
 
-    volatile pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, timerHz, period, 0, enableOutput);
+    pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, timerHz, period, 0, enableOutput);
 
     if (port) {
         port->pulseScale = ((sLen == 0) ? period : (sLen * timerHz)) / 1000.0f;

From d0627d94e16770de79d5af1427595c6a0953c816 Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 00:59:40 +0800
Subject: [PATCH 074/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/config.c |  30 ++++++
 src/main/target/MATEKH743/target.h | 142 ++++++++++++++++-------------
 2 files changed, 110 insertions(+), 62 deletions(-)
 create mode 100644 src/main/target/MATEKH743/config.c

diff --git a/src/main/target/MATEKH743/config.c b/src/main/target/MATEKH743/config.c
new file mode 100644
index 0000000000..7e47e5bf6b
--- /dev/null
+++ b/src/main/target/MATEKH743/config.c
@@ -0,0 +1,30 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index cf49efb232..b26f879b41 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -21,48 +21,15 @@
 #define TARGET_BOARD_IDENTIFIER "H743"
 #define USBD_PRODUCT_STRING     "MATEKH743"
 
+#define USE_TARGET_CONFIG
+
 #define LED0                    PE3
 #define LED1                    PE4
 
 #define BEEPER                  PA15
 #define BEEPER_INVERTED
-
-// *************** UART *****************************
-#define USE_VCP
-
-#define USE_UART1
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define USE_UART2
-#define UART2_TX_PIN            PD5
-#define UART2_RX_PIN            PD6
-
-#define USE_UART3
-#define UART3_TX_PIN            PD8
-#define UART3_RX_PIN            PD9
-
-#define USE_UART4
-#define UART4_TX_PIN            PD1
-#define UART4_RX_PIN            PD0
-
-#define USE_UART6
-#define UART6_TX_PIN            PC6
-#define UART6_RX_PIN            PC7
-
-#define USE_UART7
-#define UART7_TX_PIN            PE8
-#define UART7_RX_PIN            PE7
-
-#define USE_UART8
-#define UART8_TX_PIN            PE1
-#define UART8_RX_PIN            PE0
-
-#define SERIAL_PORT_COUNT       8
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART6
+#define BEEPER_PWM
+#define BEEPER_PWM_FREQUENCY    2500
 
 // *************** IMU generic ***********************
 #define USE_DUAL_GYRO
@@ -79,12 +46,24 @@
 #define SPI1_MOSI_PIN           PD7
 
 #define USE_IMU_MPU6000
-#define USE_IMU_MPU6500
 
-#define IMU1_ALIGN              CW90_DEG_FLIP
+#define IMU1_ALIGN              CW0_DEG_FLIP
 #define IMU1_SPI_BUS            BUS_SPI1
 #define IMU1_CS_PIN             PC15
-#define IMU1_EXTI_PIN           NONE
+#define IMU1_EXTI_PIN           PB2
+
+// *************** SPI4 IMU2 *************************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
+
+#define USE_IMU_MPU6500
+
+#define IMU2_ALIGN              CW0_DEG_FLIP
+#define IMU2_SPI_BUS            BUS_SPI4
+#define IMU2_CS_PIN             PE11
+#define IMU2_EXTI_PIN           PE15
 
 // *************** SPI2 OSD ***********************
 #define USE_SPI_DEVICE_2
@@ -96,25 +75,16 @@
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
 
-// *************** SPI3 SD BLACKBOX*******************
-/*
-#define USE_SDCARD
-#define USE_SDCARD_SDIO
-#define SDCARD_SDIO_DMA         DMA_TAG(2,3,4)
-#define SDCARD_SDIO_4BIT
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-*/
+// *************** SPI3 SPARE for external RM3100 ***********
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
 
-// *************** SPI4 IMU2 *************************
-#define USE_SPI_DEVICE_4
-#define SPI4_SCK_PIN            PE12
-#define SPI4_MISO_PIN           PE13
-#define SPI4_MOSI_PIN           PE14
-
-#define IMU2_ALIGN              CW270_DEG_FLIP
-#define IMU2_SPI_BUS            BUS_SPI4
-#define IMU2_CS_PIN             PE11
-#define IMU2_EXTI_PIN           NONE
+#define USE_MAG_RM3100
+#define RM3100_CS_PIN           PE2   //CS2 pad
+//                              PD4   //CS1 pad
+#define RM3100_SPI_BUS          BUS_SPI3
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
@@ -146,7 +116,55 @@
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C2
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PD8
+#define UART3_RX_PIN            PD9
+
+#define USE_UART4
+#define UART4_TX_PIN            PB9
+#define UART4_RX_PIN            PB8
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_UART7
+#define UART7_TX_PIN            PE8
+#define UART7_RX_PIN            PE7
+
+#define USE_UART8
+#define UART8_TX_PIN            PE1
+#define UART8_RX_PIN            PE0
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PC6  //TX6 pad
+#define SOFTSERIAL_1_RX_PIN      PC6  //TX6 pad
+
+#define SERIAL_PORT_COUNT       9
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+// *************** SDIO SD BLACKBOX*******************
+//#define USE_SDCARD
+//#define USE_SDCARD_SDIO
+//#define SDCARD_SDIO_DMA         DMA_TAG(2,3,4)
+//#define SDCARD_SDIO_4BIT
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 // *************** ADC *****************************
 #define USE_ADC
@@ -167,8 +185,8 @@
 // *************** PINIO ***************************
 #define USE_PINIO
 #define USE_PINIOBOX
-#define PINIO1_PIN                  PE4  // VTX power switcher
-#define PINIO2_PIN                  PE15 // 2xCamera switcher
+#define PINIO1_PIN                  PD10  // VTX power switcher
+#define PINIO2_PIN                  PD11  // 2xCamera switcher
 
 // *************** LEDSTRIP ************************
 #define USE_LED_STRIP
@@ -186,7 +204,7 @@
 #define TARGET_IO_PORTE 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        15
-#define USE_DSHOT
+#define USE_DSHOTc
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT
 

From 4fb7b46720cb77a5354b48b9ce334666821b05bc Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 01:02:30 +0800
Subject: [PATCH 075/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/target.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index b26f879b41..a0864cd140 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -204,7 +204,7 @@
 #define TARGET_IO_PORTE 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        15
-#define USE_DSHOTc
+#define USE_DSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT
 

From 715b0007e7c8a2c497e679b4336c7b9b2926ece6 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 25 Jun 2021 22:09:19 -0300
Subject: [PATCH 076/336] FW Nav Fix Coding Style

---
 src/main/navigation/navigation_fixedwing.c | 21 +++++++++++++++------
 1 file changed, 15 insertions(+), 6 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index c8300fbf87..6b970c0d54 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -238,8 +238,14 @@ static int8_t loiterDirection(void) {
     int8_t dir = 1; //NAV_LOITER_RIGHT
     if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) dir = -1;
     if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
-        if (rcCommand[YAW] < -250) loiterDirYaw = 1; //RIGHT //yaw is contrariwise
-        if (rcCommand[YAW] > 250) loiterDirYaw = -1; //LEFT  //see annexCode in fc_core.c
+        if (rcCommand[YAW] < -250) { 
+            loiterDirYaw = 1; //RIGHT //yaw is contrariwise
+        }
+
+        if (rcCommand[YAW] > 250) { 
+            loiterDirYaw = -1; //LEFT  //see annexCode in fc_core.c
+        }
+
         dir = loiterDirYaw;
     }
     if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) dir *= -1;
@@ -535,10 +541,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
 
         // Manual throttle increase
         if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
-            if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95)
+            if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
                 correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
-            else
+            } else {
                 correctedThrottleValue = motorConfig()->maxthrottle;
+            }
             isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle);
         } else {
             isAutoThrottleManuallyIncreased = false;
@@ -651,12 +658,14 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
             posControl.rcAdjustment[ROLL] = 0;
         }
 
-        if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition)
+        if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition){
             rcCommand[ROLL] = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
+        }
 
         //if (navStateFlags & NAV_CTL_YAW)
-        if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS))
+        if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)){
             applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs);
+        }
     }
 }
 

From ee9769de2448f26f446e356289a579652d7788bb Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 26 Jun 2021 10:57:26 +0200
Subject: [PATCH 077/336] Automatically compute max stick acceleration

---
 src/main/flight/pid.c | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 70b2c14bf2..a6f45a3041 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -100,6 +100,7 @@ typedef struct {
 #ifdef USE_D_BOOST
     pt1Filter_t dBoostLpf;
     biquadFilter_t dBoostGyroLpf;
+    float dBoostTargetAcceleration;
 #endif
     uint16_t pidSumLimit;
     filterApply4FnPtr ptermFilterApplyFn;
@@ -704,7 +705,7 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
         dBoost = scaleRangef(dBoostGyroAcceleration, 0.0f, dBoostMaxAtAlleceleration, 1.0f, dBoostFactor);
     } else {
         //Setpoint is accelerating, we want to boost response
-        dBoost = scaleRangef(dBoostRateAcceleration, 0.0f, dBoostMaxAtAlleceleration, 0.0f, 1.0f);
+        dBoost = scaleRangef(dBoostRateAcceleration, 0.0f, pidState->dBoostTargetAcceleration, 1.0f, 0.0f);
     }
 
     dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
@@ -1197,6 +1198,13 @@ void pidInit(void)
 #endif
 
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
+
+    #ifdef USE_D_BOOST
+        // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration. 
+        // We assume, max acceleration is when pilot deflects the stick fully in 100ms
+        pidState[axis].dBoostTargetAcceleration = currentControlRateProfile->stabilized.rates[axis] * 10 * 10;
+    #endif
+
         pidState[axis].axis = axis;
         if (axis == FD_YAW) {
             pidState[axis].pidSumLimit = pidProfile()->pidSumLimitYaw;

From 32e8df8e4997c26ce2c5d5d27468c131090cc232 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 26 Jun 2021 10:58:59 +0200
Subject: [PATCH 078/336] Lower Dboost LPF to smoothen out the transition

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a6f45a3041..d68ec3a8a2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -138,7 +138,7 @@ static EXTENDED_FASTRAM float antigravityAccelerator;
 #endif
 
 #define D_BOOST_GYRO_LPF_HZ 80    // Biquad lowpass input cutoff to peak D around propwash frequencies
-#define D_BOOST_LPF_HZ 10         // PT1 lowpass cutoff to smooth the boost effect
+#define D_BOOST_LPF_HZ 7          // PT1 lowpass cutoff to smooth the boost effect
 
 #ifdef USE_D_BOOST
 static EXTENDED_FASTRAM float dBoostFactor;

From 5834f896ce526d6af843d75d05767fcb4edc042f Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 17:48:53 +0800
Subject: [PATCH 079/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/target.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 94b2ff7b75..a56fd96106 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -40,8 +40,8 @@ const timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S7
     DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 8),   // S8
-    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S9
-    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S9
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
 
     DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
     DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12 DMA_NONE

From 9c6bd6a95f4869d3d1e3e7ca4f0876a42cb9a5bd Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sat, 26 Jun 2021 12:23:46 +0100
Subject: [PATCH 080/336] fix WP MSP regression from #6612

---
 src/main/fc/cli.c                | 26 +++++++++++++-------------
 src/main/fc/fc_msp.c             |  2 +-
 src/main/fc/rc_controls.c        |  2 +-
 src/main/navigation/navigation.c |  6 +++---
 src/main/navigation/navigation.h |  2 +-
 5 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index e74e1b9813..a9051462ee 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1387,7 +1387,7 @@ static void cliWaypoints(char *cmdline)
     } else if (sl_strcasecmp(cmdline, "reset") == 0) {
         resetWaypointList();
     } else if (sl_strcasecmp(cmdline, "load") == 0) {
-        loadNonVolatileWaypointList();
+        loadNonVolatileWaypointList(true);
     } else if (sl_strcasecmp(cmdline, "save") == 0) {
         posControl.waypointListValid = false;
         for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
@@ -2930,28 +2930,28 @@ static void printImu2Status(void)
     cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc);
     cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag);
     cliPrintLine("Calibration gains:");
-    
+
     cliPrintLinef(
-        "Gyro: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetGyro[X], 
-        secondaryImuConfig()->calibrationOffsetGyro[Y], 
+        "Gyro: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetGyro[X],
+        secondaryImuConfig()->calibrationOffsetGyro[Y],
         secondaryImuConfig()->calibrationOffsetGyro[Z]
     );
     cliPrintLinef(
-        "Acc: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetAcc[X], 
-        secondaryImuConfig()->calibrationOffsetAcc[Y], 
+        "Acc: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetAcc[X],
+        secondaryImuConfig()->calibrationOffsetAcc[Y],
         secondaryImuConfig()->calibrationOffsetAcc[Z]
     );
     cliPrintLinef(
-        "Mag: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetMag[X], 
-        secondaryImuConfig()->calibrationOffsetMag[Y], 
+        "Mag: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetMag[X],
+        secondaryImuConfig()->calibrationOffsetMag[Y],
         secondaryImuConfig()->calibrationOffsetMag[Z]
     );
     cliPrintLinef(
-        "Radius: %d %d", 
-        secondaryImuConfig()->calibrationRadiusAcc, 
+        "Radius: %d %d",
+        secondaryImuConfig()->calibrationRadiusAcc,
         secondaryImuConfig()->calibrationRadiusMag
     );
 }
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index b80c33cfe0..a8aa6b4dca 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -2847,7 +2847,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
     case MSP_WP_MISSION_LOAD:
         sbufReadU8Safe(NULL, src);    // Mission ID (reserved)
-        if ((dataSize != 1) || (!loadNonVolatileWaypointList()))
+        if ((dataSize != 1) || (!loadNonVolatileWaypointList(false)))
             return MSP_RESULT_ERROR;
         break;
 
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 74952a5329..07dd7a442e 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -260,7 +260,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
     // Load waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
-        const bool success = loadNonVolatileWaypointList();
+        const bool success = loadNonVolatileWaypointList(false);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
 #endif
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 1492451b0b..a425d90a37 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2876,13 +2876,13 @@ int getWaypointCount(void)
 }
 
 #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
-bool loadNonVolatileWaypointList(void)
+bool loadNonVolatileWaypointList(bool clearIfLoaded)
 {
     if (ARMING_FLAG(ARMED))
         return false;
 
-    // if waypoints are already loaded, just unload them.
-    if (posControl.waypointCount > 0) {
+    // if forced and waypoints are already loaded, just unload them.
+    if (clearIfLoaded && posControl.waypointCount > 0) {
         resetWaypointList();
         return false;
     }
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 6f87ce3909..5a7aa4cf28 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -467,7 +467,7 @@ bool isWaypointListValid(void);
 void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData);
 void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData);
 void resetWaypointList(void);
-bool loadNonVolatileWaypointList(void);
+bool loadNonVolatileWaypointList(bool);
 bool saveNonVolatileWaypointList(void);
 
 float getFinalRTHAltitude(void);

From a794624248e0184c1aeea57eabd3511edaf8cd53 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sat, 26 Jun 2021 12:32:41 +0100
Subject: [PATCH 081/336] fix WP MSP regression from #6612, again

---
 src/main/navigation/navigation.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index a425d90a37..d4a83cb9b3 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3598,7 +3598,7 @@ void navigationInit(void)
 
 #if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
     if (navConfig()->general.waypoint_load_on_boot)
-        loadNonVolatileWaypointList();
+        loadNonVolatileWaypointList(true);
 #endif
 }
 

From 688bff68295906fb4e838e1f5876ef8df578cef0 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 26 Jun 2021 13:12:42 +0100
Subject: [PATCH 082/336] Updated UK units to be correct for the UK

The units used as "UK" were incorrect. We use imperial for distance and speed. To correct this, I have added a new units set called Metric + MPH.

Metric + MPH is the old UK units set. Anyone who used the old UK setting would use Metric + MPH going forward. As in, if you had UK before, did the update, you would now be on Metric + MPH. The transition is seamless to the pilot. This is due to adding it before UK in the osd_unit_e enum.

UK is effectively the new units set. It uses imperial for everything, except the temperature which is in degrees C.
---
 src/main/fc/settings.yaml |   2 +-
 src/main/io/osd.c         | 132 +++++++++++++++++++++++++-------------
 src/main/io/osd.h         |   3 +-
 src/main/io/osd_canvas.c  |  20 ++++--
 src/main/io/osd_dji_hd.c  |  10 ++-
 5 files changed, 113 insertions(+), 54 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 22e8946f3a..d4db20fd83 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -64,7 +64,7 @@ tables:
   - name: nav_rth_alt_mode
     values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST", "AT_LEAST_LINEAR_DESCENT"]
   - name: osd_unit
-    values: ["IMPERIAL", "METRIC", "UK"]
+    values: ["IMPERIAL", "METRIC", "METRIC MPH", "UK"]
     enum: osd_unit_e
   - name: osd_stats_energy_unit
     values: ["MAH", "WH"]
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 357a8acd7b..933a1144e9 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -317,6 +317,8 @@ static void osdLeftAlignString(char *buff)
 static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
 {
     switch ((osd_unit_e)osdConfig()->units) {
+    case OSD_UNIT_UK:
+        FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
         if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), FEET_PER_MILE, decimals, 3, 3)) {
             buff[3] = SYM_DIST_MI;
@@ -325,7 +327,7 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
         }
         buff[4] = '\0';
         break;
-    case OSD_UNIT_UK:
+    case OSD_UNIT_METRIC_MPH:
         FALLTHROUGH;
     case OSD_UNIT_METRIC:
         if (osdFormatCentiNumber(buff, dist, METERS_PER_KILOMETER, decimals, 3, 3)) {
@@ -344,32 +346,34 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
  */
 static void osdFormatDistanceStr(char *buff, int32_t dist)
 {
- int32_t centifeet;
- switch ((osd_unit_e)osdConfig()->units) {
- case OSD_UNIT_IMPERIAL:
-    centifeet = CENTIMETERS_TO_CENTIFEET(dist);
-    if (abs(centifeet) < FEET_PER_MILE * 100 / 2) {
-        // Show feet when dist < 0.5mi
-        tfp_sprintf(buff, "%d%c", (int)(centifeet / 100), SYM_FT);
-    } else {
-        // Show miles when dist >= 0.5mi
-        tfp_sprintf(buff, "%d.%02d%c", (int)(centifeet / (100*FEET_PER_MILE)),
-        (abs(centifeet) % (100 * FEET_PER_MILE)) / FEET_PER_MILE, SYM_MI);
+    int32_t centifeet;
+    switch ((osd_unit_e)osdConfig()->units) {
+    case OSD_UNIT_UK:
+        FALLTHROUGH;
+    case OSD_UNIT_IMPERIAL:
+        centifeet = CENTIMETERS_TO_CENTIFEET(dist);
+        if (abs(centifeet) < FEET_PER_MILE * 100 / 2) {
+            // Show feet when dist < 0.5mi
+            tfp_sprintf(buff, "%d%c", (int)(centifeet / 100), SYM_FT);
+        } else {
+            // Show miles when dist >= 0.5mi
+            tfp_sprintf(buff, "%d.%02d%c", (int)(centifeet / (100*FEET_PER_MILE)),
+                (abs(centifeet) % (100 * FEET_PER_MILE)) / FEET_PER_MILE, SYM_MI);
+        }
+        break;
+    case OSD_UNIT_METRIC_MPH:
+        FALLTHROUGH;
+    case OSD_UNIT_METRIC:
+        if (abs(dist) < METERS_PER_KILOMETER * 100) {
+            // Show meters when dist < 1km
+            tfp_sprintf(buff, "%d%c", (int)(dist / 100), SYM_M);
+        } else {
+            // Show kilometers when dist >= 1km
+            tfp_sprintf(buff, "%d.%02d%c", (int)(dist / (100*METERS_PER_KILOMETER)),
+                (abs(dist) % (100 * METERS_PER_KILOMETER)) / METERS_PER_KILOMETER, SYM_KM);
+        }
+        break;
     }
-    break;
- case OSD_UNIT_UK:
-     FALLTHROUGH;
- case OSD_UNIT_METRIC:
-    if (abs(dist) < METERS_PER_KILOMETER * 100) {
-        // Show meters when dist < 1km
-        tfp_sprintf(buff, "%d%c", (int)(dist / 100), SYM_M);
-    } else {
-        // Show kilometers when dist >= 1km
-        tfp_sprintf(buff, "%d.%02d%c", (int)(dist / (100*METERS_PER_KILOMETER)),
-            (abs(dist) % (100 * METERS_PER_KILOMETER)) / METERS_PER_KILOMETER, SYM_KM);
-     }
-     break;
- }
 }
 
 /**
@@ -381,6 +385,8 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
     switch ((osd_unit_e)osdConfig()->units) {
     case OSD_UNIT_UK:
         FALLTHROUGH;
+    case OSD_UNIT_METRIC_MPH:
+        FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
         return (vel * 224) / 10000; // Convert to mph
     case OSD_UNIT_METRIC:
@@ -399,6 +405,8 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
     switch ((osd_unit_e)osdConfig()->units) {
     case OSD_UNIT_UK:
         FALLTHROUGH;
+    case OSD_UNIT_METRIC_MPH:
+        FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
         tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
         break;
@@ -422,6 +430,8 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
     switch (osdConfig()->units) {
         case OSD_UNIT_UK:
             FALLTHROUGH;
+        case OSD_UNIT_METRIC_MPH:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             centivalue = (ws * 224) / 100;
             suffix = SYM_MPH;
@@ -469,6 +479,8 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
             }
             buff[5] = '\0';
             break;
+        case OSD_UNIT_METRIC_MPH:
+            FALLTHROUGH;
         case OSD_UNIT_METRIC:
             // alt is alredy in cm
             if (osdFormatCentiNumber(buff + 4 - digits, alt, 1000, 0, 2, digits)) {
@@ -491,11 +503,13 @@ static void osdFormatAltitudeStr(char *buff, int32_t alt)
 {
     int32_t value;
     switch ((osd_unit_e)osdConfig()->units) {
+        case OSD_UNIT_UK:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             value = CENTIMETERS_TO_FEET(alt);
             tfp_sprintf(buff, "%d%c", (int)value, SYM_FT);
             break;
-        case OSD_UNIT_UK:
+        case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_METRIC:
             value = CENTIMETERS_TO_METERS(alt);
@@ -1088,12 +1102,14 @@ static void osdDrawMap(int referenceHeading, uint8_t referenceSym, uint8_t cente
     const int scaleReductionMultiplier = MIN(midX - hMargin, midY - vMargin) / 2;
 
     switch (osdConfig()->units) {
+        case OSD_UNIT_UK:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             initialScale = 16; // 16m ~= 0.01miles
             break;
-        case OSD_UNIT_UK:
-            FALLTHROUGH;
         default:
+        case OSD_UNIT_METRIC_MPH:
+            FALLTHROUGH;
         case OSD_UNIT_METRIC:
             initialScale = 10; // 10m as initial scale
             break;
@@ -2124,6 +2140,8 @@ static bool osdDrawSingleElement(uint8_t item)
                     sym = SYM_FTS;
                     break;
                 default:
+                case OSD_UNIT_METRIC_MPH:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     // Already in cm/s
                     sym = SYM_MS;
@@ -2410,6 +2428,8 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, 3);
                     if (!moreThanAh) {
@@ -2424,7 +2444,7 @@ static bool osdDrawSingleElement(uint8_t item)
                         buff[5] = '\0';
                     }
                     break;
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, 3);
@@ -2465,11 +2485,13 @@ static bool osdDrawSingleElement(uint8_t item)
             }
             bool efficiencyValid = (value > 0) && (gpsSol.groundSpeed > 100);
             switch (osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3);
                     buff[3] = SYM_WH_MI;
                     break;
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     osdFormatCentiNumber(buff, value / 10, 0, 2, 0, 3);
@@ -2654,6 +2676,8 @@ static bool osdDrawSingleElement(uint8_t item)
             int maxDecimals;
 
             switch (osdConfig()->units) {
+            case OSD_UNIT_UK:
+                FALLTHROUGH;
             case OSD_UNIT_IMPERIAL:
                 scaleToUnit = 100 / 1609.3440f; // scale to 0.01mi for osdFormatCentiNumber()
                 scaleUnitDivisor = 0;
@@ -2661,9 +2685,9 @@ static bool osdDrawSingleElement(uint8_t item)
                 symScaled = SYM_MI;
                 maxDecimals = 2;
                 break;
-            case OSD_UNIT_UK:
-                FALLTHROUGH;
             default:
+            case OSD_UNIT_METRIC_MPH:
+                FALLTHROUGH;
             case OSD_UNIT_METRIC:
                 scaleToUnit = 100; // scale to cm for osdFormatCentiNumber()
                 scaleUnitDivisor = 1000; // Convert to km when scale gets bigger than 999m
@@ -3226,12 +3250,20 @@ static void osdCompleteAsyncInitialization(void)
 #define STATS_VALUE_X_POS 24
     if (statsConfig()->stats_enabled) {
         displayWrite(osdDisplayPort, STATS_LABEL_X_POS, ++y, "ODOMETER:");
-        if (osdConfig()->units == OSD_UNIT_IMPERIAL) {
-            tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_MILE));
-            string_buffer[5] = SYM_MI;
-        } else {
-            tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER));
-            string_buffer[5] = SYM_KM;
+        switch (osdConfig()->units) {
+            case OSD_UNIT_UK:
+                FALLTHROUGH;
+            case OSD_UNIT_IMPERIAL:
+                tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_MILE));
+                string_buffer[5] = SYM_MI;
+                break;
+            default:
+            case OSD_UNIT_METRIC_MPH:
+                FALLTHROUGH;
+            case OSD_UNIT_METRIC:
+                tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER));
+                string_buffer[5] = SYM_KM;
+                break;
         }
         string_buffer[6] = '\0';
         displayWrite(osdDisplayPort, STATS_VALUE_X_POS-5, y,  string_buffer);
@@ -3251,12 +3283,20 @@ static void osdCompleteAsyncInitialization(void)
             displayWrite(osdDisplayPort, STATS_LABEL_X_POS, ++y, "AVG EFFICIENCY:");
             if (statsConfig()->stats_total_dist) {
                 uint32_t avg_efficiency = statsConfig()->stats_total_energy / (statsConfig()->stats_total_dist / METERS_PER_KILOMETER); // mWh/km
-                if (osdConfig()->units == OSD_UNIT_IMPERIAL) {
-                    osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
-                    string_buffer[3] = SYM_WH_MI;
-                } else {
-                    osdFormatCentiNumber(string_buffer, avg_efficiency / 10000 * METERS_PER_MILE, 0, 2, 0, 3);
-                    string_buffer[3] = SYM_WH_KM;
+                switch (osdConfig()->units) {
+                    case OSD_UNIT_UK:
+                        FALLTHROUGH;
+                    case OSD_UNIT_IMPERIAL:
+                        osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
+                        string_buffer[3] = SYM_WH_MI;
+                        break;
+                    default:
+                    case OSD_UNIT_METRIC_MPH:
+                        FALLTHROUGH;
+                    case OSD_UNIT_METRIC:
+                        osdFormatCentiNumber(string_buffer, avg_efficiency / 10000 * METERS_PER_MILE, 0, 2, 0, 3);
+                        string_buffer[3] = SYM_WH_KM;
+                        break;
                 }
             } else {
                 string_buffer[0] = string_buffer[1] = string_buffer[2] = '-';
@@ -3482,6 +3522,8 @@ static void osdShowStatsPage2(void)
                         }
                     }
                     break;
+                case OSD_UNIT_METRIC_MPH:
+                    FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
                         moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000000.0f / totalDistance), 1000, 0, 2, 3);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e1d22e1a7d..e23b8225f6 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -238,7 +238,8 @@ typedef enum {
 typedef enum {
     OSD_UNIT_IMPERIAL,
     OSD_UNIT_METRIC,
-    OSD_UNIT_UK, // Show speed in mp/h, other values in metric
+    OSD_UNIT_METRIC_MPH, // Old UK units, all metric except speed in mph
+    OSD_UNIT_UK, // Show everything in imperial, temperature in C
 
     OSD_UNIT_MAX = OSD_UNIT_UK,
 } osd_unit_e;
diff --git a/src/main/io/osd_canvas.c b/src/main/io/osd_canvas.c
index 9d7a965bde..d22c1813ac 100644
--- a/src/main/io/osd_canvas.c
+++ b/src/main/io/osd_canvas.c
@@ -502,9 +502,11 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
             break;
         case OSD_SIDEBAR_SCROLL_ALTITUDE:
             switch ((osd_unit_e)osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     return CENTIMETERS_TO_CENTIFEET(osdGetAltitude());
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     return osdGetAltitude();
@@ -517,6 +519,8 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
                 switch ((osd_unit_e)osdConfig()->units) {
                     case OSD_UNIT_UK:
                         FALLTHROUGH;
+                    case OSD_UNIT_METRIC_MPH:
+                        FALLTHROUGH;
                     case OSD_UNIT_IMPERIAL:
                         // cms/s to (mi/h) * 100
                         return speed * 224 / 100;
@@ -530,9 +534,11 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
         case OSD_SIDEBAR_SCROLL_HOME_DISTANCE:
 #if defined(USE_GPS)
             switch ((osd_unit_e)osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     return CENTIMETERS_TO_CENTIFEET(GPS_distanceToHome * 100);
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     return GPS_distanceToHome * 100;
@@ -575,13 +581,15 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
             break;
         case OSD_SIDEBAR_SCROLL_ALTITUDE:
             switch ((osd_unit_e)osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     unit->symbol = SYM_ALT_FT;
                     unit->divisor = FEET_PER_KILOFEET;
                     unit->divided_symbol = SYM_ALT_KFT;
                     *countsPerStep = 50;
                     break;
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     unit->symbol = SYM_ALT_M;
@@ -595,6 +603,8 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
             switch ((osd_unit_e)osdConfig()->units) {
                 case OSD_UNIT_UK:
                     FALLTHROUGH;
+                case OSD_UNIT_METRIC_MPH:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     unit->symbol = SYM_MPH;
                     unit->divisor = 0;
@@ -611,13 +621,15 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
             break;
         case OSD_SIDEBAR_SCROLL_HOME_DISTANCE:
             switch ((osd_unit_e)osdConfig()->units) {
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     unit->symbol = SYM_FT;
                     unit->divisor = FEET_PER_MILE;
                     unit->divided_symbol = SYM_MI;
                     *countsPerStep = 300;
                     break;
-                case OSD_UNIT_UK:
+                case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
                     unit->symbol = SYM_M;
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index bc3c7b720b..0c164a9f28 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -652,10 +652,10 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
     switch (osdConfig()->units) {
         case OSD_UNIT_UK:
             FALLTHROUGH;
-
+        case OSD_UNIT_METRIC_MPH:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             return (vel * 224) / 10000; // Convert to mph
-
         case OSD_UNIT_METRIC:
             return (vel * 36) / 1000;   // Convert to kmh
     }
@@ -692,6 +692,8 @@ void osdDJIFormatVelocityStr(char* buff)
     switch (osdConfig()->units) {
         case OSD_UNIT_UK:
             FALLTHROUGH;
+        case OSD_UNIT_METRIC_MPH:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             tfp_sprintf(buff, "%s %3d MPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
             break;
@@ -719,6 +721,8 @@ static void osdDJIFormatDistanceStr(char *buff, int32_t dist)
     int32_t centifeet;
 
     switch (osdConfig()->units) {
+        case OSD_UNIT_UK:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             centifeet = CENTIMETERS_TO_CENTIFEET(dist);
             if (abs(centifeet) < FEET_PER_MILE * 100 / 2) {
@@ -731,7 +735,7 @@ static void osdDJIFormatDistanceStr(char *buff, int32_t dist)
                 (abs(centifeet) % (100 * FEET_PER_MILE)) / FEET_PER_MILE, "Mi");
             }
             break;
-        case OSD_UNIT_UK:
+        case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_METRIC:
             if (abs(dist) < METERS_PER_KILOMETER * 100) {

From e0860d1fa86a30c0f99b7fc8ae7eff0e8b54a107 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 26 Jun 2021 14:30:48 +0200
Subject: [PATCH 083/336] Switch Control Derivative to PT2 filter

---
 src/main/flight/pid.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d54f5ff443..146d53f177 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -110,7 +110,7 @@ typedef struct {
     bool itermLimitActive;
     bool itermFreezeActive;
 
-    biquadFilter_t rateTargetFilter;
+    pt2Filter_t rateTargetFilter;
 
     smithPredictor_t smithPredictor;
 } pidState_t;
@@ -356,7 +356,7 @@ bool pidInitFilters(void)
 
     if (pidProfile()->controlDerivativeLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            biquadFilterInitLPF(&pidState[axis].rateTargetFilter, pidProfile()->controlDerivativeLpfHz, getLooptime());
+            pt2FilterInit(&pidState[axis].rateTargetFilter, pt2FilterGain(pidProfile()->controlDerivativeLpfHz, refreshRate * 1e-6f));
         }
     }
 
@@ -816,7 +816,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
     const float newDTerm = dTermProcess(pidState, dT);
 
     const float rateTargetDelta = pidState->rateTarget - pidState->previousRateTarget;
-    const float rateTargetDeltaFiltered = biquadFilterApply(&pidState->rateTargetFilter, rateTargetDelta);
+    const float rateTargetDeltaFiltered = pt2FilterApply(&pidState->rateTargetFilter, rateTargetDelta);
 
     /*
      * Compute Control Derivative

From 49577d3f656dc3ace944b67f6dfc135196922c68 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 26 Jun 2021 14:31:29 +0100
Subject: [PATCH 084/336] Added _

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d4db20fd83..6b8d092e9d 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -64,7 +64,7 @@ tables:
   - name: nav_rth_alt_mode
     values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST", "AT_LEAST_LINEAR_DESCENT"]
   - name: osd_unit
-    values: ["IMPERIAL", "METRIC", "METRIC MPH", "UK"]
+    values: ["IMPERIAL", "METRIC", "METRIC_MPH", "UK"]
     enum: osd_unit_e
   - name: osd_stats_energy_unit
     values: ["MAH", "WH"]

From 6dce0e076e5969ca37496868e9382dc3b1055891 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 26 Jun 2021 13:06:57 -0300
Subject: [PATCH 085/336] fix

---
 src/main/navigation/navigation_fixedwing.c | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 6b970c0d54..52cd765f79 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -236,8 +236,13 @@ void resetFixedWingPositionController(void)
 
 static int8_t loiterDirection(void) {
     int8_t dir = 1; //NAV_LOITER_RIGHT
-    if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) dir = -1;
+
+    if (pidProfile()->loiter_direction == NAV_LOITER_LEFT) {
+        dir = -1;
+    }
+
     if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
+
         if (rcCommand[YAW] < -250) { 
             loiterDirYaw = 1; //RIGHT //yaw is contrariwise
         }
@@ -248,7 +253,11 @@ static int8_t loiterDirection(void) {
 
         dir = loiterDirYaw;
     }
-    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) dir *= -1;
+
+    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) { 
+        dir *= -1;
+    }
+
     return dir;
 }
 

From 81a4788246c5d773099d9eb670d56538e19b8db5 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 26 Jun 2021 13:09:20 -0300
Subject: [PATCH 086/336] fix2

---
 src/main/navigation/navigation_fixedwing.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 52cd765f79..484529944a 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -655,24 +655,26 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
                     // Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control
                     resetFixedWingAltitudeController();
                     setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
-                } else
+                } else {
                     applyFixedWingAltitudeAndThrottleController(currentTimeUs);
+                }
             }
 
-            if (navStateFlags & NAV_CTL_POS)
+            if (navStateFlags & NAV_CTL_POS) {
                 applyFixedWingPositionController(currentTimeUs);
+            }
 
         } else {
             posControl.rcAdjustment[PITCH] = 0;
             posControl.rcAdjustment[ROLL] = 0;
         }
 
-        if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition){
+        if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition) {
             rcCommand[ROLL] = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
         }
 
         //if (navStateFlags & NAV_CTL_YAW)
-        if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)){
+        if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) {
             applyFixedWingPitchRollThrottleController(navStateFlags, currentTimeUs);
         }
     }

From c2448ef9e2f9c60b58c36de7f4564fd650d23367 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 26 Jun 2021 14:38:17 -0300
Subject: [PATCH 087/336] [Revert PR] Add esc temperatur on CLI status

---
 src/main/fc/cli.c | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 5edafca5d9..469b70d39f 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -119,6 +119,9 @@ uint8_t cliMode = 0;
 #include "sensors/opflow.h"
 #include "sensors/sensors.h"
 #include "sensors/temperature.h"
+#ifdef USE_ESC_SENSOR
+#include "sensors/esc_sensor.h"
+#endif
 
 #include "telemetry/frsky_d.h"
 #include "telemetry/telemetry.h"
@@ -3193,6 +3196,18 @@ static void cliStatus(char *cmdline)
         hardwareSensorStatusNames[getHwGPSStatus()]
     );
 
+#ifdef USE_ESC_SENSOR
+    uint8_t motorCount = getMotorCount();
+    if (STATE(ESC_SENSOR_ENABLED) && motorCount > 0) {
+        cliPrintLinef("ESC Temperature(s): Motor Count = %d", motorCount);
+        for (uint8_t i = 0; i < motorCount; i++) {
+            const escSensorData_t *escState = getEscTelemetry(i); //Get ESC telemetry
+            cliPrintf("ESC %d: %d\260C, ", i, escState->temperature);
+        }
+        cliPrintLinefeed();
+    }
+#endif
+
 #ifdef USE_SDCARD
     cliSdInfo(NULL);
 #endif

From d234c5becfd58f11de16be4e5b1950f7842cc095 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sun, 27 Jun 2021 14:00:20 +0100
Subject: [PATCH 088/336] add MC servos to IFLIGHTF7_TWING

---
 src/main/target/IFLIGHTF7_TWING/target.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/target/IFLIGHTF7_TWING/target.c b/src/main/target/IFLIGHTF7_TWING/target.c
index 83090b5c94..fb1d9804fd 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.c
+++ b/src/main/target/IFLIGHTF7_TWING/target.c
@@ -37,11 +37,11 @@ const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
     DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
 
-    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), 
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR | TIM_USE_MC_SERVO, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR | TIM_USE_MC_SERVO, 0, 0),
 
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO | TIM_USE_MC_SERVO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO | TIM_USE_MC_SERVO, 0, 0),
 
     DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED,                         0, 0),
 };

From e0fe590ec07b50b509e33960f533c326bce49acd Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 00:59:40 +0800
Subject: [PATCH 089/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/config.c |  30 ++++++
 src/main/target/MATEKH743/target.h | 142 ++++++++++++++++-------------
 2 files changed, 110 insertions(+), 62 deletions(-)
 create mode 100644 src/main/target/MATEKH743/config.c

diff --git a/src/main/target/MATEKH743/config.c b/src/main/target/MATEKH743/config.c
new file mode 100644
index 0000000000..7e47e5bf6b
--- /dev/null
+++ b/src/main/target/MATEKH743/config.c
@@ -0,0 +1,30 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index ca99c9ddcc..f443f39d67 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -21,48 +21,15 @@
 #define TARGET_BOARD_IDENTIFIER "H743"
 #define USBD_PRODUCT_STRING     "MATEKH743"
 
+#define USE_TARGET_CONFIG
+
 #define LED0                    PE3
 #define LED1                    PE4
 
 #define BEEPER                  PA15
 #define BEEPER_INVERTED
-
-// *************** UART *****************************
-#define USE_VCP
-
-#define USE_UART1
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define USE_UART2
-#define UART2_TX_PIN            PD5
-#define UART2_RX_PIN            PD6
-
-#define USE_UART3
-#define UART3_TX_PIN            PD8
-#define UART3_RX_PIN            PD9
-
-#define USE_UART4
-#define UART4_TX_PIN            PD1
-#define UART4_RX_PIN            PD0
-
-#define USE_UART6
-#define UART6_TX_PIN            PC6
-#define UART6_RX_PIN            PC7
-
-#define USE_UART7
-#define UART7_TX_PIN            PE8
-#define UART7_RX_PIN            PE7
-
-#define USE_UART8
-#define UART8_TX_PIN            PE1
-#define UART8_RX_PIN            PE0
-
-#define SERIAL_PORT_COUNT       8
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART6
+#define BEEPER_PWM
+#define BEEPER_PWM_FREQUENCY    2500
 
 // *************** IMU generic ***********************
 #define USE_DUAL_GYRO
@@ -79,12 +46,24 @@
 #define SPI1_MOSI_PIN           PD7
 
 #define USE_IMU_MPU6000
-#define USE_IMU_MPU6500
 
-#define IMU1_ALIGN              CW90_DEG_FLIP
+#define IMU1_ALIGN              CW0_DEG_FLIP
 #define IMU1_SPI_BUS            BUS_SPI1
 #define IMU1_CS_PIN             PC15
-#define IMU1_EXTI_PIN           NONE
+#define IMU1_EXTI_PIN           PB2
+
+// *************** SPI4 IMU2 *************************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
+
+#define USE_IMU_MPU6500
+
+#define IMU2_ALIGN              CW0_DEG_FLIP
+#define IMU2_SPI_BUS            BUS_SPI4
+#define IMU2_CS_PIN             PE11
+#define IMU2_EXTI_PIN           PE15
 
 // *************** SPI2 OSD ***********************
 #define USE_SPI_DEVICE_2
@@ -97,25 +76,16 @@
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
 
-// *************** SPI3 SD BLACKBOX*******************
-/*
-#define USE_SDCARD
-#define USE_SDCARD_SDIO
-#define SDCARD_SDIO_DMA         DMA_TAG(2,3,4)
-#define SDCARD_SDIO_4BIT
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-*/
+// *************** SPI3 SPARE for external RM3100 ***********
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
 
-// *************** SPI4 IMU2 *************************
-#define USE_SPI_DEVICE_4
-#define SPI4_SCK_PIN            PE12
-#define SPI4_MISO_PIN           PE13
-#define SPI4_MOSI_PIN           PE14
-
-#define IMU2_ALIGN              CW270_DEG_FLIP
-#define IMU2_SPI_BUS            BUS_SPI4
-#define IMU2_CS_PIN             PE11
-#define IMU2_EXTI_PIN           NONE
+#define USE_MAG_RM3100
+#define RM3100_CS_PIN           PE2   //CS2 pad
+//                              PD4   //CS1 pad
+#define RM3100_SPI_BUS          BUS_SPI3
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
@@ -147,7 +117,55 @@
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C2
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PD8
+#define UART3_RX_PIN            PD9
+
+#define USE_UART4
+#define UART4_TX_PIN            PB9
+#define UART4_RX_PIN            PB8
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_UART7
+#define UART7_TX_PIN            PE8
+#define UART7_RX_PIN            PE7
+
+#define USE_UART8
+#define UART8_TX_PIN            PE1
+#define UART8_RX_PIN            PE0
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PC6  //TX6 pad
+#define SOFTSERIAL_1_RX_PIN      PC6  //TX6 pad
+
+#define SERIAL_PORT_COUNT       9
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+// *************** SDIO SD BLACKBOX*******************
+//#define USE_SDCARD
+//#define USE_SDCARD_SDIO
+//#define SDCARD_SDIO_DMA         DMA_TAG(2,3,4)
+//#define SDCARD_SDIO_4BIT
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 // *************** ADC *****************************
 #define USE_ADC
@@ -168,8 +186,8 @@
 // *************** PINIO ***************************
 #define USE_PINIO
 #define USE_PINIOBOX
-#define PINIO1_PIN                  PE4  // VTX power switcher
-#define PINIO2_PIN                  PE15 // 2xCamera switcher
+#define PINIO1_PIN                  PD10  // VTX power switcher
+#define PINIO2_PIN                  PD11  // 2xCamera switcher
 
 // *************** LEDSTRIP ************************
 #define USE_LED_STRIP
@@ -187,6 +205,6 @@
 #define TARGET_IO_PORTE 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        15
-#define USE_DSHOT
+#define USE_DSHOTc
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT
\ No newline at end of file

From c800bdcc41240e0fe91ac4b577e77d73a00cbf57 Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 01:02:30 +0800
Subject: [PATCH 090/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/target.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index f443f39d67..6053f86939 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -205,6 +205,6 @@
 #define TARGET_IO_PORTE 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        15
-#define USE_DSHOTc
+#define USE_DSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT
\ No newline at end of file

From 6901c87d7ce4f08f45d4634fe88dbc924f635530 Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 26 Jun 2021 17:48:53 +0800
Subject: [PATCH 091/336] MatekH743: fix some definitions

---
 src/main/target/MATEKH743/target.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 94b2ff7b75..a56fd96106 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -40,8 +40,8 @@ const timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S7
     DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 8),   // S8
-    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S9
-    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S9
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
 
     DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
     DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12 DMA_NONE

From 9de1e2aaef2d6d462bbe14b094d44dba5e681ed6 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 27 Jun 2021 19:26:30 +0100
Subject: [PATCH 092/336] Update settings.yaml (#7201)

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 22e8946f3a..e973c036a4 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1147,7 +1147,7 @@ groups:
         field: motor.turtleModePowerFactor
         default_value: 55
         description: "Turtle mode power factor"
-        condition: "USE_DSHOT"
+        condition: USE_DSHOT
         min: 0
         max: 100
       - name: failsafe_throttle

From bbd6356685c8ab8cd0cca77e7819cd032277be30 Mon Sep 17 00:00:00 2001
From: Michel Pastor <shellixyz@users.noreply.github.com>
Date: Mon, 28 Jun 2021 16:44:38 +0200
Subject: [PATCH 093/336] Fix MAMBAF405US target (#7203)

---
 src/main/target/MAMBAF405US/target.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index 969b725bf4..ae1eb7bb33 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -57,7 +57,7 @@
 #define I2C2_SDA                        PB9
 #define DEFAULT_I2C_BUS                 BUS_I2C1
 
-#else 
+#else
 
 #define USE_I2C_DEVICE_2
 #define I2C2_SCL                        PB10        // SCL pad TX3
@@ -186,8 +186,8 @@
 #define TARGET_IO_PORTC                 0xffff
 #define TARGET_IO_PORTD                 (BIT(2))
 
-#define MAX_PWM_OUTPUT_PORTS            8
-#define TARGET_MOTOR_COUNT              4           
+#define MAX_PWM_OUTPUT_PORTS            4
+#define TARGET_MOTOR_COUNT              4
 
 // ESC-related features
 #define USE_DSHOT
@@ -199,4 +199,3 @@
 #define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
 #define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
 #define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
-

From 562fc0017a8624a2e746e53ac263d73958c7491a Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Mon, 28 Jun 2021 15:48:26 +0100
Subject: [PATCH 094/336] reimplement stick mission load as toggle; update RC
 control images and documentation (#7204)

---
 docs/Controls.md                      |   2 +
 docs/assets/images/StickPositions.png | Bin 1036130 -> 489411 bytes
 docs/assets/images/StickPositions.svg |  77 +++++++++++++-------------
 src/main/fc/rc_controls.c             |   2 +-
 4 files changed, 42 insertions(+), 39 deletions(-)

diff --git a/docs/Controls.md b/docs/Controls.md
index d245d92b04..d47b3a3a0f 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -40,6 +40,8 @@ The stick positions are combined to activate different functions:
 
 ![Stick Positions](assets/images/StickPositions.png)
 
+"Load/unload Mission" is a toogle. If no mission is loaded to RAM, the EEPROM mission is loaded; if a mission is in RAM, it is cleared. Successful loading is indicated by the `ACTION_SUCCESS` beep, otherwise the `ACTION_FAIL` beep is played.
+
 ## Yaw control
 
 While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the `min_check` setting).
diff --git a/docs/assets/images/StickPositions.png b/docs/assets/images/StickPositions.png
index 98281caeef3d56ef02ed38b58bf38097ba0a676d..a08b2c52b3caa1b675d7cb506a814d24fdfca81a 100644
GIT binary patch
literal 489411
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zukWrkYv$g$ci(;X+2`4LLO&}>zr=iviGqUiQdUMn6$OP{0|f=!;XmXB6qm0V7sxMk
z^N)%jQBW$Qv2Kl?BG2C#%cv@%pm@@up!oklLAgd=^4~(<&5nYyV~B$CAsGdQ_-i^?
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          id="tspan4763"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Profile 2</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Profile 2</tspan></text>
     <rect
        ry="0"
        y="-1317.7664"
@@ -242,7 +243,7 @@
        x="533.55804"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan4815"
          y="-1068.2856"
          x="533.55804"
@@ -287,7 +288,7 @@
          x="533.55811"
          y="583.57056"
          id="tspan4867"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Calibrate Gyro</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Calibrate Gyro</tspan></text>
     <rect
        style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
        id="rect4875"
@@ -328,7 +329,7 @@
          x="533.55811"
          y="1003.9787"
          id="tspan4919"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Calibrate Acc</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Calibrate Acc</tspan></text>
     <rect
        ry="0"
        y="1171.4286"
@@ -365,7 +366,7 @@
        x="536.28436"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan4971"
          y="1420.9093"
          x="536.2843"
@@ -408,7 +409,7 @@
        x="5680.7969"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan5651"
          y="-1527.5551"
          x="5680.7969"
@@ -453,7 +454,7 @@
          x="5680.7969"
          y="-1107.1469"
          id="tspan5703"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Left</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Left</tspan></text>
     <rect
        style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
        id="rect5711"
@@ -492,7 +493,7 @@
          x="5680.7969"
          y="-686.73877"
          id="tspan5755"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Right</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Right</tspan></text>
     <rect
        ry="0"
        y="-489.01691"
@@ -527,7 +528,7 @@
        x="5680.7969"
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        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan5807"
          y="-266.3306"
          x="5680.7969"
@@ -570,7 +571,7 @@
          x="5680.7969"
          y="154.07762"
          id="tspan5859"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Backwards</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Trim Acc Backwards</tspan></text>
     <rect
        ry="0"
        y="351.79944"
@@ -607,7 +608,7 @@
        x="5680.7969"
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        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan5911"
          y="574.48572"
          x="5680.7969"
@@ -648,11 +649,11 @@
        x="5680.7969"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan5963"
          y="994.89398"
          x="5680.7969"
-         sodipodi:role="line">Load waypoint mission</tspan></text>
+         sodipodi:role="line">(Un)/load waypoint mission</tspan></text>
     <rect
        style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
        id="rect5971"
@@ -695,7 +696,7 @@
          x="5680.7969"
          y="1415.3022"
          id="tspan6015"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Save Setting</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Save Setting</tspan></text>
     <text
        xml:space="preserve"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -706,7 +707,7 @@
          x="5690.6709"
          y="-1955.0773"
          id="tspan4219"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Enter OSD Menu (CMS)</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Enter OSD Menu (CMS)</tspan></text>
     <text
        xml:space="preserve"
        style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -717,7 +718,7 @@
          x="2179.2812"
          y="-2663.0625"
          id="tspan7909"
-         style="font-size:352.85842896px;line-height:1.25;text-align:center;text-anchor:middle">Mode 2 Stick Functions</tspan></text>
+         style="font-size:352.858px;line-height:1.25;text-align:center;text-anchor:middle">Mode 2 Stick Functions</tspan></text>
     <rect
        style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
        id="rect927"
@@ -752,7 +753,7 @@
          x="533.55811"
          y="-673.06989"
          id="tspan935"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Battery profile 1</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Battery profile 1</tspan></text>
     <rect
        style="display:inline;opacity:1;fill:none;fill-opacity:1;stroke:#808080;stroke-width:11.05660725;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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@@ -773,7 +774,7 @@
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        xml:space="preserve"><tspan
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end"
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
          id="tspan947"
          y="-252.66168"
          x="533.55811"
@@ -802,7 +803,7 @@
          x="533.55811"
          y="167.74652"
          id="tspan959"
-         style="font-size:286.5987854px;line-height:1.25;text-align:end;text-anchor:end">Battery profile 3</tspan></text>
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end">Battery profile 3</tspan></text>
     <path
        sodipodi:nodetypes="sssss"
        inkscape:connector-curvature="0"
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 07dd7a442e..96cae079c5 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -260,7 +260,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
     // Load waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
-        const bool success = loadNonVolatileWaypointList(false);
+        const bool success = loadNonVolatileWaypointList(true);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
 #endif

From 3b3322164dca5ee76e499e61db41a3ff9468257d Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Mon, 28 Jun 2021 19:03:39 +0200
Subject: [PATCH 095/336] Typo

---
 docs/Controls.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Controls.md b/docs/Controls.md
index d47b3a3a0f..cef8fd3aa1 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -40,7 +40,7 @@ The stick positions are combined to activate different functions:
 
 ![Stick Positions](assets/images/StickPositions.png)
 
-"Load/unload Mission" is a toogle. If no mission is loaded to RAM, the EEPROM mission is loaded; if a mission is in RAM, it is cleared. Successful loading is indicated by the `ACTION_SUCCESS` beep, otherwise the `ACTION_FAIL` beep is played.
+"Load/unload Mission" is a toggle. If no mission is loaded to RAM, the EEPROM mission is loaded; if a mission is in RAM, it is cleared. Successful loading is indicated by the `ACTION_SUCCESS` beep, otherwise the `ACTION_FAIL` beep is played.
 
 ## Yaw control
 

From 5ec705e09b55487d833a7bf9c495072eaeb3b4f4 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Tue, 29 Jun 2021 10:19:30 +0200
Subject: [PATCH 096/336] constrain P to 1-20 and I to 2-30 range

---
 src/main/flight/pid_autotune.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c
index a3cc96e811..151d23be05 100755
--- a/src/main/flight/pid_autotune.c
+++ b/src/main/flight/pid_autotune.c
@@ -248,13 +248,14 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
     if (gainsUpdated) {
         // Set P-gain to 10% of FF gain (quite agressive - FIXME)
         tuneCurrent[axis].gainP = tuneCurrent[axis].gainFF * (pidAutotuneConfig()->fw_ff_to_p_gain / 100.0f);
+        tuneCurrent[axis].gainP = constrainf(tuneCurrent[axis].gainP, 1.0f, 20.0f);
 
         // Set D-gain relative to P-gain (0 for now)
         tuneCurrent[axis].gainD = tuneCurrent[axis].gainP * (pidAutotuneConfig()->fw_p_to_d_gain / 100.0f);
 
         // Set integrator gain to reach the same response as FF gain in 0.667 second
         tuneCurrent[axis].gainI = (tuneCurrent[axis].gainFF / FP_PID_RATE_FF_MULTIPLIER) * (1000.0f / pidAutotuneConfig()->fw_ff_to_i_time_constant) * FP_PID_RATE_I_MULTIPLIER;
-        tuneCurrent[axis].gainI = constrainf(tuneCurrent[axis].gainI, 2.0f, 50.0f);
+        tuneCurrent[axis].gainI = constrainf(tuneCurrent[axis].gainI, 2.0f, 30.0f);
         autotuneUpdateGains(tuneCurrent);
 
         switch (axis) {

From 3c45c7a78a80f0ce4dfc077ae925634cacbadea3 Mon Sep 17 00:00:00 2001
From: Michel Pastor <shellixyz@users.noreply.github.com>
Date: Sat, 3 Jul 2021 01:42:36 +0200
Subject: [PATCH 097/336] New target SKYSTARSF405HD (#7210)

---
 src/main/target/SKYSTARSF405HD/CMakeLists.txt |   1 +
 src/main/target/SKYSTARSF405HD/config.c       |  29 +++
 src/main/target/SKYSTARSF405HD/target.c       |  35 ++++
 src/main/target/SKYSTARSF405HD/target.h       | 166 ++++++++++++++++++
 4 files changed, 231 insertions(+)
 create mode 100644 src/main/target/SKYSTARSF405HD/CMakeLists.txt
 create mode 100644 src/main/target/SKYSTARSF405HD/config.c
 create mode 100644 src/main/target/SKYSTARSF405HD/target.c
 create mode 100644 src/main/target/SKYSTARSF405HD/target.h

diff --git a/src/main/target/SKYSTARSF405HD/CMakeLists.txt b/src/main/target/SKYSTARSF405HD/CMakeLists.txt
new file mode 100644
index 0000000000..cc9515d9e0
--- /dev/null
+++ b/src/main/target/SKYSTARSF405HD/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(SKYSTARSF405HD)
diff --git a/src/main/target/SKYSTARSF405HD/config.c b/src/main/target/SKYSTARSF405HD/config.c
new file mode 100644
index 0000000000..6dd129e144
--- /dev/null
+++ b/src/main/target/SKYSTARSF405HD/config.c
@@ -0,0 +1,29 @@
+/*
+ * This file is part of iNav.
+ *
+ * iNav is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * iNav is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "io/serial.h"
+#include "rx/rx.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_DJI_HD_OSD;
+}
diff --git a/src/main/target/SKYSTARSF405HD/target.c b/src/main/target/SKYSTARSF405HD/target.c
new file mode 100644
index 0000000000..ecaeed2621
--- /dev/null
+++ b/src/main/target/SKYSTARSF405HD/target.c
@@ -0,0 +1,35 @@
+/*
+ * This file is part of iNav.
+ *
+ * iNav is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * iNav is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PPM,   0, 0),
+
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_LED, 0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
new file mode 100644
index 0000000000..d6c562aa0b
--- /dev/null
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -0,0 +1,166 @@
+/*
+ * This file is part of iNav.
+ *
+ * iNav is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * iNav is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "SS4D"
+
+#define USBD_PRODUCT_STRING  "SkystarsF405HD"
+
+#define LED0                    PC14 // green
+#define LED1                    PC15 // blue
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN	        PA6
+#define SPI1_MOSI_PIN	        PA7
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI           PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
+
+// *************** M25P256 flash ********************
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN	        PC11
+#define SPI3_MOSI_PIN	        PB5
+
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD & baro ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN	        PB14
+#define SPI2_MOSI_PIN	        PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define BMP280_SPI_BUS          BUS_SPI2
+#define BMP280_CS_PIN           PC5
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// *************** I2C ****************************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_MAG
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+#define USE_MAG_AK8963
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+#define BNO055_I2C_BUS          DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_RANGEFINDER_HCSR04_I2C
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+#define PCA9685_I2C_BUS         DEFAULT_I2C_BUS
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC2
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PC8
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIALSHOT
+
+#define MAX_PWM_OUTPUT_PORTS    4

From 753c447974b3326bee98dbe965ee7da4d9926b54 Mon Sep 17 00:00:00 2001
From: scavanger <andi_kanzler@gmx.de>
Date: Tue, 15 Jun 2021 09:52:51 +0200
Subject: [PATCH 098/336] Enable OSD for all targets

---
 src/main/io/osd.c                          | 12 +++++++++---
 src/main/target/AIKONF4/target.h           |  1 -
 src/main/target/AIRBOTF7/target.h          |  1 -
 src/main/target/ALIENFLIGHTNGF7/target.h   |  1 -
 src/main/target/ANYFCF7/target.h           |  1 -
 src/main/target/ANYFCM7/target.h           |  1 -
 src/main/target/ASGARD32F4/target.h        |  1 -
 src/main/target/ASGARD32F7/target.h        |  1 -
 src/main/target/BEEROTORF4/target.h        |  1 -
 src/main/target/BETAFLIGHTF3/target.h      |  1 -
 src/main/target/BETAFLIGHTF4/target.h      |  1 -
 src/main/target/CLRACINGF4AIR/target.h     |  1 -
 src/main/target/DALRCF405/target.h         |  1 -
 src/main/target/DALRCF722DUAL/target.h     |  1 -
 src/main/target/FF_F35_LIGHTNING/target.h  |  1 -
 src/main/target/FF_FORTINIF4/target.h      |  1 -
 src/main/target/FF_PIKOF4/target.h         |  1 -
 src/main/target/FIREWORKSV2/target.h       |  1 -
 src/main/target/FISHDRONEF4/target.h       |  1 -
 src/main/target/FLYWOOF411/target.h        |  1 -
 src/main/target/FLYWOOF745/target.h        |  1 -
 src/main/target/FLYWOOF7DUAL/target.h      |  1 -
 src/main/target/FOXEERF405/target.h        |  4 ++--
 src/main/target/FOXEERF722DUAL/target.h    |  4 ++--
 src/main/target/FRSKYF3/target.h           |  1 -
 src/main/target/FRSKYF4/target.h           |  1 -
 src/main/target/FRSKYPILOT/target.h        |  1 -
 src/main/target/FRSKY_ROVERF7/target.h     |  1 -
 src/main/target/FURYF4OSD/target.h         |  1 -
 src/main/target/HGLRCF722/target.h         |  4 ++--
 src/main/target/IFLIGHTF4_SUCCEXD/target.h |  1 -
 src/main/target/IFLIGHTF4_TWING/target.h   |  1 -
 src/main/target/IFLIGHTF7_TWING/target.h   |  1 -
 src/main/target/KAKUTEF4/target.h          |  1 -
 src/main/target/KAKUTEF7/target.h          |  4 ++--
 src/main/target/KAKUTEF7MINIV3/target.h    |  4 ++--
 src/main/target/KROOZX/target.h            |  1 -
 src/main/target/MAMBAF405US/target.h       |  4 ++--
 src/main/target/MAMBAF722/target.h         |  4 ++--
 src/main/target/MATEKF405/target.h         |  1 -
 src/main/target/MATEKF405SE/target.h       |  1 -
 src/main/target/MATEKF411/target.h         |  1 -
 src/main/target/MATEKF411SE/target.h       |  1 -
 src/main/target/MATEKF722/target.h         |  1 -
 src/main/target/MATEKF722PX/target.h       |  1 -
 src/main/target/MATEKF722SE/target.h       |  4 ++--
 src/main/target/MATEKF765/target.h         |  1 -
 src/main/target/MATEKH743/target.h         |  4 ++--
 src/main/target/NOX/target.h               |  1 -
 src/main/target/OMNIBUS/target.h           |  1 -
 src/main/target/OMNIBUSF4/target.h         |  1 -
 src/main/target/OMNIBUSF7/target.h         |  1 -
 src/main/target/OMNIBUSF7NXT/target.h      |  1 -
 src/main/target/RUSH_BLADE_F7/target.h     |  1 -
 src/main/target/SPEEDYBEEF4/target.h       |  4 ++--
 src/main/target/SPEEDYBEEF7/target.h       |  1 -
 src/main/target/SPRACINGF4EVO/target.h     |  1 -
 src/main/target/SPRACINGF7DUAL/target.h    |  2 --
 src/main/target/YUPIF4/target.h            |  1 -
 src/main/target/YUPIF7/target.h            |  1 -
 src/main/target/ZEEZF7/target.h            |  1 -
 src/main/target/common.h                   |  1 +
 62 files changed, 30 insertions(+), 74 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index eb22c96960..6b19703cbc 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1754,10 +1754,11 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH:
         {
-            static timeUs_t updatedTimestamp = 0;
             /*static int32_t updatedTimeSeconds = 0;*/
-            timeUs_t currentTimeUs = micros();
             static int32_t timeSeconds = -1;
+#if defined(USE_ADC) && defined(USE_GPS)
+            static timeUs_t updatedTimestamp = 0;
+            timeUs_t currentTimeUs = micros();
             if (cmpTimeUs(currentTimeUs, updatedTimestamp) >= MS2US(1000)) {
 #ifdef USE_WIND_ESTIMATOR
                 timeSeconds = calculateRemainingFlightTimeBeforeRTH(osdConfig()->estimations_wind_compensation);
@@ -1766,10 +1767,13 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
                 updatedTimestamp = currentTimeUs;
             }
+#endif
             if ((!ARMING_FLAG(ARMED)) || (timeSeconds == -1)) {
                 buff[0] = SYM_FLY_M;
                 strcpy(buff + 1, "--:--");
+#if defined(USE_ADC) && defined(USE_GPS)
                 updatedTimestamp = 0;
+#endif
             } else if (timeSeconds == -2) {
                 // Wind is too strong to come back with cruise throttle
                 buff[0] = SYM_FLY_M;
@@ -1786,9 +1790,10 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_REMAINING_DISTANCE_BEFORE_RTH:;
+        static int32_t distanceMeters = -1;
+#if defined(USE_ADC) && defined(USE_GPS)
         static timeUs_t updatedTimestamp = 0;
         timeUs_t currentTimeUs = micros();
-        static int32_t distanceMeters = -1;
         if (cmpTimeUs(currentTimeUs, updatedTimestamp) >= MS2US(1000)) {
 #ifdef USE_WIND_ESTIMATOR
             distanceMeters = calculateRemainingDistanceBeforeRTH(osdConfig()->estimations_wind_compensation);
@@ -1797,6 +1802,7 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
             updatedTimestamp = currentTimeUs;
         }
+#endif
         buff[0] = SYM_TRIP_DIST;
         if ((!ARMING_FLAG(ARMED)) || (distanceMeters == -1)) {
             buff[4] = SYM_DIST_M;
diff --git a/src/main/target/AIKONF4/target.h b/src/main/target/AIKONF4/target.h
index d0e13b8a12..28ee33cf22 100644
--- a/src/main/target/AIKONF4/target.h
+++ b/src/main/target/AIKONF4/target.h
@@ -146,7 +146,6 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/AIRBOTF7/target.h b/src/main/target/AIRBOTF7/target.h
index 4a554cdd56..460d2ae820 100644
--- a/src/main/target/AIRBOTF7/target.h
+++ b/src/main/target/AIRBOTF7/target.h
@@ -59,7 +59,6 @@
 #endif
 
 // *************** OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PC15
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index 9f48f87c37..8e727f1171 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -138,7 +138,6 @@
 #define I2C1_SCL                PB6
 #define I2C1_SDA                PB7
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index fbd9683c92..0d9b879e04 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -125,7 +125,6 @@
 #define SPI4_MISO_PIN           PE13
 #define SPI4_MOSI_PIN           PE14
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/ANYFCM7/target.h b/src/main/target/ANYFCM7/target.h
index 0bb51355ec..2ba9486297 100644
--- a/src/main/target/ANYFCM7/target.h
+++ b/src/main/target/ANYFCM7/target.h
@@ -111,7 +111,6 @@
 #define USE_FLASH_M25P16
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/ASGARD32F4/target.h b/src/main/target/ASGARD32F4/target.h
index d9018a5cd9..ea2699dc2f 100644
--- a/src/main/target/ASGARD32F4/target.h
+++ b/src/main/target/ASGARD32F4/target.h
@@ -117,7 +117,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/ASGARD32F7/target.h b/src/main/target/ASGARD32F7/target.h
index 97e2ad210e..dc82fb74be 100644
--- a/src/main/target/ASGARD32F7/target.h
+++ b/src/main/target/ASGARD32F7/target.h
@@ -119,7 +119,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
index 9d86514f9d..9c78cf7738 100644
--- a/src/main/target/BEEROTORF4/target.h
+++ b/src/main/target/BEEROTORF4/target.h
@@ -57,7 +57,6 @@
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define BNO055_I2C_BUS          BUS_I2C1
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          SPI3_NSS_PIN
diff --git a/src/main/target/BETAFLIGHTF3/target.h b/src/main/target/BETAFLIGHTF3/target.h
index 1c4cc3fe68..71e469db2c 100755
--- a/src/main/target/BETAFLIGHTF3/target.h
+++ b/src/main/target/BETAFLIGHTF3/target.h
@@ -79,7 +79,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA1
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index 872327b41a..4116a52001 100755
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -45,7 +45,6 @@
 #define BMP280_SPI_BUS		BUS_SPI2
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS		BUS_SPI2
 #define MAX7456_CS_PIN      PB12
diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
index 56c3918aff..45778103a9 100644
--- a/src/main/target/CLRACINGF4AIR/target.h
+++ b/src/main/target/CLRACINGF4AIR/target.h
@@ -64,7 +64,6 @@
 #define BMP280_SPI_BUS          BUS_SPI3
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/DALRCF405/target.h b/src/main/target/DALRCF405/target.h
index 0b37dc2c11..22964f555a 100644
--- a/src/main/target/DALRCF405/target.h
+++ b/src/main/target/DALRCF405/target.h
@@ -66,7 +66,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h
index ca29604c6c..2ff18eeccb 100644
--- a/src/main/target/DALRCF722DUAL/target.h
+++ b/src/main/target/DALRCF722DUAL/target.h
@@ -103,7 +103,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/FF_F35_LIGHTNING/target.h b/src/main/target/FF_F35_LIGHTNING/target.h
index a916b186d7..a415ae541a 100644
--- a/src/main/target/FF_F35_LIGHTNING/target.h
+++ b/src/main/target/FF_F35_LIGHTNING/target.h
@@ -48,7 +48,6 @@
 #define BMP280_CS_PIN           PC5
 #define BMP280_SPI_BUS          BUS_SPI3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PA4
 #define MAX7456_SPI_BUS         BUS_SPI1
diff --git a/src/main/target/FF_FORTINIF4/target.h b/src/main/target/FF_FORTINIF4/target.h
index 669f4bd440..00c154dd94 100644
--- a/src/main/target/FF_FORTINIF4/target.h
+++ b/src/main/target/FF_FORTINIF4/target.h
@@ -58,7 +58,6 @@
 /*---------------------------------*/
 
 /*-------------OSD-----------------*/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB3
diff --git a/src/main/target/FF_PIKOF4/target.h b/src/main/target/FF_PIKOF4/target.h
index 59337ad53b..244ddec53b 100644
--- a/src/main/target/FF_PIKOF4/target.h
+++ b/src/main/target/FF_PIKOF4/target.h
@@ -73,7 +73,6 @@
 
 #if defined(FF_PIKOF4OSD)
 /*-------------OSD-----------------*/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA4
diff --git a/src/main/target/FIREWORKSV2/target.h b/src/main/target/FIREWORKSV2/target.h
index a0ea4428da..51ea748abc 100644
--- a/src/main/target/FIREWORKSV2/target.h
+++ b/src/main/target/FIREWORKSV2/target.h
@@ -175,7 +175,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 45b8b5b865..331de0d918 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -78,7 +78,6 @@
 #define SPI2_MISO_PIN   PC2
 #define SPI2_MOSI_PIN   PC3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/FLYWOOF411/target.h b/src/main/target/FLYWOOF411/target.h
index 34d110d7a5..f949cbf4f6 100644
--- a/src/main/target/FLYWOOF411/target.h
+++ b/src/main/target/FLYWOOF411/target.h
@@ -88,7 +88,6 @@
 #define USE_MAG_LIS3MDL
 
 // *************** SPI OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h
index be57e83f96..266a720ed6 100644
--- a/src/main/target/FLYWOOF745/target.h
+++ b/src/main/target/FLYWOOF745/target.h
@@ -107,7 +107,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/FLYWOOF7DUAL/target.h b/src/main/target/FLYWOOF7DUAL/target.h
index 10b8d285bb..8cae941538 100644
--- a/src/main/target/FLYWOOF7DUAL/target.h
+++ b/src/main/target/FLYWOOF7DUAL/target.h
@@ -73,7 +73,6 @@
 #define M25P16_SPI_BUS          BUS_SPI3
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PB12
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/FOXEERF405/target.h b/src/main/target/FOXEERF405/target.h
index 2b8d4e2ac0..2b9f5ae7a0 100644
--- a/src/main/target/FOXEERF405/target.h
+++ b/src/main/target/FOXEERF405/target.h
@@ -72,7 +72,6 @@
 #define M25P16_SPI_BUS          BUS_SPI2
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
@@ -147,4 +146,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/FOXEERF722DUAL/target.h b/src/main/target/FOXEERF722DUAL/target.h
index b339cef7a9..f946150985 100644
--- a/src/main/target/FOXEERF722DUAL/target.h
+++ b/src/main/target/FOXEERF722DUAL/target.h
@@ -81,7 +81,6 @@
 #define M25P16_SPI_BUS          BUS_SPI2
 
 /*** OSD ***/
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PC3
@@ -158,4 +157,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/FRSKYF3/target.h b/src/main/target/FRSKYF3/target.h
index b046c399cb..304fa22214 100644
--- a/src/main/target/FRSKYF3/target.h
+++ b/src/main/target/FRSKYF3/target.h
@@ -56,7 +56,6 @@
 #define I2C1_SDA                PB7
 
 #define USE_SPI
-#define USE_OSD
 
 // include the max7456 driver
 #define USE_MAX7456
diff --git a/src/main/target/FRSKYF4/target.h b/src/main/target/FRSKYF4/target.h
index 4d950a18a7..9b6cee6b39 100755
--- a/src/main/target/FRSKYF4/target.h
+++ b/src/main/target/FRSKYF4/target.h
@@ -37,7 +37,6 @@
 #define BMP280_SPI_BUS          BUS_SPI3
 #define BMP280_CS_PIN           PB3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/FRSKYPILOT/target.h b/src/main/target/FRSKYPILOT/target.h
index d4da84dde0..2dd56aa73d 100644
--- a/src/main/target/FRSKYPILOT/target.h
+++ b/src/main/target/FRSKYPILOT/target.h
@@ -152,7 +152,6 @@
 #define UART5_AF                1
 
 // OSD
-#define USE_OSD
 #define USE_UART6
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7
diff --git a/src/main/target/FRSKY_ROVERF7/target.h b/src/main/target/FRSKY_ROVERF7/target.h
index 6347cd9bd9..f729d2bd60 100755
--- a/src/main/target/FRSKY_ROVERF7/target.h
+++ b/src/main/target/FRSKY_ROVERF7/target.h
@@ -87,7 +87,6 @@
 #define SPI3_MISO_PIN           PB4
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PD2
diff --git a/src/main/target/FURYF4OSD/target.h b/src/main/target/FURYF4OSD/target.h
index d5ccf15a95..5b7b75dd5b 100644
--- a/src/main/target/FURYF4OSD/target.h
+++ b/src/main/target/FURYF4OSD/target.h
@@ -67,7 +67,6 @@
 #define SPI2_MISO_PIN   	      PB14
 #define SPI2_MOSI_PIN   	      PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index 440a657c1b..a2453b1e61 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -92,7 +92,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -177,4 +176,5 @@
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
 #define USE_SERIALSHOT
-#define USE_ESC_SENSOR
\ No newline at end of file
+#define USE_ESC_SENSOR
+
diff --git a/src/main/target/IFLIGHTF4_SUCCEXD/target.h b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
index aee436548c..7d603cc116 100644
--- a/src/main/target/IFLIGHTF4_SUCCEXD/target.h
+++ b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
@@ -49,7 +49,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/IFLIGHTF4_TWING/target.h b/src/main/target/IFLIGHTF4_TWING/target.h
index ab5d0bf5f3..5a3943e11a 100644
--- a/src/main/target/IFLIGHTF4_TWING/target.h
+++ b/src/main/target/IFLIGHTF4_TWING/target.h
@@ -87,7 +87,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS		    BUS_SPI2
 #define MAX7456_CS_PIN          PB12 
diff --git a/src/main/target/IFLIGHTF7_TWING/target.h b/src/main/target/IFLIGHTF7_TWING/target.h
index 2fb765bce7..fb74f2d530 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.h
+++ b/src/main/target/IFLIGHTF7_TWING/target.h
@@ -100,7 +100,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 2b0f908a91..f64101ea75 100755
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -75,7 +75,6 @@
 #   define USE_MAG
 #endif
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PB14
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 0d42c7e2d6..97764f6e92 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -104,7 +104,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 
 #ifndef KAKUTEF7HDV
 #define USE_MAX7456
@@ -179,4 +178,5 @@
 
 #define MAX_PWM_OUTPUT_PORTS       6
 
-#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file
+#define BNO055_I2C_BUS          BUS_I2C1
+
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 7ecc7a3d1e..6e7188f9f7 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -106,7 +106,6 @@
 /*
  * OSD
  */
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
@@ -173,4 +172,5 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
\ No newline at end of file
+#define TARGET_IO_PORTD         (BIT(2))
+
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
index 4f5eac5f7c..cde87e45d2 100755
--- a/src/main/target/KROOZX/target.h
+++ b/src/main/target/KROOZX/target.h
@@ -61,7 +61,6 @@
 #define SDCARD_DETECT_INVERTED
 #define SDCARD_DETECT_PIN       PC13
 
-#define USE_OSD
 #ifdef USE_MSP_DISPLAYPORT
 #undef USE_MSP_DISPLAYPORT
 #endif
diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index adb4c09f1e..969b725bf4 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -158,7 +158,6 @@
 #define VBAT_SCALE_DEFAULT              1100
 
 // ******* OSD ********
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS                 BUS_SPI2
 #define MAX7456_CS_PIN                  PB12
@@ -199,4 +198,5 @@
 #define TEMPERATURE_I2C_BUS             DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
 #define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
\ No newline at end of file
+#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
+
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 2c1cb07cf7..3efdde2835 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -156,7 +156,6 @@
 #define VBAT_SCALE_DEFAULT              1100
 
 // ******* OSD ********
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS                 BUS_SPI2
 #define MAX7456_CS_PIN                  SPI2_NSS_PIN
@@ -207,4 +206,5 @@
 
 #define BNO055_I2C_BUS              DEFAULT_I2C_BUS
 
-#endif
\ No newline at end of file
+#endif
+
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index a70cc55583..c3dd007b4d 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -76,7 +76,6 @@
 #define SPI2_MISO_PIN   	    PB14
 #define SPI2_MOSI_PIN   	    PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB10
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 75afdea322..805f6cea42 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -85,7 +85,6 @@
 #define SPI2_MISO_PIN   	    PC2
 #define SPI2_MOSI_PIN   	    PC3
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_CS_PIN          PB12
 #define MAX7456_SPI_BUS         BUS_SPI2
diff --git a/src/main/target/MATEKF411/target.h b/src/main/target/MATEKF411/target.h
index ac6962a350..b73c6013c7 100755
--- a/src/main/target/MATEKF411/target.h
+++ b/src/main/target/MATEKF411/target.h
@@ -55,7 +55,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 2da0393f54..8bb3e933ef 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -50,7 +50,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index 331ad65821..b1b657e424 100755
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -90,7 +90,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB10
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index ca9dd843a6..83d7d669cb 100755
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -169,7 +169,6 @@
 #define TARGET_IO_PORTD 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        10
-#define USE_OSD
 #define USE_DSHOT
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index ecff68fa66..6f62d53406 100644
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -95,7 +95,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -195,4 +194,5 @@
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
-#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file
+#define BNO055_I2C_BUS          BUS_I2C1
+
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 8f5b256026..449801cc50 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -98,7 +98,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 6053f86939..a0864cd140 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -71,7 +71,6 @@
 #define SPI2_MISO_PIN           PB14
 #define SPI2_MOSI_PIN           PB15
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
@@ -207,4 +206,5 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
\ No newline at end of file
+#define USE_SERIALSHOT
+
diff --git a/src/main/target/NOX/target.h b/src/main/target/NOX/target.h
index 9a40ea5050..764e889bb4 100755
--- a/src/main/target/NOX/target.h
+++ b/src/main/target/NOX/target.h
@@ -61,7 +61,6 @@
 #define BMP280_CS_PIN           PA9
 
 // *************** SPI OSD *****************************
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PA10
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index 3338db998e..273f41097f 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -103,7 +103,6 @@
 #define SDCARD_SPI_BUS          BUS_SPI2
 #define SDCARD_CS_PIN           SPI2_NSS_PIN
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS             BUS_SPI1
 #define MAX7456_CS_PIN              PB1
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index 4027144c8d..fd0991fb94 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -213,7 +213,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index 50e10578b4..8296e531e5 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -126,7 +126,6 @@
 #define SPI4_MISO_PIN           PE5
 #define SPI4_MOSI_PIN           PE6
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          SPI2_NSS_PIN
diff --git a/src/main/target/OMNIBUSF7NXT/target.h b/src/main/target/OMNIBUSF7NXT/target.h
index 241322b5d6..de7da72927 100644
--- a/src/main/target/OMNIBUSF7NXT/target.h
+++ b/src/main/target/OMNIBUSF7NXT/target.h
@@ -128,7 +128,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PC12
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h
index cdae1860b3..1a701ed987 100644
--- a/src/main/target/RUSH_BLADE_F7/target.h
+++ b/src/main/target/RUSH_BLADE_F7/target.h
@@ -141,7 +141,6 @@
 #define TARGET_IO_PORTD 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS        10
-#define USE_OSD
 #define USE_DSHOT
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/SPEEDYBEEF4/target.h b/src/main/target/SPEEDYBEEF4/target.h
index 3920653df7..0258ac2974 100644
--- a/src/main/target/SPEEDYBEEF4/target.h
+++ b/src/main/target/SPEEDYBEEF4/target.h
@@ -73,7 +73,6 @@
 #define USE_FLASH_M25P16	
 
 /*** OSD ***/
-#define USE_OSD								
 #define USE_MAX7456							
 #define MAX7456_SPI_BUS         BUS_SPI2	
 #define MAX7456_CS_PIN          PB10		
@@ -171,4 +170,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define RANGEFINDER_I2C_BUS BUS_I2C1
\ No newline at end of file
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
diff --git a/src/main/target/SPEEDYBEEF7/target.h b/src/main/target/SPEEDYBEEF7/target.h
index 71e855af0a..559ad0924e 100644
--- a/src/main/target/SPEEDYBEEF7/target.h
+++ b/src/main/target/SPEEDYBEEF7/target.h
@@ -73,7 +73,6 @@
 
 // OSD -- SPI2
 #define USE_SPI_DEVICE_2
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2
 #define MAX7456_CS_PIN          PB12
diff --git a/src/main/target/SPRACINGF4EVO/target.h b/src/main/target/SPRACINGF4EVO/target.h
index efe89add1e..8722883d01 100755
--- a/src/main/target/SPRACINGF4EVO/target.h
+++ b/src/main/target/SPRACINGF4EVO/target.h
@@ -143,7 +143,6 @@
 // PC4 - NC - Free for ADC12_IN14 / VTX CS
 // PC5 - NC - Free for ADC12_IN15 / VTX Enable / OSD VSYNC
 
-//#define USE_OSD
 //#define USE_MAX7456
 //#define USE_OSD_OVER_MSP_DISPLAYPORT
 
diff --git a/src/main/target/SPRACINGF7DUAL/target.h b/src/main/target/SPRACINGF7DUAL/target.h
index 9bbc2a7455..c41c61732a 100644
--- a/src/main/target/SPRACINGF7DUAL/target.h
+++ b/src/main/target/SPRACINGF7DUAL/target.h
@@ -168,8 +168,6 @@
 
 #define CURRENT_METER_SCALE         300
 
-#define USE_OSD
-
 #define USE_LED_STRIP
 #define WS2811_PIN                      PA1
 
diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h
index 741f224252..97e389826c 100644
--- a/src/main/target/YUPIF4/target.h
+++ b/src/main/target/YUPIF4/target.h
@@ -74,7 +74,6 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP280
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA14
diff --git a/src/main/target/YUPIF7/target.h b/src/main/target/YUPIF7/target.h
index a95336a738..6a146a1c50 100644
--- a/src/main/target/YUPIF7/target.h
+++ b/src/main/target/YUPIF7/target.h
@@ -115,7 +115,6 @@
 #define I2C_DEVICE              (I2CDEV_1)
 
 // OSD
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA14
diff --git a/src/main/target/ZEEZF7/target.h b/src/main/target/ZEEZF7/target.h
index 4558922417..5ad4f85e6e 100755
--- a/src/main/target/ZEEZF7/target.h
+++ b/src/main/target/ZEEZF7/target.h
@@ -140,7 +140,6 @@
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PB5
 
-#define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
 #define MAX7456_CS_PIN          PA15
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 068e6b8dde..c110a6112f 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -127,6 +127,7 @@
 
 #define USE_PWM_DRIVER_PCA9685
 
+#define USE_OSD
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
 #define USE_SMARTPORT_MASTER

From 7bd5951c68f50828183d1e7ef0be4253e4a345b5 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 2 Apr 2021 07:27:10 +0100
Subject: [PATCH 099/336] Added Azimuth to SmartPort telemetry

I also updated the link to the OpenTX identifiers page, as the old one was a 404.
---
 docs/Telemetry.md              |  1 +
 src/main/telemetry/smartport.c | 20 ++++++++++++++++++--
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/docs/Telemetry.md b/docs/Telemetry.md
index 2b5972370e..346422e6e4 100644
--- a/docs/Telemetry.md
+++ b/docs/Telemetry.md
@@ -121,6 +121,7 @@ The following sensors are transmitted
 * **0430** : if `frsky_pitch_roll = ON` set this will be pitch degrees*10
 * **0440** : if `frsky_pitch_roll = ON` set this will be roll degrees*10
 * **0450** : 'Flight Path Vector' or 'Course over ground' in degrees*10
+* **0460** : Azimuth in degrees*10
 ### Compatible SmartPort/INAV telemetry flight status
 
 To quickly and easily monitor these SmartPort sensors and flight modes, install [OpenTX Telemetry Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) to your Taranis Q X7, X9D, X9D+ or X9E transmitter.
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index dd980d242f..766dea1901 100755
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -62,7 +62,7 @@ FILE_COMPILE_FOR_SPEED
 #include "telemetry/frsky.h"
 #include "telemetry/msp_shared.h"
 
-// these data identifiers are obtained from https://github.com/opentx/opentx/blob/master/radio/src/telemetry/frsky_hub.h
+// these data identifiers are obtained from https://github.com/opentx/opentx/blob/2.3/radio/src/telemetry/frsky.h
 enum
 {
     FSSP_DATAID_SPEED      = 0x0830 ,
@@ -91,7 +91,8 @@ enum
     FSSP_DATAID_GPS_ALT    = 0x0820 ,
     FSSP_DATAID_ASPD       = 0x0A00 ,
     FSSP_DATAID_A3         = 0x0900 ,
-    FSSP_DATAID_A4         = 0x0910
+    FSSP_DATAID_A4         = 0x0910 ,
+    FSSP_DATAID_AZIMUTH    = 0x0460
 };
 
 const uint16_t frSkyDataIdTable[] = {
@@ -123,6 +124,7 @@ const uint16_t frSkyDataIdTable[] = {
     FSSP_DATAID_ASPD      ,
     // FSSP_DATAID_A3        ,
     FSSP_DATAID_A4        ,
+    FSSP_DATAID_AZIMUTH ,
     0
 };
 
@@ -525,6 +527,20 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
                     *clearToSend = false;
                 }
                 break;
+            case FSSP_DATAID_AZIMUTH    :
+                if (smartPortShouldSendGPSData()) {
+                    int16_t h = GPS_directionToHome;
+                    if (h < 0) {
+                        h += 360;
+                    }
+                    if(h >= 180)
+                        h = h - 180;
+                    else
+                        h = h + 180;
+                    smartPortSendPackage(id, h *10); // given in 10*deg
+                    *clearToSend = false;
+                }
+                break;
 #endif
             case FSSP_DATAID_A4         :
                 if (isBatteryVoltageConfigured()) {

From 5e7ceaf82c4dc9b6c72ade970bea58526142d635 Mon Sep 17 00:00:00 2001
From: tednv <tednv@users.noreply.github.com>
Date: Sat, 15 May 2021 00:18:18 -0700
Subject: [PATCH 100/336] adding documentation for Windows MSYS2 build
 environment

---
 .../Building in Windows 10 with MSYS2.md      | 66 +++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 docs/development/Building in Windows 10 with MSYS2.md

diff --git a/docs/development/Building in Windows 10 with MSYS2.md b/docs/development/Building in Windows 10 with MSYS2.md
new file mode 100644
index 0000000000..134e9c1379
--- /dev/null
+++ b/docs/development/Building in Windows 10 with MSYS2.md	
@@ -0,0 +1,66 @@
+# General Info
+
+This is a guide on how to use Windows MSYS2 distribution and building platform to build iNav firmware. This environment is very simple to manage and does not require installing docker for Windows which may get in the way of VMWare or any other virtualization software you already have running for other reasons. Another benefit of this approach is that the compiler runs natively on Windows, so performance is much better than compiling in a virtual environment or a container. You can also integrate with whatever IDE you are using to make code edits and work with github, which makes the entire development and testing workflow a lot more efficient. In addition to MSYS2, this build environment also uses Arm Embedded GCC tolkit from The xPack Project, which provides many benefits over the toolkits maintained by arm.com
+
+Some of those benefits are described here:
+https://xpack.github.io/arm-none-eabi-gcc/
+
+## Setting up build environment
+
+Download MSYS2 for your architecture (most likely 64-bit)
+https://www.msys2.org/wiki/MSYS2-installation/
+
+Click on 64-bit, scroll all the way down for the latest release
+
+pacman is the package manager which makes it a lot easier to install and maintain all the dependencies
+
+## Installing dependencies
+
+Once MSYS2 is installed, you can open up a new terminal window by running:
+
+"C:\msys64\mingw64.exe"
+
+You can also make a shortcut of this somewhere on your taskbar, desktop, etc, or even setup a shortcut key to open it up every time you need to get a terminal window. If you right click on the window you can customize the font and layout to make it more comfortable to work with. This is very similar to cygwin or any other terminal program you might have used before
+
+This is the best part:
+`
+pacman -S git ruby make cmake gcc mingw-w64-x86_64-libwinpthread-git unzip wget
+`
+
+Now, each release needs a different version of arm toolchain. To setup the xPack ARM toolchain, use the following process:
+
+First, get the release you want to build or master if you want the latest/greatest
+`
+mkdir /c/Workspace
+cd /c/Workspace
+# you can also check out your own fork here which makes contributing easier
+git clone https://github.com/iNavFlight/inav
+cd inav
+# switch to release you want or skip next 2 lines if you want latest
+git fetch origin
+git checkout -b release_2.6.1 origin/release_2.6.1
+mkdir build
+cd build
+mkdir /c/Workspace/xpack
+cd /c/Workspace/xpack
+# now find the arm toolchain version you need for this inav release
+cat /c/Workspace/inav/cmake/arm-none-eabi-checks.cmake | grep "set(arm_none_eabi_gcc_version" | cut -d\" -f2
+# this will give you the version you need for any given release or master branch
+# you can get to all the releases here and find the version you need
+# https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/
+# for version 2.6.1, version needed is 9.2.1
+wget https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v9.2.1-1.1/xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
+unzip xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
+# this is important, put the toolkit first before your path so that it is
+# picked up ahead of any other versions that may be present on your system
+export PATH=/c/Workspace/xpack/xpack-arm-none-eabi-gcc-9.2.1-1.1/bin:$PATH
+cd /c/Workspace/inav/build
+# you may need to run rm -rf * in build directory if you had any failed previous runs
+# now run cmake .. while inside the build directory
+cmake ..
+# once that's done you can compile the firmware for your controller
+make DALRCF405
+# the generated hex file will be in /c/Workspace/inav/build folder
+`
+
+At the time of writting this document, I believe this is the fastest, easiest, and most efficient Windows build environment that is available. I have used this approach several years ago and was very happy with it building iNav 2.1 and 2.2, and now I'm getting back into it so figured I would share my method
\ No newline at end of file

From c73d87db3be59a1d30f0c545d4548adb219fc25a Mon Sep 17 00:00:00 2001
From: tednv <tednv@users.noreply.github.com>
Date: Sat, 15 May 2021 00:26:02 -0700
Subject: [PATCH 101/336] enabling DSHOT for DALRCF405 which pairs perfectly
 with DALRC engine

---
 src/main/target/DALRCF405/target.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/target/DALRCF405/target.h b/src/main/target/DALRCF405/target.h
index 22964f555a..a36a59a63a 100644
--- a/src/main/target/DALRCF405/target.h
+++ b/src/main/target/DALRCF405/target.h
@@ -150,3 +150,5 @@
 
 //TIMER
 #define MAX_PWM_OUTPUT_PORTS       10
+
+#define USE_DSHOT

From d261728113dde8a1dfb952ddbe8ed1c50c4fcbb1 Mon Sep 17 00:00:00 2001
From: Michel Pastor <shellixyz@users.noreply.github.com>
Date: Tue, 18 May 2021 18:24:21 +0200
Subject: [PATCH 102/336] Add .cache/ to .gitignore (#6983)

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index cc71acb9c4..a27fcbeb0a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,6 +8,7 @@
 .project
 .settings
 .cproject
+.cache/
 __pycache__
 startup_stm32f10x_md_gcc.s
 .vagrant/

From b611056ebfcbbc42dcf183d7c20971be3be30b88 Mon Sep 17 00:00:00 2001
From: tednv <24532778+tednv@users.noreply.github.com>
Date: Mon, 17 May 2021 07:37:59 -0700
Subject: [PATCH 103/336] fixing formatting

---
 .../Building in Windows 10 with MSYS2.md      | 43 ++++++++++++-------
 1 file changed, 27 insertions(+), 16 deletions(-)

diff --git a/docs/development/Building in Windows 10 with MSYS2.md b/docs/development/Building in Windows 10 with MSYS2.md
index 134e9c1379..59bd2c3537 100644
--- a/docs/development/Building in Windows 10 with MSYS2.md	
+++ b/docs/development/Building in Windows 10 with MSYS2.md	
@@ -23,14 +23,14 @@ Once MSYS2 is installed, you can open up a new terminal window by running:
 You can also make a shortcut of this somewhere on your taskbar, desktop, etc, or even setup a shortcut key to open it up every time you need to get a terminal window. If you right click on the window you can customize the font and layout to make it more comfortable to work with. This is very similar to cygwin or any other terminal program you might have used before
 
 This is the best part:
-`
+```
 pacman -S git ruby make cmake gcc mingw-w64-x86_64-libwinpthread-git unzip wget
-`
+```
 
 Now, each release needs a different version of arm toolchain. To setup the xPack ARM toolchain, use the following process:
 
-First, get the release you want to build or master if you want the latest/greatest
-`
+First, setup your work path, get the release you want to build or master if you want the latest/greatest
+```
 mkdir /c/Workspace
 cd /c/Workspace
 # you can also check out your own fork here which makes contributing easier
@@ -39,28 +39,39 @@ cd inav
 # switch to release you want or skip next 2 lines if you want latest
 git fetch origin
 git checkout -b release_2.6.1 origin/release_2.6.1
+```
+Now create the build and xpack directories and get the toolkit version you need for your inav version
+```
 mkdir build
 cd build
 mkdir /c/Workspace/xpack
 cd /c/Workspace/xpack
-# now find the arm toolchain version you need for this inav release
 cat /c/Workspace/inav/cmake/arm-none-eabi-checks.cmake | grep "set(arm_none_eabi_gcc_version" | cut -d\" -f2
-# this will give you the version you need for any given release or master branch
-# you can get to all the releases here and find the version you need
-# https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/
+```
+This will give you the version you need for any given release or master branch. You can get to all the releases here and find the version you need
+https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/
+```
 # for version 2.6.1, version needed is 9.2.1
 wget https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v9.2.1-1.1/xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
 unzip xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
-# this is important, put the toolkit first before your path so that it is
-# picked up ahead of any other versions that may be present on your system
+```
+This is important, put the toolkit first before your path so that it is  picked up ahead of any other versions that may be present on your system
+```
 export PATH=/c/Workspace/xpack/xpack-arm-none-eabi-gcc-9.2.1-1.1/bin:$PATH
 cd /c/Workspace/inav/build
-# you may need to run rm -rf * in build directory if you had any failed previous runs
-# now run cmake .. while inside the build directory
+```
+You may need to run rm -rf * in build directory if you had any failed previous runs now run cmake
+```
+# while inside the build directory
 cmake ..
-# once that's done you can compile the firmware for your controller
+```
+Once that's done you can compile the firmware for your controller
+```
 make DALRCF405
-# the generated hex file will be in /c/Workspace/inav/build folder
-`
+```
+To get a list of available targets in iNav, see the target src folder
+https://github.com/tednv/inav/tree/master/src/main/target
 
-At the time of writting this document, I believe this is the fastest, easiest, and most efficient Windows build environment that is available. I have used this approach several years ago and was very happy with it building iNav 2.1 and 2.2, and now I'm getting back into it so figured I would share my method
\ No newline at end of file
+The generated hex file will be in /c/Workspace/inav/build folder
+
+At the time of writting this document, I believe this is the fastest, easiest, and most efficient Windows build environment that is available. I have used this approach several years ago and was very happy with it building iNav 2.1 and 2.2, and now I'm getting back into it so figured I would share my method

From 8592214cc723b50862febe9b13050a5f75523f90 Mon Sep 17 00:00:00 2001
From: tednv <24532778+tednv@users.noreply.github.com>
Date: Mon, 17 May 2021 07:38:41 -0700
Subject: [PATCH 104/336] Update Building in Windows 10 with MSYS2.md

---
 docs/development/Building in Windows 10 with MSYS2.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docs/development/Building in Windows 10 with MSYS2.md b/docs/development/Building in Windows 10 with MSYS2.md
index 59bd2c3537..2593e25c61 100644
--- a/docs/development/Building in Windows 10 with MSYS2.md	
+++ b/docs/development/Building in Windows 10 with MSYS2.md	
@@ -3,11 +3,13 @@
 This is a guide on how to use Windows MSYS2 distribution and building platform to build iNav firmware. This environment is very simple to manage and does not require installing docker for Windows which may get in the way of VMWare or any other virtualization software you already have running for other reasons. Another benefit of this approach is that the compiler runs natively on Windows, so performance is much better than compiling in a virtual environment or a container. You can also integrate with whatever IDE you are using to make code edits and work with github, which makes the entire development and testing workflow a lot more efficient. In addition to MSYS2, this build environment also uses Arm Embedded GCC tolkit from The xPack Project, which provides many benefits over the toolkits maintained by arm.com
 
 Some of those benefits are described here:
+
 https://xpack.github.io/arm-none-eabi-gcc/
 
 ## Setting up build environment
 
 Download MSYS2 for your architecture (most likely 64-bit)
+
 https://www.msys2.org/wiki/MSYS2-installation/
 
 Click on 64-bit, scroll all the way down for the latest release
@@ -49,6 +51,7 @@ cd /c/Workspace/xpack
 cat /c/Workspace/inav/cmake/arm-none-eabi-checks.cmake | grep "set(arm_none_eabi_gcc_version" | cut -d\" -f2
 ```
 This will give you the version you need for any given release or master branch. You can get to all the releases here and find the version you need
+
 https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/
 ```
 # for version 2.6.1, version needed is 9.2.1

From 687a344bab86915b157a1cbd0daf67aaae64d037 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 19 May 2021 11:57:09 +0100
Subject: [PATCH 105/336] OSD RTC time seconds display option

---
 src/main/fc/settings.yaml | 5 +++++
 src/main/io/osd.c         | 7 ++++++-
 src/main/io/osd.h         | 1 +
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 8bf61790e3..3f023351e8 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3271,6 +3271,11 @@ groups:
         field: main_voltage_decimals
         min: 1
         max: 2
+      - name: osd_rtc_time_show_seconds
+        description: "Enable to show seconds in current time display."
+        field: rtc_time_show_seconds
+        type: bool
+        default_value: OFF
       - name: osd_coordinate_digits
         field: coordinate_digits
         min: 8
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 6b19703cbc..e6838a616f 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2333,7 +2333,11 @@ static bool osdDrawSingleElement(uint8_t item)
             dateTime_t dateTime;
             rtcGetDateTimeLocal(&dateTime);
             buff[0] = SYM_CLOCK;
-            tfp_sprintf(buff + 1, "%02u:%02u", dateTime.hours, dateTime.minutes);
+            if (osdConfig()->rtc_time_show_seconds) {
+                tfp_sprintf(buff + 1, "%02u:%02u:%02u", dateTime.hours, dateTime.minutes, dateTime.seconds);
+            } else {
+                tfp_sprintf(buff + 1, "%02u:%02u", dateTime.hours, dateTime.minutes);
+            }
             break;
         }
 
@@ -2970,6 +2974,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
 
     .units = SETTING_OSD_UNITS_DEFAULT,
     .main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,
+    .rtc_time_show_seconds = SETTING_OSD_RTC_TIME_SHOW_SECONDS_DEFAULT,
 
 #ifdef USE_WIND_ESTIMATOR
     .estimations_wind_compensation = SETTING_OSD_ESTIMATIONS_WIND_COMPENSATION_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e1d22e1a7d..7ee6a345ed 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -378,6 +378,7 @@ typedef struct osdConfig_s {
     uint8_t crsf_lq_format;
     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
     uint8_t telemetry; 				    // use telemetry on displayed pixel line 0
+    bool rtc_time_show_seconds;         // show seconds in current time display when enabled
 
 } osdConfig_t;
 

From ea4fedf1a7d4d6214118ac7517de1edc50b76584 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 19 May 2021 16:11:39 +0100
Subject: [PATCH 106/336] Remove option

---
 src/main/fc/settings.yaml | 5 -----
 src/main/io/osd.c         | 7 +------
 src/main/io/osd.h         | 1 -
 3 files changed, 1 insertion(+), 12 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 3f023351e8..8bf61790e3 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3271,11 +3271,6 @@ groups:
         field: main_voltage_decimals
         min: 1
         max: 2
-      - name: osd_rtc_time_show_seconds
-        description: "Enable to show seconds in current time display."
-        field: rtc_time_show_seconds
-        type: bool
-        default_value: OFF
       - name: osd_coordinate_digits
         field: coordinate_digits
         min: 8
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index e6838a616f..af9cd12cb3 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2333,11 +2333,7 @@ static bool osdDrawSingleElement(uint8_t item)
             dateTime_t dateTime;
             rtcGetDateTimeLocal(&dateTime);
             buff[0] = SYM_CLOCK;
-            if (osdConfig()->rtc_time_show_seconds) {
-                tfp_sprintf(buff + 1, "%02u:%02u:%02u", dateTime.hours, dateTime.minutes, dateTime.seconds);
-            } else {
-                tfp_sprintf(buff + 1, "%02u:%02u", dateTime.hours, dateTime.minutes);
-            }
+            tfp_sprintf(buff + 1, "%02u:%02u:%02u", dateTime.hours, dateTime.minutes, dateTime.seconds);
             break;
         }
 
@@ -2974,7 +2970,6 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
 
     .units = SETTING_OSD_UNITS_DEFAULT,
     .main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,
-    .rtc_time_show_seconds = SETTING_OSD_RTC_TIME_SHOW_SECONDS_DEFAULT,
 
 #ifdef USE_WIND_ESTIMATOR
     .estimations_wind_compensation = SETTING_OSD_ESTIMATIONS_WIND_COMPENSATION_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 7ee6a345ed..e1d22e1a7d 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -378,7 +378,6 @@ typedef struct osdConfig_s {
     uint8_t crsf_lq_format;
     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
     uint8_t telemetry; 				    // use telemetry on displayed pixel line 0
-    bool rtc_time_show_seconds;         // show seconds in current time display when enabled
 
 } osdConfig_t;
 

From c09a35891aedf06ad27df9e15b1bf07555bddabe Mon Sep 17 00:00:00 2001
From: David Brooks <david@ipegcorp.com>
Date: Thu, 27 May 2021 16:33:57 +0100
Subject: [PATCH 107/336] Added MATEKF722SE_8MOTOR

---
 .../target/MATEKF722SE_8MOTOR/CMakeLists.txt  |   1 +
 src/main/target/MATEKF722SE_8MOTOR/config.c   |  30 +++
 src/main/target/MATEKF722SE_8MOTOR/target.c   |  47 +++++
 src/main/target/MATEKF722SE_8MOTOR/target.h   | 193 ++++++++++++++++++
 4 files changed, 271 insertions(+)
 create mode 100644 src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
 create mode 100644 src/main/target/MATEKF722SE_8MOTOR/config.c
 create mode 100644 src/main/target/MATEKF722SE_8MOTOR/target.c
 create mode 100644 src/main/target/MATEKF722SE_8MOTOR/target.h

diff --git a/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt b/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
new file mode 100644
index 0000000000..32634b4a8b
--- /dev/null
+++ b/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(MATEKF722SE_8MOTOR)
diff --git a/src/main/target/MATEKF722SE_8MOTOR/config.c b/src/main/target/MATEKF722SE_8MOTOR/config.c
new file mode 100644
index 0000000000..7e47e5bf6b
--- /dev/null
+++ b/src/main/target/MATEKF722SE_8MOTOR/config.c
@@ -0,0 +1,30 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}
diff --git a/src/main/target/MATEKF722SE_8MOTOR/target.c b/src/main/target/MATEKF722SE_8MOTOR/target.c
new file mode 100644
index 0000000000..9f028655b5
--- /dev/null
+++ b/src/main/target/MATEKF722SE_8MOTOR/target.c
@@ -0,0 +1,47 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH1, PB4,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
+    DEF_TIM(TIM3, CH2, PB5,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S2   UP1-2   D(1, 5, 5)
+    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S3   UP1-2   D(1, 7, 5)
+    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S4   UP1-2   D(1, 2, 5)
+    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5   UP1-7   D(1, 5, 3) - clash with S2
+    DEF_TIM(TIM2, CH2, PB3,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6   UP1-7   D(1, 6, 3)
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S7   UP1-6   D(1, 0, 2)
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S8   UP1-6   D(1, 3, 2)
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 6, 0)
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // PPM, RX2
+    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/MATEKF722SE_8MOTOR/target.h b/src/main/target/MATEKF722SE_8MOTOR/target.h
new file mode 100644
index 0000000000..f615018dce
--- /dev/null
+++ b/src/main/target/MATEKF722SE_8MOTOR/target.h
@@ -0,0 +1,193 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "MF7S"
+#define USBD_PRODUCT_STRING  "MatekF722SE"
+
+#define LED0                    PA14  //Blue   SWCLK
+#define LED1                    PA13  //Green  SWDIO
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC *******************
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_DUAL_GYRO
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
+#define MPU6000_CS_PIN          PB2
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       CW90_DEG
+#define MPU6500_CS_PIN          PC15
+#define MPU6500_SPI_BUS         BUS_SPI1
+#define MPU6500_EXTI_PIN        PC3
+
+
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI3 SD BLACKBOX*******************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#if defined(MATEKF722MINI)
+#   define USE_FLASHFS
+#   define USE_FLASH_M25P16
+#   define M25P16_SPI_BUS          BUS_SPI3
+#   define M25P16_CS_PIN           PD2
+#   define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#else
+#   define USE_SDCARD
+#   define USE_SDCARD_SPI
+#   define SDCARD_SPI_BUS          BUS_SPI3
+#   define SDCARD_CS_PIN           PD2
+#   define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#endif
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PC14
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+     
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PA2
+#define SOFTSERIAL_1_RX_PIN      PA2
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC0
+#define ADC_CHANNEL_4_PIN           PA4
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL           ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC8 // VTX power switcher
+#define PINIO2_PIN                  PC9 // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE     179
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR
+
+#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file

From 5ebdf25d80f356314ddd238856e624e2288e8a43 Mon Sep 17 00:00:00 2001
From: David Brooks <david@ipegcorp.com>
Date: Sat, 29 May 2021 19:45:41 +0100
Subject: [PATCH 108/336] Removed MATEKF722SE_8MOTOR target and replaced with
 MATEKF722SE sub target

---
 src/main/target/MATEKF722SE/CMakeLists.txt    |   1 +
 src/main/target/MATEKF722SE/target.c          |   5 +
 .../target/MATEKF722SE_8MOTOR/CMakeLists.txt  |   1 -
 src/main/target/MATEKF722SE_8MOTOR/config.c   |  30 ---
 src/main/target/MATEKF722SE_8MOTOR/target.c   |  47 -----
 src/main/target/MATEKF722SE_8MOTOR/target.h   | 193 ------------------
 6 files changed, 6 insertions(+), 271 deletions(-)
 delete mode 100644 src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
 delete mode 100644 src/main/target/MATEKF722SE_8MOTOR/config.c
 delete mode 100644 src/main/target/MATEKF722SE_8MOTOR/target.c
 delete mode 100644 src/main/target/MATEKF722SE_8MOTOR/target.h

diff --git a/src/main/target/MATEKF722SE/CMakeLists.txt b/src/main/target/MATEKF722SE/CMakeLists.txt
index a541da229f..75aa91ec0a 100644
--- a/src/main/target/MATEKF722SE/CMakeLists.txt
+++ b/src/main/target/MATEKF722SE/CMakeLists.txt
@@ -1,2 +1,3 @@
 target_stm32f722xe(MATEKF722SE)
 target_stm32f722xe(MATEKF722MINI)
+target_stm32f722xe(MATEKF722SE_8MOTOR)
diff --git a/src/main/target/MATEKF722SE/target.c b/src/main/target/MATEKF722SE/target.c
index 2c4170a1ce..36d49b8cfd 100644
--- a/src/main/target/MATEKF722SE/target.c
+++ b/src/main/target/MATEKF722SE/target.c
@@ -38,8 +38,13 @@ const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2, CH1, PA15,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5   UP1-7   D(1, 5, 3) - clash with S2
     DEF_TIM(TIM2, CH2, PB3,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6   UP1-7   D(1, 6, 3)
 
+#if (defined(MATEKF722SE_8MOTOR))
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S7   UP1-6   D(1, 0, 2)
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S8   UP1-6   D(1, 3, 2)
+#else
     DEF_TIM(TIM4, CH1, PB6,   TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0),   // S7   UP1-6   D(1, 0, 2)
     DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0),   // S8   UP1-6   D(1, 3, 2)
+#endif
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 6, 0)
 
diff --git a/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt b/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
deleted file mode 100644
index 32634b4a8b..0000000000
--- a/src/main/target/MATEKF722SE_8MOTOR/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-target_stm32f722xe(MATEKF722SE_8MOTOR)
diff --git a/src/main/target/MATEKF722SE_8MOTOR/config.c b/src/main/target/MATEKF722SE_8MOTOR/config.c
deleted file mode 100644
index 7e47e5bf6b..0000000000
--- a/src/main/target/MATEKF722SE_8MOTOR/config.c
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-
-#include "platform.h"
-
-#include "fc/fc_msp_box.h"
-
-#include "io/piniobox.h"
-
-void targetConfiguration(void)
-{
-    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
-    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
-}
diff --git a/src/main/target/MATEKF722SE_8MOTOR/target.c b/src/main/target/MATEKF722SE_8MOTOR/target.c
deleted file mode 100644
index 9f028655b5..0000000000
--- a/src/main/target/MATEKF722SE_8MOTOR/target.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * This file is part of INAV.
- *
- * INAV is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * INAV is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-
-#include "platform.h"
-
-#include "drivers/bus.h"
-#include "drivers/io.h"
-#include "drivers/pwm_mapping.h"
-#include "drivers/timer.h"
-#include "drivers/pinio.h"
-#include "drivers/sensor.h"
-
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
-
-const timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH1, PB4,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
-    DEF_TIM(TIM3, CH2, PB5,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S2   UP1-2   D(1, 5, 5)
-    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S3   UP1-2   D(1, 7, 5)
-    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S4   UP1-2   D(1, 2, 5)
-    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5   UP1-7   D(1, 5, 3) - clash with S2
-    DEF_TIM(TIM2, CH2, PB3,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6   UP1-7   D(1, 6, 3)
-    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S7   UP1-6   D(1, 0, 2)
-    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S8   UP1-6   D(1, 3, 2)
-
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 6, 0)
-    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // PPM, RX2
-    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
-};
-
-const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/MATEKF722SE_8MOTOR/target.h b/src/main/target/MATEKF722SE_8MOTOR/target.h
deleted file mode 100644
index f615018dce..0000000000
--- a/src/main/target/MATEKF722SE_8MOTOR/target.h
+++ /dev/null
@@ -1,193 +0,0 @@
-/*
- * This file is part of INAV.
- *
- * INAV is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * INAV is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-
-#pragma once
-
-#define TARGET_BOARD_IDENTIFIER "MF7S"
-#define USBD_PRODUCT_STRING  "MatekF722SE"
-
-#define LED0                    PA14  //Blue   SWCLK
-#define LED1                    PA13  //Green  SWDIO
-
-#define BEEPER                  PC13
-#define BEEPER_INVERTED
-
-// *************** SPI1 Gyro & ACC *******************
-#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
-
-#define USE_SPI
-#define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN           PA7
-
-#define USE_DUAL_GYRO
-
-#define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
-#define MPU6000_CS_PIN          PB2
-#define MPU6000_SPI_BUS         BUS_SPI1
-#define MPU6000_EXTI_PIN        PC4
-
-#define USE_IMU_MPU6500
-#define IMU_MPU6500_ALIGN       CW90_DEG
-#define MPU6500_CS_PIN          PC15
-#define MPU6500_SPI_BUS         BUS_SPI1
-#define MPU6500_EXTI_PIN        PC3
-
-
-
-#define USE_EXTI
-#define USE_MPU_DATA_READY_SIGNAL
-
-// *************** I2C /Baro/Mag *********************
-#define USE_I2C
-#define USE_I2C_DEVICE_1
-#define I2C1_SCL                PB8
-#define I2C1_SDA                PB9
-
-#define USE_BARO
-#define BARO_I2C_BUS            BUS_I2C1
-#define USE_BARO_BMP280
-#define USE_BARO_MS5611
-#define USE_BARO_DPS310
-
-#define USE_MAG
-#define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-
-#define TEMPERATURE_I2C_BUS     BUS_I2C1
-
-#define PITOT_I2C_BUS           BUS_I2C1
-
-#define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C1
-
-// *************** SPI2 OSD ***********************
-#define USE_SPI_DEVICE_2
-#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN           PB14
-#define SPI2_MOSI_PIN           PB15
-
-#define USE_OSD
-#define USE_MAX7456
-#define MAX7456_SPI_BUS         BUS_SPI2
-#define MAX7456_CS_PIN          PB12
-
-// *************** SPI3 SD BLACKBOX*******************
-#define USE_SPI_DEVICE_3
-#define SPI3_SCK_PIN            PC10
-#define SPI3_MISO_PIN           PC11
-#define SPI3_MOSI_PIN           PC12
-
-#if defined(MATEKF722MINI)
-#   define USE_FLASHFS
-#   define USE_FLASH_M25P16
-#   define M25P16_SPI_BUS          BUS_SPI3
-#   define M25P16_CS_PIN           PD2
-#   define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#else
-#   define USE_SDCARD
-#   define USE_SDCARD_SPI
-#   define SDCARD_SPI_BUS          BUS_SPI3
-#   define SDCARD_CS_PIN           PD2
-#   define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#endif
-
-// *************** UART *****************************
-#define USE_VCP
-#define USB_DETECT_PIN          PC14
-#define USE_USB_DETECT
-
-#define USE_UART1
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define USE_UART2
-#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN            PA3
-
-#define USE_UART3
-#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN            PB11
-
-#define USE_UART4
-#define UART4_TX_PIN            PA0
-#define UART4_RX_PIN            PA1
-
-#define USE_UART6
-#define UART6_TX_PIN            PC6
-#define UART6_RX_PIN            PC7
-     
-#define USE_SOFTSERIAL1
-#define SOFTSERIAL_1_TX_PIN      PA2
-#define SOFTSERIAL_1_RX_PIN      PA2
-
-#define SERIAL_PORT_COUNT       7
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART2
-
-// *************** ADC *****************************
-#define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define ADC1_DMA_STREAM             DMA2_Stream0
-
-#define ADC_CHANNEL_1_PIN           PC2
-#define ADC_CHANNEL_2_PIN           PC1
-#define ADC_CHANNEL_3_PIN           PC0
-#define ADC_CHANNEL_4_PIN           PA4
-
-#define VBAT_ADC_CHANNEL            ADC_CHN_1
-#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
-#define RSSI_ADC_CHANNEL            ADC_CHN_3
-#define AIRSPEED_ADC_CHANNEL           ADC_CHN_4
-
-// *************** PINIO ***************************
-#define USE_PINIO
-#define USE_PINIOBOX
-#define PINIO1_PIN                  PC8 // VTX power switcher
-#define PINIO2_PIN                  PC9 // 2xCamera switcher
-
-// *************** LEDSTRIP ************************
-#define USE_LED_STRIP
-#define WS2811_PIN                  PA8
-
-#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
-#define CURRENT_METER_SCALE     179
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-
-#define MAX_PWM_OUTPUT_PORTS        8
-#define USE_DSHOT
-#define USE_SERIALSHOT
-#define USE_ESC_SENSOR
-
-#define BNO055_I2C_BUS          BUS_I2C1
\ No newline at end of file

From 466a4d69cfbc99c4bfa4f6b85e8a2f1a952240ea Mon Sep 17 00:00:00 2001
From: Hubert Jozwiak <hjozwiakdx@gmail.com>
Date: Wed, 19 May 2021 15:55:58 +0200
Subject: [PATCH 109/336] Include compass in OSD sensors calibration message

---
 AUTHORS                      |  1 +
 src/main/fc/fc_core.c        | 13 ++++++++++---
 src/main/fc/fc_core.h        |  2 +-
 src/main/sensors/compass.c   | 10 ++++++++++
 src/main/sensors/compass.h   |  1 +
 src/main/telemetry/mavlink.c |  2 +-
 6 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/AUTHORS b/AUTHORS
index 839a8a5d8e..a254cd3364 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -35,6 +35,7 @@ Gaël James
 Gregor Ottmann
 Google LLC
 Hyon Lim
+Hubert Jozwiak
 James Harrison
 Jan Staal
 Jeremy Waters
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index da579b6793..775e2b33dc 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -45,6 +45,7 @@ FILE_COMPILE_FOR_SPEED
 #include "sensors/boardalignment.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
+#include "sensors/compass.h"
 #include "sensors/pitotmeter.h"
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
@@ -135,7 +136,7 @@ static emergencyArmingState_t emergencyArming;
 static bool prearmWasReset = false; // Prearm must be reset (RC Mode not active) before arming is possible
 static timeMs_t prearmActivationTime = 0;
 
-bool isCalibrating(void)
+bool areSensorsCalibrating(void)
 {
 #ifdef USE_BARO
     if (sensors(SENSOR_BARO) && !baroIsCalibrationComplete()) {
@@ -143,6 +144,12 @@ bool isCalibrating(void)
     }
 #endif
 
+#ifdef USE_MAG
+    if (sensors(SENSOR_MAG) && !compassIsCalibrationComplete()) {
+        return true;
+    }
+#endif
+
 #ifdef USE_PITOT
     if (sensors(SENSOR_PITOT) && !pitotIsCalibrationComplete()) {
         return true;
@@ -183,7 +190,7 @@ static void updateArmingStatus(void)
     } else {
         /* CHECK: Run-time calibration */
         static bool calibratingFinishedBeep = false;
-        if (isCalibrating()) {
+        if (areSensorsCalibrating()) {
             ENABLE_ARMING_FLAG(ARMING_DISABLED_SENSORS_CALIBRATING);
             calibratingFinishedBeep = false;
         }
@@ -711,7 +718,7 @@ void processRx(timeUs_t currentTimeUs)
     // Handle passthrough mode
     if (STATE(FIXED_WING_LEGACY)) {
         if ((IS_RC_MODE_ACTIVE(BOXMANUAL) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
-            (!ARMING_FLAG(ARMED) && isCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
+            (!ARMING_FLAG(ARMED) && areSensorsCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
             ENABLE_FLIGHT_MODE(MANUAL_MODE);
         } else {
             DISABLE_FLIGHT_MODE(MANUAL_MODE);
diff --git a/src/main/fc/fc_core.h b/src/main/fc/fc_core.h
index f41322fa02..e948dec836 100644
--- a/src/main/fc/fc_core.h
+++ b/src/main/fc/fc_core.h
@@ -43,7 +43,7 @@ disarmReason_t getDisarmReason(void);
 
 void emergencyArmingUpdate(bool armingSwitchIsOn);
 
-bool isCalibrating(void);
+bool areSensorsCalibrating(void);
 float getFlightTime(void);
 float getArmTime(void);
 
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 1089f6fbb6..92ea43ee6b 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -329,6 +329,16 @@ bool compassIsReady(void)
     return magUpdatedAtLeastOnce;
 }
 
+bool compassIsCalibrationComplete(void)
+{
+    if (STATE(COMPASS_CALIBRATED)) {
+        return true;
+    }
+    else {
+        return false;
+    }
+}
+
 void compassUpdate(timeUs_t currentTimeUs)
 {
     static sensorCalibrationState_t calState;
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index baba7bf6a1..fb0e75367f 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -78,5 +78,6 @@ bool compassInit(void);
 void compassUpdate(timeUs_t currentTimeUs);
 bool compassIsReady(void);
 bool compassIsHealthy(void);
+bool compassIsCalibrationComplete(void);
 
 #endif
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 8b924e53eb..2eb3723950 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -742,7 +742,7 @@ void mavlinkSendHUDAndHeartbeat(void)
             mavSystemState = MAV_STATE_ACTIVE;
         }
     }
-    else if (isCalibrating()) {
+    else if (areSensorsCalibrating()) {
         mavSystemState = MAV_STATE_CALIBRATING;
     }
     else {

From cb6726e2691d3567578c77822abe8c7d9a4bd8f8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 4 Jul 2021 16:38:45 +0200
Subject: [PATCH 110/336] Enable H743 for release

---
 src/main/target/MATEKH743/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MATEKH743/CMakeLists.txt b/src/main/target/MATEKH743/CMakeLists.txt
index 40b0996e17..96a65ca5a4 100644
--- a/src/main/target/MATEKH743/CMakeLists.txt
+++ b/src/main/target/MATEKH743/CMakeLists.txt
@@ -1 +1 @@
-target_stm32h743xi(MATEKH743 SKIP_RELEASES)
+target_stm32h743xi(MATEKH743)

From f4472999b93c247b93795eb2740686ffe22ecba8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 5 Jul 2021 11:47:21 +0200
Subject: [PATCH 111/336] Make PWM beeper configurable option

---
 src/main/drivers/pwm_output.c         |  4 ----
 src/main/drivers/sound_beeper.c       | 28 +++++++++++++++------------
 src/main/fc/config.c                  |  3 ++-
 src/main/fc/config.h                  |  1 +
 src/main/fc/settings.yaml             |  5 +++++
 src/main/target/FALCORE/config.c      |  2 ++
 src/main/target/FRSKYPILOT/config.c   |  3 +++
 src/main/target/MATEKF405CAN/config.c |  3 ++-
 src/main/target/MATEKH743/config.c    |  2 ++
 src/main/target/YUPIF4/config.c       |  1 +
 src/main/target/YUPIF7/config.c       |  1 +
 src/main/target/common_post.h         |  4 ++++
 12 files changed, 39 insertions(+), 18 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 620c25a22a..20429e07cb 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -105,11 +105,9 @@ static timeUs_t digitalMotorUpdateIntervalUs = 0;
 static timeUs_t digitalMotorLastUpdateUs;
 #endif
 
-#ifdef BEEPER_PWM
 static pwmOutputPort_t  beeperPwmPort;
 static pwmOutputPort_t *beeperPwm;
 static uint16_t beeperFrequency = 0;
-#endif
 
 static uint8_t allocatedOutputPortCount = 0;
 
@@ -634,7 +632,6 @@ void pwmWriteServo(uint8_t index, uint16_t value)
     }
 }
 
-#ifdef BEEPER_PWM
 void pwmWriteBeeper(bool onoffBeep)
 {
     if (beeperPwm == NULL)
@@ -666,4 +663,3 @@ void beeperPwmInit(ioTag_t tag, uint16_t frequency)
         pwmOutConfigTimer(beeperPwm, tch, PWM_TIMER_HZ, 1000000 / beeperFrequency, (1000000 / beeperFrequency) / 2);
     }
 }
-#endif
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index 4dc37cbd16..e7ba58ac35 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -23,11 +23,10 @@
 #include "drivers/time.h"
 #include "drivers/io.h"
 
-#ifdef BEEPER_PWM
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
-#endif
+#include "fc/config.h"
 
 #include "sound_beeper.h"
 
@@ -44,13 +43,18 @@ void systemBeep(bool onoff)
 {
 #if !defined(BEEPER)
     UNUSED(onoff);
-#elif defined(BEEPER_PWM)
-    pwmWriteBeeper(onoff);
-    beeperState = onoff;
 #else
-    IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
-    beeperState = onoff;
+
+    if (beeperConfig()->pwmMode) {
+        pwmWriteBeeper(onoff);
+        beeperState = onoff;
+    } else {
+        IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
+        beeperState = onoff;
+    }
+
 #endif
+
 }
 
 void systemBeepToggle(void)
@@ -70,11 +74,11 @@ void beeperInit(const beeperDevConfig_t *config)
 
     if (beeperIO) {
         IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT, 0);
-#if defined(BEEPER_PWM)
-        beeperPwmInit(config->ioTag, BEEPER_PWM_FREQUENCY);
-#else
-        IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
-#endif
+        if (beeperConfig()->pwmMode) {
+            beeperPwmInit(config->ioTag, BEEPER_PWM_FREQUENCY);
+        } else {
+            IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
+        }
     }
 
     systemBeep(false);
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 8937097a7b..1fbafc3165 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -123,13 +123,14 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .name = SETTING_NAME_DEFAULT
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 2);
 
 PG_RESET_TEMPLATE(beeperConfig_t, beeperConfig,
                   .beeper_off_flags = 0,
                   .preferred_beeper_off_flags = 0,
                   .dshot_beeper_enabled = SETTING_DSHOT_BEEPER_ENABLED_DEFAULT,
                   .dshot_beeper_tone = SETTING_DSHOT_BEEPER_TONE_DEFAULT,
+                  .pwmMode = SETTING_BEEPER_PWM_MODE_DEFAULT,
 );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(adcChannelConfig_t, adcChannelConfig, PG_ADC_CHANNEL_CONFIG, 0);
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 4db38b6d6a..90d7b0d298 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -86,6 +86,7 @@ typedef struct beeperConfig_s {
     uint32_t preferred_beeper_off_flags;
     bool dshot_beeper_enabled;
     uint8_t dshot_beeper_tone;
+    bool pwmMode;
 } beeperConfig_t;
 
 PG_DECLARE(beeperConfig_t, beeperConfig);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index e973c036a4..10b5341ae1 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3734,6 +3734,11 @@ groups:
         default_value: 1
         field: dshot_beeper_tone
         type: uint8_t
+      - name: beeper_pwm_mode
+        field: pwmMode
+        type: bool
+        default_value: OFF
+        description: "On some targets allows to disable PWM mode for beeper. Switch from ON to OFF if extarnal beeper sound is weak. Do not switch from OFF to ON without checking if board supports PWM beeper mode"
 
   - name: PG_POWER_LIMITS_CONFIG
     type: powerLimitsConfig_t
diff --git a/src/main/target/FALCORE/config.c b/src/main/target/FALCORE/config.c
index f109d0e100..d1e6e71818 100755
--- a/src/main/target/FALCORE/config.c
+++ b/src/main/target/FALCORE/config.c
@@ -192,4 +192,6 @@ void targetConfiguration(void)
     ((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = 0;
     ((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = 10;
     ((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = 1600;
+
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/FRSKYPILOT/config.c b/src/main/target/FRSKYPILOT/config.c
index 05ec1b5a85..60f29d3884 100644
--- a/src/main/target/FRSKYPILOT/config.c
+++ b/src/main/target/FRSKYPILOT/config.c
@@ -22,6 +22,7 @@
 
 #include "io/serial.h"
 #include "rx/rx.h"
+#include "fc/config.h"
 
 void targetConfiguration(void)
 {
@@ -29,4 +30,6 @@ void targetConfiguration(void)
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_FRSKY_OSD;
 
     rxConfigMutable()->serialrx_inverted = 1;
+
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/MATEKF405CAN/config.c b/src/main/target/MATEKF405CAN/config.c
index 34166b5512..b400704b00 100644
--- a/src/main/target/MATEKF405CAN/config.c
+++ b/src/main/target/MATEKF405CAN/config.c
@@ -21,6 +21,7 @@
 #include "config/feature.h"
 #include "io/serial.h"
 #include "sensors/compass.h"
+#include "fc/config.h"
 
 
 void targetConfiguration(void)
@@ -28,5 +29,5 @@ void targetConfiguration(void)
     compassConfigMutable()->mag_align = CW0_DEG_FLIP;
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_GPS;
     // serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].gps_baudrateIndex = BAUD_115200;
-
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/MATEKH743/config.c b/src/main/target/MATEKH743/config.c
index 7e47e5bf6b..1065971614 100644
--- a/src/main/target/MATEKH743/config.c
+++ b/src/main/target/MATEKH743/config.c
@@ -20,6 +20,7 @@
 #include "platform.h"
 
 #include "fc/fc_msp_box.h"
+#include "fc/config.h"
 
 #include "io/piniobox.h"
 
@@ -27,4 +28,5 @@ void targetConfiguration(void)
 {
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
     pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/YUPIF4/config.c b/src/main/target/YUPIF4/config.c
index 5ac92a8358..0e82c20e93 100644
--- a/src/main/target/YUPIF4/config.c
+++ b/src/main/target/YUPIF4/config.c
@@ -59,4 +59,5 @@ void targetConfiguration(void)
     pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
     pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
 
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/YUPIF7/config.c b/src/main/target/YUPIF7/config.c
index e61e532d56..9d5077edba 100644
--- a/src/main/target/YUPIF7/config.c
+++ b/src/main/target/YUPIF7/config.c
@@ -59,4 +59,5 @@ void targetConfiguration(void)
     pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
     pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
 
+    beeperConfigMutable()->pwmMode = true;
 }
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 1c7767dcf8..d7603c9e6f 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -61,6 +61,10 @@ extern uint8_t __config_end;
 #undef USE_PWM_SERVO_DRIVER
 #endif
 
+#ifndef BEEPER_PWM_FREQUENCY
+#define BEEPER_PWM_FREQUENCY    2500
+#endif
+
 #define USE_ARM_MATH // try to use FPU functions
 
 #if defined(SIMULATOR_BUILD) || defined(UNIT_TEST)

From 82bf948e692cbc053f7bca2b5fd64b5b26cdfd80 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 5 Jul 2021 11:48:14 +0200
Subject: [PATCH 112/336] docs update

---
 docs/Settings.md | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/docs/Settings.md b/docs/Settings.md
index d8cf7304aa..4dbc9dc715 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -452,6 +452,16 @@ If the remaining battery capacity goes below this threshold the beeper will emit
 
 ---
 
+### beeper_pwm_mode
+
+On some targets allows to disable PWM mode for beeper. Switch from ON to OFF if extarnal beeper sound is weak. Do not switch from OFF to ON without checking if board supports PWM beeper mode
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF |  |  |
+
+---
+
 ### blackbox_device
 
 Selection of where to write blackbox data

From 1f62ffea28c965054649edf75200a52f8036397a Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 5 Jul 2021 11:52:57 +0200
Subject: [PATCH 113/336] Remove not needed defines

---
 src/main/target/FALCORE/target.h      | 1 -
 src/main/target/FRSKYPILOT/target.h   | 1 -
 src/main/target/MATEKF405CAN/target.h | 1 -
 src/main/target/MATEKH743/target.h    | 1 -
 src/main/target/YUPIF4/target.h       | 1 -
 src/main/target/YUPIF7/target.h       | 1 -
 6 files changed, 6 deletions(-)

diff --git a/src/main/target/FALCORE/target.h b/src/main/target/FALCORE/target.h
index cdb8ba4636..5d02d9c744 100755
--- a/src/main/target/FALCORE/target.h
+++ b/src/main/target/FALCORE/target.h
@@ -25,7 +25,6 @@
 #define USE_HARDWARE_PREBOOT_SETUP      // FALCORE board requires some hardware to be set up before booting and detecting sensors
 
 #define BEEPER                  PB4
-#define BEEPER_PWM
 #define BEEPER_PWM_FREQUENCY    2700
 
 #define MPU6500_CS_PIN          PC0
diff --git a/src/main/target/FRSKYPILOT/target.h b/src/main/target/FRSKYPILOT/target.h
index 2dd56aa73d..539b465461 100644
--- a/src/main/target/FRSKYPILOT/target.h
+++ b/src/main/target/FRSKYPILOT/target.h
@@ -29,7 +29,6 @@
 
 #define BEEPER                  PA0
 #define BEEPER_INVERTED
-#define BEEPER_PWM
 #define BEEPER_PWM_FREQUENCY    4000
 
 #define USE_SPI
diff --git a/src/main/target/MATEKF405CAN/target.h b/src/main/target/MATEKF405CAN/target.h
index b9dde1e434..b321826dd4 100644
--- a/src/main/target/MATEKF405CAN/target.h
+++ b/src/main/target/MATEKF405CAN/target.h
@@ -25,7 +25,6 @@
 
 #define BEEPER                  PA8
 #define BEEPER_INVERTED
-#define BEEPER_PWM
 #define BEEPER_PWM_FREQUENCY    2500
 
 // *************** SPI1 Gyro & ACC *******************
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index a0864cd140..84449f9f33 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -28,7 +28,6 @@
 
 #define BEEPER                  PA15
 #define BEEPER_INVERTED
-#define BEEPER_PWM
 #define BEEPER_PWM_FREQUENCY    2500
 
 // *************** IMU generic ***********************
diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h
index 97e389826c..69c5bc3ab1 100644
--- a/src/main/target/YUPIF4/target.h
+++ b/src/main/target/YUPIF4/target.h
@@ -40,7 +40,6 @@
 #if defined(YUPIF4MINI)
 // #define BEEPER_INVERTED
 #else
-#define BEEPER_PWM
 #define BEEPER_INVERTED
 #define BEEPER_PWM_FREQUENCY    3150
 #endif
diff --git a/src/main/target/YUPIF7/target.h b/src/main/target/YUPIF7/target.h
index 6a146a1c50..6123af03ab 100644
--- a/src/main/target/YUPIF7/target.h
+++ b/src/main/target/YUPIF7/target.h
@@ -25,7 +25,6 @@
 #define CAMERA_CONTROL_PIN      PB7
 
 #define BEEPER                  PB14
-#define BEEPER_PWM
 #define BEEPER_INVERTED
 #define BEEPER_PWM_FREQUENCY    3150
 

From ea52108d3e6a2dea1bf596212c2b0380fa0af9ac Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 5 Jul 2021 12:35:52 +0200
Subject: [PATCH 114/336] Modify library to supress warnings when combining HAL
 and LL drivers

---
 .../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c     | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c
index 3d1d792425..d30bc514b9 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c
@@ -20,11 +20,6 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32h7xx_ll_exti.h"
-#ifdef  USE_FULL_ASSERT
-#include "stm32_assert.h"
-#else
-#define assert_param(expr) ((void)0U)
-#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

From f2a56aed930247c01b66998c257927c77b4c4299 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 5 Jul 2021 13:28:56 +0200
Subject: [PATCH 115/336] remove assert in one more place

---
 .../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_i2c.c      | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_i2c.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_i2c.c
index a1eac83a9c..ed7104bbeb 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_i2c.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_i2c.c
@@ -21,11 +21,6 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32h7xx_ll_i2c.h"
 #include "stm32h7xx_ll_bus.h"
-#ifdef  USE_FULL_ASSERT
-#include "stm32_assert.h"
-#else
-#define assert_param(expr) ((void)0U)
-#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

From bef405992a8fd8436927197d9b9de59382e61efd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 6 Jul 2021 21:02:03 +0200
Subject: [PATCH 116/336] I2C Fix

---
 docs/Board - BetFPVF722.md           |  12 ++++++++++++
 docs/assets/betafpvf722.png          | Bin 0 -> 226118 bytes
 src/main/target/BETAFPVF722/target.h |  19 ++++++++++---------
 3 files changed, 22 insertions(+), 9 deletions(-)
 create mode 100644 docs/Board - BetFPVF722.md
 create mode 100644 docs/assets/betafpvf722.png

diff --git a/docs/Board - BetFPVF722.md b/docs/Board - BetFPVF722.md
new file mode 100644
index 0000000000..387c9f8de2
--- /dev/null
+++ b/docs/Board - BetFPVF722.md	
@@ -0,0 +1,12 @@
+# BetaFPVF722
+
+## I2C bus for magnetometer
+
+BetFPVF722 does not have I2C pads broken out. I2C is shared with UART3
+
+* TX3 - SCL
+* RX3 - SDA
+
+> I2C and UART3 can not be used at the same time! Connect the serial receiver to a different serial port when I2C device like MAG is used.
+
+![BetaFPVF722 I2C](assets/betafpvf722.png)
\ No newline at end of file
diff --git a/docs/assets/betafpvf722.png b/docs/assets/betafpvf722.png
new file mode 100644
index 0000000000000000000000000000000000000000..626deacaa9f13371703c73a19d8333ce5a37680f
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z$Jz=o%9>&)F9lrur1t;+^#6VcUMlZLtsT+o-a<35#<_IR03Tf~1I<G9M=$;d4LX4&

literal 0
HcmV?d00001

diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index cdedf65f31..4342800797 100755
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -47,9 +47,13 @@
 
 // *************** I2C/Baro/Mag *********************
 #define USE_I2C
+
 #define USE_I2C_DEVICE_1
-#define I2C1_SCL                PB8        // SCL pad
-#define I2C1_SDA                PB9        // SDA pad
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1
@@ -60,7 +64,7 @@
 #define USE_BARO_SPL06
 
 #define USE_MAG
-#define MAG_I2C_BUS             BUS_I2C1
+#define MAG_I2C_BUS             BUS_I2C2
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define USE_MAG_IST8310
@@ -68,10 +72,9 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_LIS3MDL
 
-#define TEMPERATURE_I2C_BUS     BUS_I2C1
-
-#define PITOT_I2C_BUS           BUS_I2C1
-
+#define TEMPERATURE_I2C_BUS     BUS_I2C2
+#define PITOT_I2C_BUS           BUS_I2C2
+#define RANGEFINDER_I2C_BUS     BUS_I2C2
 
 // *************** OSD*************************
 #define USE_SPI_DEVICE_3
@@ -116,8 +119,6 @@
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART3
-
 
 // *************** ADC *****************************
 #define USE_ADC

From 13c1cea16b8fe5c3304d0980127bcb9ff876b5cc Mon Sep 17 00:00:00 2001
From: Artyom Kravchenko <lan143@lan143.ru>
Date: Wed, 7 Jul 2021 01:36:46 +0300
Subject: [PATCH 117/336] Change i2cBusState_s.timeout type to timeUs_t for fix
 i2c errors after 72 min on start FC.

---
 src/main/drivers/bus_i2c_stm32f30x.c | 2 +-
 src/main/drivers/bus_i2c_stm32f40x.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/bus_i2c_stm32f30x.c b/src/main/drivers/bus_i2c_stm32f30x.c
index d39f74f7bf..915e295480 100644
--- a/src/main/drivers/bus_i2c_stm32f30x.c
+++ b/src/main/drivers/bus_i2c_stm32f30x.c
@@ -87,7 +87,7 @@ typedef struct i2cBusState_s {
     I2CDevice       device;
     bool            initialized;
     i2cState_t      state;
-    uint32_t        timeout;
+    timeUs_t        timeout;
 
     /* Active transfer */
     bool                        allowRawAccess;
diff --git a/src/main/drivers/bus_i2c_stm32f40x.c b/src/main/drivers/bus_i2c_stm32f40x.c
index 0f4d8b45d8..ae96d65f15 100644
--- a/src/main/drivers/bus_i2c_stm32f40x.c
+++ b/src/main/drivers/bus_i2c_stm32f40x.c
@@ -121,7 +121,7 @@ typedef struct i2cBusState_s {
     I2CDevice       device;
     bool            initialized;
     i2cState_t      state;
-    uint32_t        timeout;
+    timeUs_t        timeout;
 
     /* Active transfer */
     bool                        allowRawAccess;

From c73accbfab1929022dbfde76d5d327b9ef95e6c0 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 7 Jul 2021 09:11:39 +0200
Subject: [PATCH 118/336] Docs update

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 4dbc9dc715..0348ed086c 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -454,7 +454,7 @@ If the remaining battery capacity goes below this threshold the beeper will emit
 
 ### beeper_pwm_mode
 
-On some targets allows to disable PWM mode for beeper. Switch from ON to OFF if extarnal beeper sound is weak. Do not switch from OFF to ON without checking if board supports PWM beeper mode
+Allows disabling PWM mode for beeper on some targets. Switch from ON to OFF if the external beeper sound is weak. Do not switch from OFF to ON without checking if the board supports PWM beeper mode
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 10b5341ae1..b61079d050 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3738,7 +3738,7 @@ groups:
         field: pwmMode
         type: bool
         default_value: OFF
-        description: "On some targets allows to disable PWM mode for beeper. Switch from ON to OFF if extarnal beeper sound is weak. Do not switch from OFF to ON without checking if board supports PWM beeper mode"
+        description: "Allows disabling PWM mode for beeper on some targets. Switch from ON to OFF if the external beeper sound is weak. Do not switch from OFF to ON without checking if the board supports PWM beeper mode"
 
   - name: PG_POWER_LIMITS_CONFIG
     type: powerLimitsConfig_t

From 6b3fb82c541b5cd06f34b5370f9da9cd13662505 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Wed, 7 Jul 2021 10:26:42 +0100
Subject: [PATCH 119/336] replace WP toggle with discrete commands

---
 docs/Controls.md                      |   5 +-
 docs/assets/images/StickPositions.png | Bin 489411 -> 682099 bytes
 docs/assets/images/StickPositions.svg |  69 ++++++++++++++++++++------
 src/main/fc/rc_controls.c             |   7 ++-
 4 files changed, 63 insertions(+), 18 deletions(-)

diff --git a/docs/Controls.md b/docs/Controls.md
index cef8fd3aa1..de5d18b45c 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -34,14 +34,13 @@ The stick positions are combined to activate different functions:
 | Trim Acc Forwards             | HIGH     | CENTER  | HIGH   | CENTER |
 | Trim Acc Backwards            | HIGH     | CENTER  | LOW    | CENTER |
 | Save current waypoint mission | LOW      | CENTER  | HIGH   | LOW    |
-| Load/unload current waypoint mission | LOW      | CENTER  | HIGH   | HIGH   |
+| Load current waypoint mission | LOW      | CENTER  | HIGH   | HIGH   |
+| Unload waypoint mission       | LOW      | CENTER  | LOW    | HIGH   |
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | CENTER |
 
 ![Stick Positions](assets/images/StickPositions.png)
 
-"Load/unload Mission" is a toggle. If no mission is loaded to RAM, the EEPROM mission is loaded; if a mission is in RAM, it is cleared. Successful loading is indicated by the `ACTION_SUCCESS` beep, otherwise the `ACTION_FAIL` beep is played.
-
 ## Yaw control
 
 While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the `min_check` setting).
diff --git a/docs/assets/images/StickPositions.png b/docs/assets/images/StickPositions.png
index a08b2c52b3caa1b675d7cb506a814d24fdfca81a..4f7365952d94bd0525b6453a0fa8ca17dc90163b 100644
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diff --git a/docs/assets/images/StickPositions.svg b/docs/assets/images/StickPositions.svg
index 6272f3811c..3f32b52523 100644
--- a/docs/assets/images/StickPositions.svg
+++ b/docs/assets/images/StickPositions.svg
@@ -29,7 +29,7 @@
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      inkscape:pageshadow="2"
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+     inkscape:cx="6594.9793"
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@@ -627,6 +627,20 @@
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+    <path
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@@ -653,48 +667,75 @@
          id="tspan5963"
          y="994.89398"
          x="5680.7969"
-         sodipodi:role="line">(Un)/load waypoint mission</tspan></text>
+         sodipodi:role="line">Load waypoint mission</tspan></text>
+    <text
+       id="text5961-3"
+       y="1369.7102"
+       x="5681.5464"
+       style="font-style:normal;font-weight:normal;line-height:0%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;display:inline;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       xml:space="preserve"><tspan
+         style="font-size:286.599px;line-height:1.25;text-align:end;text-anchor:end"
+         id="tspan5963-6"
+         y="1369.7102"
+         x="5681.5464"
+         sodipodi:role="line">Unload waypoint mission</tspan></text>
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-       x="5680.7969"
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+       y="1775.6128"
        id="text6013"><tspan
          sodipodi:role="line"
-         x="5680.7969"
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     <text
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 96cae079c5..b5d4648838 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -260,9 +260,14 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
     // Load waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
-        const bool success = loadNonVolatileWaypointList(true);
+        const bool success = loadNonVolatileWaypointList(false);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
+
+    if (rcSticks == THR_LO + YAW_CE + PIT_LO + ROL_HI) {
+        resetWaypointList();
+        beeper(BEEPER_ACTION_FAIL); // The above cannot fail, but traditionally, we play FAIL for not-loading
+    }
 #endif
 
     // Multiple configuration profiles

From 4747c8b21a8384fccfa5b9f57ac7ae3d52af6d05 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 7 Jul 2021 22:37:52 +0200
Subject: [PATCH 120/336] Make lower value of Dterm attenuation configurable

---
 src/main/cms/cms_menu_imu.c |  3 ++-
 src/main/fc/settings.yaml   | 10 ++++++++--
 src/main/flight/pid.c       | 15 +++++++++------
 src/main/flight/pid.h       |  3 ++-
 4 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index a065c900a4..60105587ba 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -432,7 +432,8 @@ static const OSD_Entry cmsx_menuMechanicsEntries[] =
 {
     OSD_LABEL_DATA_ENTRY("-- MECHANICS --", profileIndexString),
 #ifdef USE_D_BOOST
-    OSD_SETTING_ENTRY("DBOOST_FACTOR", SETTING_D_BOOST_FACTOR),
+    OSD_SETTING_ENTRY("DBOOST_MIN", SETTING_D_BOOST_MIN),
+    OSD_SETTING_ENTRY("DBOOST_MAX", SETTING_D_BOOST_MAX),
 #endif
 #ifdef USE_ANTIGRAVITY
     OSD_SETTING_ENTRY("ANTIGRAV. GAIN", SETTING_ANTIGRAVITY_GAIN),
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 1d821e4467..88381386ed 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2131,8 +2131,14 @@ groups:
         min: 1
         max: 100
         default_value: 15
-      - name: d_boost_factor
-        field: dBoostFactor
+      - name: d_boost_min
+        field: dBoostMin
+        condition: USE_D_BOOST
+        min: 0
+        max: 1
+        default_value: 0.5
+      - name: d_boost_max
+        field: dBoostMax
         condition: USE_D_BOOST
         min: 1
         max: 3
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 59882c6168..e2f86d2ee2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -141,7 +141,8 @@ static EXTENDED_FASTRAM float antigravityAccelerator;
 #define D_BOOST_LPF_HZ 7          // PT1 lowpass cutoff to smooth the boost effect
 
 #ifdef USE_D_BOOST
-static EXTENDED_FASTRAM float dBoostFactor;
+static EXTENDED_FASTRAM float dBoostMin;
+static EXTENDED_FASTRAM float dBoostMax;
 static EXTENDED_FASTRAM float dBoostMaxAtAlleceleration;
 #endif
 
@@ -282,7 +283,8 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .iterm_relax = SETTING_MC_ITERM_RELAX_DEFAULT,
 
 #ifdef USE_D_BOOST
-        .dBoostFactor = SETTING_D_BOOST_FACTOR_DEFAULT,
+        .dBoostMin = SETTING_D_BOOST_MIN_DEFAULT,
+        .dBoostMax = SETTING_D_BOOST_MAX_DEFAULT,
         .dBoostMaxAtAlleceleration = SETTING_D_BOOST_MAX_AT_ACCELERATION_DEFAULT,
         .dBoostGyroDeltaLpfHz = SETTING_D_BOOST_GYRO_DELTA_LPF_HZ_DEFAULT,
 #endif
@@ -702,14 +704,14 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
 
     if (dBoostGyroAcceleration >= dBoostRateAcceleration) {
         //Gyro is accelerating faster than setpoint, we want to smooth out
-        dBoost = scaleRangef(dBoostGyroAcceleration, 0.0f, dBoostMaxAtAlleceleration, 1.0f, dBoostFactor);
+        dBoost = scaleRangef(dBoostGyroAcceleration, 0.0f, dBoostMaxAtAlleceleration, 1.0f, dBoostMax);
     } else {
         //Setpoint is accelerating, we want to boost response
-        dBoost = scaleRangef(dBoostRateAcceleration, 0.0f, pidState->dBoostTargetAcceleration, 1.0f, 0.0f);
+        dBoost = scaleRangef(dBoostRateAcceleration, 0.0f, pidState->dBoostTargetAcceleration, 1.0f, dBoostMin);
     }
 
     dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
-    dBoost = constrainf(dBoost, 0.0f, dBoostFactor);
+    dBoost = constrainf(dBoost, dBoostMin, dBoostMax);
 
     DEBUG_SET(DEBUG_ALWAYS, pidState->axis, dBoost * 100);
 
@@ -1182,7 +1184,8 @@ void pidInit(void)
     motorItermWindupPoint = 1.0f - (pidProfile()->itermWindupPointPercent / 100.0f);
 
 #ifdef USE_D_BOOST
-    dBoostFactor = pidProfile()->dBoostFactor;
+    dBoostMin = pidProfile()->dBoostMin;
+    dBoostMax = pidProfile()->dBoostMax;
     dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration;
 #endif
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 7e1ab17a76..f547bb5626 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -142,7 +142,8 @@ typedef struct pidProfile_s {
     uint8_t iterm_relax;                    // Enable iterm suppression during stick input
 
 #ifdef USE_D_BOOST
-    float dBoostFactor;
+    float dBoostMin;
+    float dBoostMax;
     float dBoostMaxAtAlleceleration;
     uint8_t dBoostGyroDeltaLpfHz;
 #endif

From 1590e8447f7898b3ada90eddf148c61534852b5d Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 8 Jul 2021 19:38:14 +0100
Subject: [PATCH 121/336] Initial draft

---
 src/main/common/constants.h    |  3 +-
 src/main/drivers/osd_symbols.h | 89 +++++++++++++++++--------------
 src/main/io/osd.c              | 95 ++++++++++++++++++++++++++++++++++
 src/main/io/osd.h              |  3 +-
 src/main/io/osd_canvas.c       | 23 +++++++-
 src/main/io/osd_dji_hd.c       | 17 ++++++
 6 files changed, 187 insertions(+), 43 deletions(-)

diff --git a/src/main/common/constants.h b/src/main/common/constants.h
index 6b2f9f69b6..4182fd38c4 100644
--- a/src/main/common/constants.h
+++ b/src/main/common/constants.h
@@ -18,7 +18,8 @@
 #pragma once
 
 #define FEET_PER_MILE                           5280
+#define FEET_PER_NAUTICALMILE                   6076.118
 #define FEET_PER_KILOFEET                       1000 // Used for altitude
 #define METERS_PER_KILOMETER                    1000
 #define METERS_PER_MILE                         1609
-
+#define METERS_PER_NAUTICALMILE                 1852.001
diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 5fa0872d30..e9b080b5df 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -31,11 +31,14 @@
 #define SYM_VOLT                  0x06 // 006 V
 #define SYM_MAH                   0x07 // 007 MAH
 
-#define SYM_AH_KM                 0x08 // 008 Ah/km
-#define SYM_AH_MI                 0x09 // 009 Ah/mi
-#define SYM_MAH_MI_0              0x0A // 010 mAh/mi left
-#define SYM_MAH_MI_1              0x0B // 011 mAh/mi right
-#define SYM_LQ                    0x0C // 012 LQ
+#define SYM_AH_KM                 0x08  // 008 Ah/km
+#define SYM_AH_MI                 0x09  // 009 Ah/mi
+#define SYM_AH_NM       		  0x120 // 288 Ah/NM
+#define SYM_MAH_MI_0              0x0A  // 010 mAh/mi left
+#define SYM_MAH_MI_1              0x0B  // 011 mAh/mi right
+#define SYM_MAH_NM_0              0x11E // 286 mAh/NM left
+#define SYM_MAH_NM_1              0x11F // 287 mAh/NM right
+#define SYM_LQ                    0x0C  // 012 LQ
 
 #define SYM_TEMP_F                0x0D // 013 °F
 #define SYM_TEMP_C                0x0E // 014 °C
@@ -113,8 +116,9 @@
 
 #define SYM_AH_H_START            0x80 // 128 to 136 Horizontal AHI
 
-#define SYM_3D_KMH                0x89 // 137 KM/H 3D
-#define SYM_3D_MPH                0x8A // 138 MPH 3D
+#define SYM_3D_KMH                0x89  // 137 KM/H 3D
+#define SYM_3D_MPH                0x8A  // 138 MPH 3D
+#define SYM_3D_KTS                0x11B // 283 Knots 3D
 
 #define SYM_RPM                   0x8B // 139 RPM
 #define SYM_WAYPOINT              0x8C // 140 Waypoint
@@ -131,45 +135,50 @@
 #define SYM_BATT_1                0x95 // 149 Battery
 #define SYM_BATT_EMPTY            0x96 // 150 Battery empty
 
-#define SYM_AIR                   0x97 // 151 Air speed
-//                                0x98 // 152 Home point map
-#define SYM_FTS                   0x99 // 153 FT/S
-#define SYM_AMP                   0x9A // 154 A
-#define SYM_ON_M                  0x9B // 155 On MN
-#define SYM_FLY_M                 0x9C // 156 FL MN
-#define SYM_MAH_KM_0              0x9D // 157 MAH/KM left
-#define SYM_MAH_KM_1              0x9E // 158 MAH/KM right
-#define SYM_MS                    0x9F // 159 M/S
-#define SYM_HOME_DIST 	          0xA0 // 160 DIS
-#define SYM_KMH                   0xA1 // 161 KM/H
+#define SYM_AIR                   0x97  // 151 Air speed
+//                                0x98  // 152 Home point map
+#define SYM_FTS                   0x99  // 153 FT/S
+#define SYM_100FTM                0x11D // 285 100 Feet per Min
+#define SYM_AMP                   0x9A  // 154 A
+#define SYM_ON_M                  0x9B  // 155 On MN
+#define SYM_FLY_M                 0x9C  // 156 FL MN
+#define SYM_MAH_KM_0              0x9D  // 157 MAH/KM left
+#define SYM_MAH_KM_1              0x9E  // 158 MAH/KM right
+#define SYM_MS                    0x9F  // 159 M/S
+#define SYM_HOME_DIST 	          0xA0  // 160 DIS
+#define SYM_KMH                   0xA1  // 161 KM/H
 
 #define SYM_VARIO_UP_2A           0xA2 // 162 Vario up up
 #define SYM_VARIO_UP_1A           0xA3 // 163 Vario up
 #define SYM_VARIO_DOWN_1A         0xA4 // 164 Vario down
 #define SYM_VARIO_DOWN_2A         0xA5 // 165 Vario down down
 
-#define SYM_LAT                   0xA6 // 166 GPS LAT
-#define SYM_LON                   0xA7 // 167 GPS LON
-#define SYM_DEGREES               0xA8 // 168 ° heading angle
-#define SYM_HEADING               0xA9 // 169 Compass Heading symbol
-#define SYM_ALT                   0xAA // 170 ALT
-#define SYM_WH                    0xAB // 171 WH
-#define SYM_WH_KM                 0xAC // 172 WH/KM
-#define SYM_WH_MI                 0xAD // 173 WH/MI
-#define SYM_WATT                  0xAE // 174 W
-#define SYM_SCALE                 0xAF // 175 Map scale
-#define SYM_MPH                   0xB0 // 176 MPH
-#define SYM_ALT_M                 0xB1 // 177 ALT M
-#define SYM_ALT_KM                0xB2 // 178 ALT KM
-#define SYM_ALT_FT                0xB3 // 179 ALT FT
-#define SYM_ALT_KFT               0xB4 // 180 DIS KFT
-#define SYM_DIST_M                0xB5 // 181 DIS M
-#define SYM_DIST_KM               0xB6 // 182 DIM KM
-#define SYM_DIST_FT               0xB7 // 183 DIS FT
-#define SYM_DIST_MI               0xB8 // 184 DIS MI
-#define SYM_M                     0xB9 // 185 M
-#define SYM_KM                    0xBA // 186 KM
-#define SYM_MI                    0xBB // 187 MI
+#define SYM_LAT                   0xA6  // 166 GPS LAT
+#define SYM_LON                   0xA7  // 167 GPS LON
+#define SYM_DEGREES               0xA8  // 168 ° heading angle
+#define SYM_HEADING               0xA9  // 169 Compass Heading symbol
+#define SYM_ALT                   0xAA  // 170 ALT
+#define SYM_WH                    0xAB  // 171 WH
+#define SYM_WH_KM                 0xAC  // 172 WH/KM
+#define SYM_WH_MI                 0xAD  // 173 WH/MI
+#define SYM_WH_NM       		  0x121 // 289 Wh/NM
+#define SYM_WATT                  0xAE  // 174 W
+#define SYM_SCALE                 0xAF  // 175 Map scale
+#define SYM_MPH                   0xB0  // 176 MPH
+#define SYM_KTS                   0x11C // 284 Knots
+#define SYM_ALT_M                 0xB1  // 177 ALT M
+#define SYM_ALT_KM                0xB2  // 178 ALT KM
+#define SYM_ALT_FT                0xB3  // 179 ALT FT
+#define SYM_ALT_KFT               0xB4  // 180 DIS KFT
+#define SYM_DIST_M                0xB5  // 181 DIS M
+#define SYM_DIST_KM               0xB6  // 182 DIM KM
+#define SYM_DIST_FT               0xB7  // 183 DIS FT
+#define SYM_DIST_MI               0xB8  // 184 DIS MI
+#define SYM_DIST_NM               0x119 // 281 DIS NM
+#define SYM_M                     0xB9  // 185 M
+#define SYM_KM                    0xBA  // 186 KM
+#define SYM_MI                    0xBB  // 187 MI
+#define SYM_NM                    0x11A // 282 NM
 
 #define SYM_CLOCK                 0xBC // 188 Clock
 #define SYM_HDP_L                 0xBD // 189 HDOP left
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 2bfc41c94e..7d45aae3ec 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -337,6 +337,14 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
         }
         buff[4] = '\0';
         break;
+    case OSD_UNIT_GA:
+        if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), FEET_PER_NAUTICALMILE, decimals, 3, 3)) {
+            buff[3] = SYM_DIST_NM;
+        } else {
+            buff[3] = SYM_DIST_FT;
+        }
+        buff[4] = '\0';
+        break;
     }
 }
 
@@ -373,6 +381,17 @@ static void osdFormatDistanceStr(char *buff, int32_t dist)
                 (abs(dist) % (100 * METERS_PER_KILOMETER)) / METERS_PER_KILOMETER, SYM_KM);
         }
         break;
+    case OSD_UNIT_GA:
+         centifeet = CENTIMETERS_TO_CENTIFEET(dist);
+        if (abs(centifeet) < FEET_PER_NAUTICALMILE * 100 / 2) {
+            // Show feet when dist < 0.5NM
+            tfp_sprintf(buff, "%d%c", (int)(centifeet / 100), SYM_FT);
+        } else {
+            // Show nautical miles when dist >= 0.5NM
+            tfp_sprintf(buff, "%d.%02d%c", (int)(centifeet / (100 * FEET_PER_NAUTICALMILE)),
+                (int)((abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE), SYM_NM);
+        }
+        break;
     }
 }
 
@@ -391,6 +410,8 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
         return (vel * 224) / 10000; // Convert to mph
     case OSD_UNIT_METRIC:
         return (vel * 36) / 1000;   // Convert to kmh
+    case OSD_UNIT_GA:
+        return (vel * 0.019438444924406); // Convert to Knots
     }
     // Unreachable
     return -1;
@@ -413,6 +434,9 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
     case OSD_UNIT_METRIC:
         tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         break;
+    case OSD_UNIT_GA:
+        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KTS : SYM_KTS));
+        break;
     }
 }
 
@@ -436,6 +460,10 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
             centivalue = (ws * 224) / 100;
             suffix = SYM_MPH;
             break;
+        case OSD_UNIT_GA:
+            centivalue = (ws * 0.019438444924406) * 100;
+            suffix = SYM_KTS;
+            break;
         default:
         case OSD_UNIT_METRIC:
             centivalue = (ws * 36) / 10;
@@ -469,6 +497,8 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
     switch ((osd_unit_e)osdConfig()->units) {
         case OSD_UNIT_UK:
             FALLTHROUGH;
+        case OSD_UNIT_GA:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             if (osdFormatCentiNumber(buff + 4 - digits, CENTIMETERS_TO_CENTIFEET(alt), 1000, 0, 2, digits)) {
                 // Scaled to kft
@@ -505,6 +535,8 @@ static void osdFormatAltitudeStr(char *buff, int32_t alt)
     switch ((osd_unit_e)osdConfig()->units) {
         case OSD_UNIT_UK:
             FALLTHROUGH;
+        case OSD_UNIT_GA:
+            FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             value = CENTIMETERS_TO_FEET(alt);
             tfp_sprintf(buff, "%d%c", (int)value, SYM_FT);
@@ -1113,6 +1145,9 @@ static void osdDrawMap(int referenceHeading, uint8_t referenceSym, uint8_t cente
         case OSD_UNIT_IMPERIAL:
             initialScale = 16; // 16m ~= 0.01miles
             break;
+        case OSD_UNIT_GA:
+            initialScale = 18; // 18m ~= 0.01 nautical miles
+            break;
         default:
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
@@ -2145,6 +2180,11 @@ static bool osdDrawSingleElement(uint8_t item)
                     value = CENTIMETERS_TO_CENTIFEET(value);
                     sym = SYM_FTS;
                     break;
+                case OSD_UNIT_GA:
+                    //Convert to centi-100feet/min
+                    value = (CENTIMETERS_TO_CENTIFEET(value / 60) / 100);
+                    sym = SYM_100FTM;
+                    break;
                 default:
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
@@ -2450,6 +2490,20 @@ static bool osdDrawSingleElement(uint8_t item)
                         buff[5] = '\0';
                     }
                     break;
+                case OSD_UNIT_GA:
+                     moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10, 1000, 0, 2, 3);
+                    if (!moreThanAh) {
+                        tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1);
+                    } else {
+                        tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM);
+                    }
+                    if (!efficiencyValid) {
+                        buff[0] = buff[1] = buff[2] = '-';
+                        buff[3] = SYM_MAH_NM_0;
+                        buff[4] = SYM_MAH_NM_1;
+                        buff[5] = '\0';
+                    }
+                    break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
@@ -2497,6 +2551,10 @@ static bool osdDrawSingleElement(uint8_t item)
                     osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3);
                     buff[3] = SYM_WH_MI;
                     break;
+                case OSD_UNIT_GA:
+                    osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10000, 0, 2, 0, 3);
+                    buff[3] = SYM_WH_NM;
+                    break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
@@ -2691,6 +2749,13 @@ static bool osdDrawSingleElement(uint8_t item)
                 symScaled = SYM_MI;
                 maxDecimals = 2;
                 break;
+            case OSD_UNIT_GA:
+                scaleToUnit = 100 / 1852.0010f; // scale to 0.01mi for osdFormatCentiNumber()
+                scaleUnitDivisor = 0;
+                symUnscaled = SYM_NM;
+                symScaled = SYM_NM;
+                maxDecimals = 2;
+                break;
             default:
             case OSD_UNIT_METRIC_MPH:
                 FALLTHROUGH;
@@ -3264,6 +3329,10 @@ static void osdCompleteAsyncInitialization(void)
                 string_buffer[5] = SYM_MI;
                 break;
             default:
+            case OSD_UNIT_GA:
+                tfp_sprintf(string_buffer, "%5d", (int)(statsConfig()->stats_total_dist / METERS_PER_NAUTICALMILE));
+                string_buffer[5] = SYM_NM;
+                break;
             case OSD_UNIT_METRIC_MPH:
                 FALLTHROUGH;
             case OSD_UNIT_METRIC:
@@ -3296,6 +3365,10 @@ static void osdCompleteAsyncInitialization(void)
                         osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
                         string_buffer[3] = SYM_WH_MI;
                         break;
+                    case OSD_UNIT_GA:
+                        osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
+                        string_buffer[3] = SYM_WH_NM;
+                        break;
                     default:
                     case OSD_UNIT_METRIC_MPH:
                         FALLTHROUGH;
@@ -3528,6 +3601,28 @@ static void osdShowStatsPage2(void)
                         }
                     }
                     break;
+                case OSD_UNIT_GA:
+                    if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
+                        moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, 3);
+                        if (!moreThanAh) {
+                            tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1);
+                        } else {
+                            tfp_sprintf(buff, "%s%c", buff, SYM_AH_NM);
+                        }
+                        if (!efficiencyValid) {
+                            buff[0] = buff[1] = buff[2] = '-';
+                            buff[3] = SYM_MAH_NM_0;
+                            buff[4] = SYM_MAH_NM_1;
+                            buff[5] = '\0';
+                        }
+                    } else {
+                        osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, 3);
+                        tfp_sprintf(buff, "%s%c", buff, SYM_WH_NM);
+                        if (!efficiencyValid) {
+                            buff[0] = buff[1] = buff[2] = '-';
+                        }
+                    }
+                    break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 8863d9a732..9c89308042 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -240,8 +240,9 @@ typedef enum {
     OSD_UNIT_METRIC,
     OSD_UNIT_METRIC_MPH, // Old UK units, all metric except speed in mph
     OSD_UNIT_UK, // Show everything in imperial, temperature in C
+    OSD_UNIT_GA, // General Aviation: Knots, Nautical Miles, Feet, Degrees C
 
-    OSD_UNIT_MAX = OSD_UNIT_UK,
+    OSD_UNIT_MAX = OSD_UNIT_GA,
 } osd_unit_e;
 
 typedef enum {
diff --git a/src/main/io/osd_canvas.c b/src/main/io/osd_canvas.c
index d22c1813ac..971a701ce1 100644
--- a/src/main/io/osd_canvas.c
+++ b/src/main/io/osd_canvas.c
@@ -504,6 +504,8 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
             switch ((osd_unit_e)osdConfig()->units) {
                 case OSD_UNIT_UK:
                     FALLTHROUGH;
+                case OSD_UNIT_GA:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     return CENTIMETERS_TO_CENTIFEET(osdGetAltitude());
                 case OSD_UNIT_METRIC_MPH:
@@ -524,6 +526,9 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
                     case OSD_UNIT_IMPERIAL:
                         // cms/s to (mi/h) * 100
                         return speed * 224 / 100;
+                    case OSD_UNIT_GA:
+                        // cm/s to Knots * 100
+                        return (int)(speed * 0.019438444924406) * 100;
                     case OSD_UNIT_METRIC:
                         // cm/s to (km/h) * 100
                         return speed * 36 / 10;
@@ -536,6 +541,8 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
             switch ((osd_unit_e)osdConfig()->units) {
                 case OSD_UNIT_UK:
                     FALLTHROUGH;
+                case OSD_UNIT_GA:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     return CENTIMETERS_TO_CENTIFEET(GPS_distanceToHome * 100);
                 case OSD_UNIT_METRIC_MPH:
@@ -583,6 +590,8 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
             switch ((osd_unit_e)osdConfig()->units) {
                 case OSD_UNIT_UK:
                     FALLTHROUGH;
+                case OSD_UNIT_GA:
+                    FALLTHROUGH;
                 case OSD_UNIT_IMPERIAL:
                     unit->symbol = SYM_ALT_FT;
                     unit->divisor = FEET_PER_KILOFEET;
@@ -611,6 +620,12 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
                     unit->divided_symbol = 0;
                     *countsPerStep = 5;
                     break;
+                case OSD_UNIT_GA:
+                    unit->symbol = SYM_KTS;
+                    unit->divisor = 0;
+                    unit->divided_symbol = 0;
+                    *countsPerStep = 5;
+                    break;
                 case OSD_UNIT_METRIC:
                     unit->symbol = SYM_KMH;
                     unit->divisor = 0;
@@ -629,6 +644,12 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
                     unit->divided_symbol = SYM_MI;
                     *countsPerStep = 300;
                     break;
+                case OSD_UNIT_GA:
+                    unit->symbol = SYM_FT;
+                    unit->divisor = (int)FEET_PER_NAUTICALMILE;
+                    unit->divided_symbol = SYM_NM;
+                    *countsPerStep = 300;
+                    break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
                 case OSD_UNIT_METRIC:
@@ -648,7 +669,7 @@ static bool osdCanvasDrawSidebar(uint32_t *configured, displayWidgets_t *widgets
                                 osd_sidebar_scroll_e scroll, unsigned scrollStep)
 {
     STATIC_ASSERT(OSD_SIDEBAR_SCROLL_MAX <= 3, adjust_scroll_shift);
-    STATIC_ASSERT(OSD_UNIT_MAX <= 3, adjust_units_shift);
+    STATIC_ASSERT(OSD_UNIT_MAX <= 5, adjust_units_shift);
     // Configuration
     uint32_t configuration = scrollStep << 16 | (unsigned)osdConfig()->sidebar_horizontal_offset << 8 | scroll << 6 | osdConfig()->units << 4;
     if (configuration != *configured) {
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 0c164a9f28..4736a1aef8 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -656,6 +656,8 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
             FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
             return (vel * 224) / 10000; // Convert to mph
+        case OSD_UNIT_GA:
+            return (vel * 0.019438444924406); // Convert to Knots
         case OSD_UNIT_METRIC:
             return (vel * 36) / 1000;   // Convert to kmh
     }
@@ -697,6 +699,9 @@ void osdDJIFormatVelocityStr(char* buff)
         case OSD_UNIT_IMPERIAL:
             tfp_sprintf(buff, "%s %3d MPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
             break;
+        case OSD_UNIT_GA:
+            tfp_sprintf(buff, "%s %3d KTS", sourceBuf, (int)osdConvertVelocityToUnit(vel));
+            break;
         case OSD_UNIT_METRIC:
             tfp_sprintf(buff, "%s %3d KPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
             break;
@@ -735,6 +740,18 @@ static void osdDJIFormatDistanceStr(char *buff, int32_t dist)
                 (abs(centifeet) % (100 * FEET_PER_MILE)) / FEET_PER_MILE, "Mi");
             }
             break;
+        case OSD_UNIT_GA:
+            centifeet = CENTIMETERS_TO_CENTIFEET(dist);
+            if (abs(centifeet) < FEET_PER_NAUTICALMILE * 100 / 2) {
+                // Show feet when dist < 0.5mi
+                tfp_sprintf(buff, "%d%s", (int)(centifeet / 100), "FT");
+            }
+            else {
+                // Show miles when dist >= 0.5mi
+                tfp_sprintf(buff, "%d.%02d%s", (int)(centifeet / (100 * FEET_PER_NAUTICALMILE)),
+                (abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE, "NM");
+            }
+            break;
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_METRIC:

From 9e89170c8fa666bf005436e6024ac28bbd24c5e7 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 9 Jul 2021 08:18:38 +0200
Subject: [PATCH 122/336] Change DMA assignments on H743

---
 src/main/target/MATEKH743/target.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index a56fd96106..17288f9393 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -30,16 +30,16 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6000,   DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1
 BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
 const timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),   // S1
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S2
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),   // S2
 
-    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S3  
-    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S4
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S5
-    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S6
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S6
 
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S7
-    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 8),   // S8
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S8
     DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S9
     DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
 

From 2372eb6e37a40b5b49cf33dc9006c16e7ccd77a6 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 9 Jul 2021 14:27:27 +0100
Subject: [PATCH 123/336] Finished before flight test...I think

There are some hacks in this, due to running out of 0-254 indexed characters in the font, needed for the char array.
---
 src/main/drivers/osd_symbols.h | 26 ++++++++++-----------
 src/main/fc/settings.yaml      |  2 +-
 src/main/io/osd.c              | 41 +++++++++++++++++++++++++---------
 src/main/io/osd.h              |  2 +-
 src/main/io/osd_dji_hd.c       |  2 +-
 src/main/io/osd_hud.c          |  2 +-
 6 files changed, 48 insertions(+), 27 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index e9b080b5df..edba423522 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -36,8 +36,8 @@
 #define SYM_AH_NM       		  0x120 // 288 Ah/NM
 #define SYM_MAH_MI_0              0x0A  // 010 mAh/mi left
 #define SYM_MAH_MI_1              0x0B  // 011 mAh/mi right
-#define SYM_MAH_NM_0              0x11E // 286 mAh/NM left
-#define SYM_MAH_NM_1              0x11F // 287 mAh/NM right
+#define SYM_MAH_NM_0              0xDA  // 286 mAh/NM left
+#define SYM_MAH_NM_1              0xDB  // 287 mAh/NM right
 #define SYM_LQ                    0x0C  // 012 LQ
 
 #define SYM_TEMP_F                0x0D // 013 °F
@@ -118,7 +118,7 @@
 
 #define SYM_3D_KMH                0x89  // 137 KM/H 3D
 #define SYM_3D_MPH                0x8A  // 138 MPH 3D
-#define SYM_3D_KTS                0x11B // 283 Knots 3D
+#define SYM_3D_KTS                0x119 // 281 Knots 3D
 
 #define SYM_RPM                   0x8B // 139 RPM
 #define SYM_WAYPOINT              0x8C // 140 Waypoint
@@ -138,7 +138,7 @@
 #define SYM_AIR                   0x97  // 151 Air speed
 //                                0x98  // 152 Home point map
 #define SYM_FTS                   0x99  // 153 FT/S
-#define SYM_100FTM                0x11D // 285 100 Feet per Min
+#define SYM_100FTM                0xDC  // 220 100 Feet per Min
 #define SYM_AMP                   0x9A  // 154 A
 #define SYM_ON_M                  0x9B  // 155 On MN
 #define SYM_FLY_M                 0x9C  // 156 FL MN
@@ -165,7 +165,7 @@
 #define SYM_WATT                  0xAE  // 174 W
 #define SYM_SCALE                 0xAF  // 175 Map scale
 #define SYM_MPH                   0xB0  // 176 MPH
-#define SYM_KTS                   0x11C // 284 Knots
+#define SYM_KTS                   0xDE  // 222 Knots
 #define SYM_ALT_M                 0xB1  // 177 ALT M
 #define SYM_ALT_KM                0xB2  // 178 ALT KM
 #define SYM_ALT_FT                0xB3  // 179 ALT FT
@@ -174,11 +174,11 @@
 #define SYM_DIST_KM               0xB6  // 182 DIM KM
 #define SYM_DIST_FT               0xB7  // 183 DIS FT
 #define SYM_DIST_MI               0xB8  // 184 DIS MI
-#define SYM_DIST_NM               0x119 // 281 DIS NM
+#define SYM_DIST_NM               0xFE  // 254 DIS NM
 #define SYM_M                     0xB9  // 185 M
 #define SYM_KM                    0xBA  // 186 KM
 #define SYM_MI                    0xBB  // 187 MI
-#define SYM_NM                    0x11A // 282 NM
+#define SYM_NM                    0xDD  // 221 NM
 
 #define SYM_CLOCK                 0xBC // 188 Clock
 #define SYM_HDP_L                 0xBD // 189 HDOP left
@@ -197,12 +197,6 @@
 
 #define SYM_ZERO_HALF_LEADING_DOT 0xD0 // 208 to 217 Numbers with leading dot
 
-#define SYM_AH_CH_AIRCRAFT0       0xDA // 218 Crossair aircraft left
-#define SYM_AH_CH_AIRCRAFT1       0xDB // 219 Crossair aircraft
-#define SYM_AH_CH_AIRCRAFT2       0xDC // 220 Crossair aircraft center
-#define SYM_AH_CH_AIRCRAFT3       0xDD // 221 Crossair aircraft
-#define SYM_AH_CH_AIRCRAFT4       0xDE // 222 Crossair aircraft right
-
 #define SYM_PITCH_DOWN            0xDF // 223 Pitch down
 
 #define SYM_AH_V_START            0xE0 // 224 to 229 Vertical AHI
@@ -237,6 +231,12 @@
 #define SYM_AH_CH_TYPE6           0x199 // 409 to 411, crosshair 6
 #define SYM_AH_CH_TYPE7           0x19C // 412 to 414, crosshair 7
 
+#define SYM_AH_CH_AIRCRAFT0       0x1AE // 430 Crossair aircraft left
+#define SYM_AH_CH_AIRCRAFT1       0x1AF // 431 Crossair aircraft
+#define SYM_AH_CH_AIRCRAFT2       0x1B0 // 432 Crossair aircraft center
+#define SYM_AH_CH_AIRCRAFT3       0x1B1 // 433 Crossair aircraft
+#define SYM_AH_CH_AIRCRAFT4       0x1B2 // 434 Crossair aircraft right
+
 #define SYM_HUD_ARROWS_L1         0x1A2 // 418 1 arrow left
 #define SYM_HUD_ARROWS_L2         0x1A3 // 419 2 arrows left
 #define SYM_HUD_ARROWS_L3         0x1A4 // 420 3 arrows left
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 1d821e4467..b2b9488353 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -64,7 +64,7 @@ tables:
   - name: nav_rth_alt_mode
     values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST", "AT_LEAST_LINEAR_DESCENT"]
   - name: osd_unit
-    values: ["IMPERIAL", "METRIC", "METRIC_MPH", "UK"]
+    values: ["IMPERIAL", "METRIC", "METRIC_MPH", "UK", "GA"]
     enum: osd_unit_e
   - name: osd_stats_energy_unit
     values: ["MAH", "WH"]
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 7d45aae3ec..63e8eea991 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -421,7 +421,7 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
  * Converts velocity into a string based on the current unit system.
  * @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
  */
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, uint8_t elemPosY)
 {
     switch ((osd_unit_e)osdConfig()->units) {
     case OSD_UNIT_UK:
@@ -435,7 +435,12 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
         tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         break;
     case OSD_UNIT_GA:
-        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KTS : SYM_KTS));
+        if (_3D) {
+            tfp_sprintf(buff, "%3d", (int)osdConvertVelocityToUnit(vel));
+            displayWriteChar(osdDisplayPort, elemPosX + 3, elemPosY, SYM_3D_KTS);
+        } else {
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_KTS);
+        }
         break;
     }
 }
@@ -1569,12 +1574,12 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_GPS_SPEED:
-        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false);
+        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false, elemPosX, elemPosY);
         break;
 
     case OSD_3D_SPEED:
         {
-            osdFormatVelocityStr(buff, osdGet3DSpeed(), true);
+            osdFormatVelocityStr(buff, osdGet3DSpeed(), true, elemPosX, elemPosY);
             break;
         }
 
@@ -1869,13 +1874,27 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
         buff[0] = SYM_TRIP_DIST;
         if ((!ARMING_FLAG(ARMED)) || (distanceMeters == -1)) {
-            buff[4] = SYM_DIST_M;
+            buff[4] = SYM_BLANK;
             buff[5] = '\0';
             strcpy(buff + 1, "---");
         } else if (distanceMeters == -2) {
             // Wind is too strong to come back with cruise throttle
             buff[1] = buff[2] = buff[3] = SYM_WIND_HORIZONTAL;
-            buff[4] = SYM_DIST_M;
+            switch ((osd_unit_e)osdConfig()->units){
+                case OSD_UNIT_UK:
+                    FALLTHROUGH;
+                case OSD_UNIT_IMPERIAL:
+                    buff[4] = SYM_DIST_MI;
+                    break;
+                case OSD_UNIT_METRIC_MPH:
+                    FALLTHROUGH;
+                case OSD_UNIT_METRIC:
+                    buff[4] = SYM_DIST_KM;
+                    break;
+                case OSD_UNIT_GA:
+                    buff[4] = SYM_DIST_NM;
+                    break;
+            }
             buff[5] = '\0';
             TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
         } else {
@@ -2391,7 +2410,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
         #ifdef USE_PITOT
             buff[0] = SYM_AIR;
-            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false);
+            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false, elemPosX, elemPosY);
         #else
             return false;
         #endif
@@ -2553,7 +2572,8 @@ static bool osdDrawSingleElement(uint8_t item)
                     break;
                 case OSD_UNIT_GA:
                     osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10000, 0, 2, 0, 3);
-                    buff[3] = SYM_WH_NM;
+                    // buff[3] = SYM_WH_NM;
+                    displayWriteChar(osdDisplayPort, elemPosX +3, elemPosY, SYM_WH_NM);
                     break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
@@ -3367,7 +3387,8 @@ static void osdCompleteAsyncInitialization(void)
                         break;
                     case OSD_UNIT_GA:
                         osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
-                        string_buffer[3] = SYM_WH_NM;
+                        displayWriteChar(osdDisplayPort, STATS_LABEL_X_POS +3, y, SYM_WH_NM);
+                        // string_buffer[3] = SYM_WH_NM;
                         break;
                     default:
                     case OSD_UNIT_METRIC_MPH:
@@ -3477,7 +3498,7 @@ static void osdShowStatsPage1(void)
 
     if (feature(FEATURE_GPS)) {
         displayWrite(osdDisplayPort, statNameX, top, "MAX SPEED        :");
-        osdFormatVelocityStr(buff, stats.max_speed, true);
+        osdFormatVelocityStr(buff, stats.max_speed, true, statValuesX, top);
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 9c89308042..efb1021503 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -412,7 +412,7 @@ int32_t osdGetAltitude(void);
 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D);
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, uint8_t elemPosY);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 4736a1aef8..ceac0e6f67 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -749,7 +749,7 @@ static void osdDJIFormatDistanceStr(char *buff, int32_t dist)
             else {
                 // Show miles when dist >= 0.5mi
                 tfp_sprintf(buff, "%d.%02d%s", (int)(centifeet / (100 * FEET_PER_NAUTICALMILE)),
-                (abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE, "NM");
+                (int)((abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE), "NM");
             }
             break;
         case OSD_UNIT_METRIC_MPH:
diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index ed131f7496..ae9b30278b 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -345,7 +345,7 @@ void osdHudDrawExtras(uint8_t poi_id)
 
     displayWrite(osdGetDisplayPort(), minX + 4, lineY, buftmp);
 
-    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false);
+    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false, minX + 5, lineY);
     displayWrite(osdGetDisplayPort(), maxX - 9, lineY, buftmp);
 
     tfp_sprintf(buftmp, "%3d%c", radar_pois[poi_id].heading, SYM_HEADING);

From e5145e4cc29e869078fac4bc93a037686ce2c30a Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sun, 11 Jul 2021 14:19:03 +0100
Subject: [PATCH 124/336] fix typos in "Building in Linux"; add a reference to
 the xpack compilers for otherwise unsupported host CPUs (#7243)

---
 docs/development/Building in Linux.md | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/docs/development/Building in Linux.md b/docs/development/Building in Linux.md
index 73287a216b..765286d012 100644
--- a/docs/development/Building in Linux.md	
+++ b/docs/development/Building in Linux.md	
@@ -65,7 +65,7 @@ The `git clone` creates an `inav` directory; we can enter this directory, config
 
 ## Build tooling
 
-For 2.6 and later, inav uses `cmake` as its primary build tool. `cmake` simplies various platform and hardware dependencies required to cross compile multiple targets. `cmake` still uses GNU `make` to invoke the actual compiler. It is necessary to configure the build enviroment with `cmake` before we can build any firmware.
+For 2.6 and later, inav uses `cmake` as its primary build tool. `cmake` simplifies various platform and hardware dependencies required to cross compile multiple targets. `cmake` still uses GNU `make` to invoke the actual compiler. It is necessary to configure the build environment with `cmake` before we can build any firmware.
 
 ## Using `cmake`
 
@@ -96,14 +96,14 @@ Once `cmake` has generated the `build/Makefile`, this `Makfile` (with `make`) is
 
 The generated `Makefile` uses different a target selection mechanism from the older (pre 2.6) top level `Makefile`; you can generate a list of targets with `make help` (or, as the list is extremely long), pipe this into a pager, e.g. `make help | less`.
 
-Typically, to build a single target, just pass the target name to `make`; note that unlike eariler releases, `make` without a target specified will build **all** targets.
+Typically, to build a single target, just pass the target name to `make`; note that unlike earlier releases, `make` without a target specified will build **all** targets.
 
 ```
 # Build the MATEKF405 firmware
 make MATEKF405
 ```
 
-One can also build multiple targets from a sinlge `make` command:
+One can also build multiple targets from a single `make` command:
 
 ```
 make MATEKF405 MATEKF722
@@ -128,7 +128,7 @@ make clean_MATEKF405
 make clean_MATEKF405  clean_MATEKF722
 ```
 
-### `cmake` cache maintainance
+### `cmake` cache maintenance
 
 `cmake` caches the build environment, so you don't need to rerun `cmake` each time you build a target. Two `make` options are provided to maintain the `cmake` cache.
 
@@ -141,7 +141,7 @@ It is unlikely that the typical user will need to employ these options, other th
 
 In order to update your local firmware build:
 
-* Navigate to the local iNav repository
+* Navigate to the local inav repository
 * Use the following steps to pull the latest changes and rebuild your local version of inav firmware from the `build` directory:
 
 ```
@@ -154,3 +154,9 @@ $ make <TARGET>
 ## Advanced Usage
 
 For more advanced development information and `git` usage, please refer to the [development guide](https://github.com/iNavFlight/inav/blob/master/docs/development/Development.md).
+
+## Unsupported platforms
+
+If you're using a host platform for which Arm does not supply a cross-compiler (Arm32, IA32), and the distro either does not package a suitable compiler or it's too old, then you can usually find a suitable compiler in the [xpack devtools collection](https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack).
+
+You will need to configure `cmake` to use the external compiler.

From 1d9638bbe3bd9a68b2a5db21d39b3b3fcf8ac0dd Mon Sep 17 00:00:00 2001
From: Andriy Makukha <andriy.makukha@gmail.com>
Date: Mon, 12 Jul 2021 13:49:53 +0800
Subject: [PATCH 125/336] Cleanup: delete random notes from root directory

The file Notes.md was written back in 2014 about the original Flip32 (STM32 F1!) FC.
No need to keep it.
---
 Notes.md | 17 -----------------
 1 file changed, 17 deletions(-)
 delete mode 100644 Notes.md

diff --git a/Notes.md b/Notes.md
deleted file mode 100644
index 89d041d2b1..0000000000
--- a/Notes.md
+++ /dev/null
@@ -1,17 +0,0 @@
-#Notes
-
-## Expected acc/mag/gyro behavior 
-
-Observations of a flight-tested flip32 board in the configurator's 'raw sensor data' tab.
-
-lift front of board (i.e. pitch back)
-gyro y increases (green)
-acc x increases (blue)
-acc z decreases (red)
-mag x decreases (blue)
-
-lift left of boar (i.e. roll right)
-gyro x increases (blue)
-acc y increases (green)
-mag y decreases (green)
-mag z increases (red)

From f2659f997cc14983695b416f1333eca08c846366 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 12 Jul 2021 19:31:54 +0100
Subject: [PATCH 126/336] First complete update - ready for testing

---
 src/main/common/constants.h    |   2 +-
 src/main/drivers/osd_symbols.h | 420 ++++++++++++++++-----------------
 src/main/fc/settings.yaml      |   2 +-
 src/main/io/osd.c              |  44 ++--
 src/main/io/osd.h              |   2 +-
 src/main/io/osd_canvas.c       |   4 +-
 src/main/io/osd_dji_hd.c       |   2 +-
 src/main/io/osd_grid.c         |  10 +-
 src/main/io/osd_hud.c          |   3 +-
 9 files changed, 231 insertions(+), 258 deletions(-)

diff --git a/src/main/common/constants.h b/src/main/common/constants.h
index 4182fd38c4..cef3834fe6 100644
--- a/src/main/common/constants.h
+++ b/src/main/common/constants.h
@@ -21,5 +21,5 @@
 #define FEET_PER_NAUTICALMILE                   6076.118
 #define FEET_PER_KILOFEET                       1000 // Used for altitude
 #define METERS_PER_KILOMETER                    1000
-#define METERS_PER_MILE                         1609
+#define METERS_PER_MILE                         1609.344
 #define METERS_PER_NAUTICALMILE                 1852.001
diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index edba423522..899077672d 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -23,241 +23,217 @@
 
 #ifdef USE_OSD
 
-#define SYM_RSSI                  0x01 // 001 Icon RSSI
-#define SYM_AH_LEFT               0x02 // 002 Arrow left
-#define SYM_AH_RIGHT              0x03 // 003 Arrow right
-#define SYM_THR                   0x04 // 004 Throttle
-#define SYM_AH_DECORATION_UP      0x05 // 005 Arrow up AHI
-#define SYM_VOLT                  0x06 // 006 V
-#define SYM_MAH                   0x07 // 007 MAH
+#define SYM_RSSI                    0x01  // 001 Icon RSSI
+#define SYM_LQ                      0x02  // 002 LQ
+#define SYM_LAT                     0x03  // 003 GPS LAT
+#define SYM_LON                     0x04  // 004 GPS LON
+#define SYM_AZIMUTH                 0x05  // 005 Azimuth
+#define SYM_TELEMETRY_0             0x06  // 006 Antenna tracking telemetry
+#define SYM_TELEMETRY_1             0x07  // 007 Antenna tracking telemetry
+#define SYM_SAT_L                   0x08  // 008 Sats left
+#define SYM_SAT_R                   0x09  // 009 Sats right
+#define SYM_HOME_NEAR               0x0A  // 010 Home, near
+#define SYM_DEGREES                 0x0B  // 011 ° heading angle
+#define SYM_HEADING                 0x0C  // 012 Compass Heading symbol
+#define SYM_SCALE                   0x0D  // 013 Map scale
+#define SYM_HDP_L                   0x0E  // 014 HDOP left
+#define SYM_HDP_R                   0x0F  // 015 HDOP right
+#define SYM_HOME                    0x10  // 016 Home icon
+#define SYM_2RSS                    0x11  // 017 RSSI 2
+#define SYM_DB                      0x12  // 018 dB
+#define SYM_DBM                     0x13  // 019 dBm
+#define SYM_SNR                     0x14  // 020 SNR
 
-#define SYM_AH_KM                 0x08  // 008 Ah/km
-#define SYM_AH_MI                 0x09  // 009 Ah/mi
-#define SYM_AH_NM       		  0x120 // 288 Ah/NM
-#define SYM_MAH_MI_0              0x0A  // 010 mAh/mi left
-#define SYM_MAH_MI_1              0x0B  // 011 mAh/mi right
-#define SYM_MAH_NM_0              0xDA  // 286 mAh/NM left
-#define SYM_MAH_NM_1              0xDB  // 287 mAh/NM right
-#define SYM_LQ                    0x0C  // 012 LQ
+#define SYM_AH_DECORATION_UP        0x15  // 021 Arrow up AHI
+#define SYM_AH_DECORATION_DOWN      0x16  // 022 Arrow down AHI
+#define SYM_DIRECTION               0x17  // 023 to 030, directional little arrows
 
-#define SYM_TEMP_F                0x0D // 013 °F
-#define SYM_TEMP_C                0x0E // 014 °C
-#define SYM_FT                    0x0F // 015 FT
+#define SYM_VOLT                    0x1F  // 031 VOLTS
+#define SYM_MAH                     0x99  // 153 mAh
+//                                  0x21  // 033 ASCII !
+#define SYM_AH_KM                   0x22  // 034 Ah/km
+//                                  0x23  // 035 ASCII #
+#define SYM_AH_MI                   0x24  // 036 Ah/mi
+//                                  0x25  // 037 ASCII %
+#define SYM_AH_NM       		    0x26  // 038 Ah/NM
+#define SYM_MAH_MI_0                0x27  // 039 mAh/mi left
+//                                  0x28  // 040 to 062 ASCII
+#define SYM_MAH_MI_1                0x3F  // 063 mAh/mi right
+//                                  0x40  // 064 to 095 ASCII
+#define SYM_MAH_NM_0                0x60  // 096 mAh/NM left
+#define SYM_MAH_NM_1                0x61  // 097 mAh/NM right
+#define SYM_MAH_KM_0                0x6B  // 107 MAH/KM left
+#define SYM_MAH_KM_1                0x6C  // 108 MAH/KM right
+#define SYM_MILLIOHM                0x62  // 098 battery impedance Mohm
 
-#define SYM_AH_DECORATION_MIN     0x10 // 016 to 021 Scrolling
-#define SYM_AH_DECORATION         0x13 // 019 Scrolling
-#define SYM_AH_DECORATION_MAX     0x15 // 021 Scrolling
+#define SYM_BATT_FULL               0x63  // 099 Battery full
+#define SYM_BATT_5                  0x64  // 100 Battery
+#define SYM_BATT_4                  0x65  // 101 Battery
+#define SYM_BATT_3                  0x66  // 102 Battery
+#define SYM_BATT_2                  0x67  // 103 Battery
+#define SYM_BATT_1                  0x68  // 104 Battery
+#define SYM_BATT_EMPTY              0x69  // 105 Battery empty
+
+#define SYM_AMP                     0x6A  // 106 AMPS
+#define SYM_WH                      0x6D  // 109 WH
+#define SYM_WH_KM                   0x6E  // 110 WH/KM
+#define SYM_WH_MI                   0x6F  // 111 WH/MI
+#define SYM_WH_NM       		    0x70  // 112 Wh/NM
+#define SYM_WATT                    0x71  // 113 WATTS
+#define SYM_MW                      0x72  // 114 mW
+#define SYM_KILOWATT                0x73  // 115 kW
+
+#define SYM_FT                      0x74  // 116 FEET
+#define SYM_TRIP_DIST               0x75  // 117 Trip distance
+#define SYM_TOTAL                   0x75  // 117 Total
+#define SYM_ALT_M                   0x76  // 118 ALT M
+#define SYM_ALT_KM                  0x77  // 119 ALT KM
+#define SYM_ALT_FT                  0x78  // 120 ALT FT
+#define SYM_ALT_KFT                 0x79  // 121 Alt KFT
+#define SYM_DIST_M                  0x7A  // 122 DIS M
+//                                  0x7B  // 123 to 125 ASCII
+#define SYM_DIST_KM                 0x7E  // 126 DIST KM
+#define SYM_DIST_FT                 0x7F  // 127 DIST FT
+#define SYM_DIST_MI                 0x80  // 128 DIST MI
+#define SYM_DIST_NM                 0x81  // 129 DIST NM
+#define SYM_M                       0x82  // 130 M
+#define SYM_KM                      0x83  // 131 KM
+#define SYM_MI                      0x84  // 132 MI
+#define SYM_NM                      0x85  // 133 NM
+
+#define SYM_WIND_HORIZONTAL         0x86  // 134 Air speed horizontal
+#define SYM_WIND_VERTICAL           0x87  // 135 Air speed vertical
+#define SYM_3D_KMH                  0x88  // 136 KM/H 3D
+#define SYM_3D_MPH                  0x89  // 137 MPH 3D
+#define SYM_3D_KT                   0x8A  // 138 Knots 3D
+#define SYM_RPM                     0x8B  // 139 RPM
+#define SYM_AIR                     0x8C  // 140 Air speed
+#define SYM_FTS                     0x8D  // 141 FT/S
+#define SYM_100FTM                  0x8E  // 142 100 Feet per Min
+#define SYM_MS                      0x8F  // 143 M/S
+#define SYM_KMH                     0x90  // 144 KM/H
+#define SYM_MPH                     0x91  // 145 MPH
+#define SYM_KT                      0x92  // 146 Knots
+
+#define SYM_HEADING_DIVIDED_LINE    0x93  // 147 Heading Graphic
+#define SYM_HEADING_LINE            0x94  // 148 Heading Graphic
+
+#define SYM_THR                     0x95  // 149 Throttle
+#define SYM_TEMP_F                  0x96  // 150 °F
+#define SYM_TEMP_C                  0x97  // 151 °C
+//                                  0x98  // 152 Home point map
+#define SYM_BLANK                   0x20  // 32 blank (space)
+#define SYM_ON_H                    0x9A  // 154 ON HR
+#define SYM_FLY_H                   0x9B  // 155 FLY HR
+#define SYM_ON_M                    0x9E  // 158 On MIN
+#define SYM_FLY_M                   0x9F  // 159 FL MIN
+#define SYM_GLIDESLOPE              0x9C  // 156 Glideslope
+#define SYM_WAYPOINT                0x9D  // 157 Waypoint
+#define SYM_CLOCK                   0xA0  // 160 Clock
+
+#define SYM_ZERO_HALF_TRAILING_DOT  0xA1  // 161 to 170 Numbers with trailing dot
+#define SYM_ZERO_HALF_LEADING_DOT   0xB1  // 177 to 186 Numbers with leading dot
+
+#define SYM_AUTO_THR0               0xAB  // 171 Auto-throttle left
+#define SYM_AUTO_THR1               0xAC  // 172 Auto-throttle right
+#define SYM_ROLL_LEFT               0xAD  // 173 Sym roll left
+#define SYM_ROLL_LEVEL              0xAE  // 174 Sym roll horizontal
+#define SYM_ROLL_RIGHT              0xAF  // 175 Sym roll right
+#define SYM_PITCH_UP                0xB0  // 176 Pitch up
+#define SYM_PITCH_DOWN              0xBB  // 187 Pitch down
+#define SYM_GFORCE                  0xBC  // 188 Gforce (all axis)
+#define SYM_GFORCE_X                0xBD  // 189 Gforce X
+#define SYM_GFORCE_Y                0xBE  // 190 Gforce Y
+#define SYM_GFORCE_Z                0xBF  // 191 Gforce Z
+
+#define SYM_BARO_TEMP               0xC0  // 192
+#define SYM_IMU_TEMP                0xC1  // 193
+#define SYM_TEMP                    0xC2  // 194 Thermometer icon
+#define SYM_TEMP_SENSOR_FIRST       0xC2  // 194
+#define SYM_ESC_TEMP                0xC3  // 195
+#define SYM_TEMP_SENSOR_LAST        0xC7  // 199
+#define TEMP_SENSOR_SYM_COUNT       (SYM_TEMP_SENSOR_LAST - SYM_TEMP_SENSOR_FIRST + 1)
+
+#define SYM_HEADING_N               0xC8  // 200 Heading Graphic north
+#define SYM_HEADING_S               0xC9  // 201 Heading Graphic south
+#define SYM_HEADING_E               0xCA  // 202 Heading Graphic east
+#define SYM_HEADING_W               0xCB  // 203 Heading Graphic west
+
+
+#define SYM_LOGO_START              0x101 // 257 to 280, INAV logo
+#define SYM_LOGO_WIDTH              6
+#define SYM_LOGO_HEIGHT             4
+
+#define SYM_AH_LEFT                 0x12C // 300 Arrow left
+#define SYM_AH_RIGHT                0x12D // 301 Arrow right
+#define SYM_AH_DECORATION_MIN       0x12E // 302 to 307 Scrolling
+#define SYM_AH_DECORATION           0x131 // 305 Scrolling
+#define SYM_AH_DECORATION_MAX       0x133 // 307 Scrolling
 #define SYM_AH_DECORATION_COUNT (SYM_AH_DECORATION_MAX - SYM_AH_DECORATION_MIN + 1) // Scrolling
 
-#define SYM_WIND_HORIZONTAL       0x16 // 022 Air speed horizontal
-#define SYM_WIND_VERTICAL         0x17 // 023 Air speed vertical
+#define SYM_AH_CH_LEFT              0x13A // 314 Crossair left
+#define SYM_AH_CH_RIGHT             0x13B // 315 Crossair right
 
-#define SYM_HEADING_N             0x18 // 024 Heading Graphic north
-#define SYM_HEADING_S             0x19 // 025 Heading Graphic south
-#define SYM_HEADING_E             0x1A // 026 Heading Graphic east
-#define SYM_HEADING_W             0x1B // 027 Heading Graphic west
-#define SYM_HEADING_DIVIDED_LINE  0x1C // 028 Heading Graphic
-#define SYM_HEADING_LINE          0x1D // 029 Heading Graphic
+#define SYM_ARROW_UP                0x13C // 316 Direction arrow 0°
+#define SYM_ARROW_2                 0x13D // 317 Direction arrow 22.5°
+#define SYM_ARROW_3                 0x13E // 318 Direction arrow 45°
+#define SYM_ARROW_4                 0x13F // 319 Direction arrow 67.5°
+#define SYM_ARROW_RIGHT             0x140 // 320 Direction arrow 90°
+#define SYM_ARROW_6                 0x141 // 321 Direction arrow 112.5°
+#define SYM_ARROW_7                 0x142 // 322 Direction arrow 135°
+#define SYM_ARROW_8                 0x143 // 323 Direction arrow 157.5°
+#define SYM_ARROW_DOWN              0x144 // 324 Direction arrow 180°
+#define SYM_ARROW_10                0x145 // 325 Direction arrow 202.5°
+#define SYM_ARROW_11                0x146 // 326 Direction arrow 225°
+#define SYM_ARROW_12                0x147 // 327 Direction arrow 247.5°
+#define SYM_ARROW_LEFT              0x148 // 328 Direction arrow 270°
+#define SYM_ARROW_14                0x149 // 329 Direction arrow 292.5°
+#define SYM_ARROW_15                0x14A // 330 Direction arrow 315°
+#define SYM_ARROW_16                0x14B // 331 Direction arrow 337.5°
 
-#define SYM_SAT_L                 0x1E // 030 Sats left
-#define SYM_SAT_R                 0x1F // 031 Sats right
+#define SYM_AH_H_START              0x14C // 332 to 340 Horizontal AHI
+#define SYM_AH_V_START              0x15A // 346 to 351 Vertical AHI
 
-#define SYM_BLANK                 0x20 // 032 blank (space)
+#define SYM_VARIO_UP_2A             0x155 // 341 Vario up up
+#define SYM_VARIO_UP_1A             0x156 // 342 Vario up
+#define SYM_VARIO_DOWN_1A           0x157 // 343 Vario down
+#define SYM_VARIO_DOWN_2A           0x158 // 344 Vario down down
+#define SYM_ALT                     0x159 // 345 ALT
 
-//                                0x21 // 033 ASCII !
+#define SYM_HUD_SIGNAL_0            0x160 // 352 Hud signal icon Lost
+#define SYM_HUD_SIGNAL_1            0x161 // 353 Hud signal icon 25%
+#define SYM_HUD_SIGNAL_2            0x162 // 354 Hud signal icon 50%
+#define SYM_HUD_SIGNAL_3            0x163 // 355 Hud signal icon 75%
+#define SYM_HUD_SIGNAL_4            0x164 // 356 Hud signal icon 100%
 
-#define SYM_TRIP_DIST             0x22 // 034 Trip distance
-#define SYM_TOTAL                 0x22 // 034 Total
+#define SYM_HOME_DIST 	            0x165 // 357 DIST
+#define SYM_AH_CH_CENTER            0x166 // 358 Crossair center
 
-//                                0x23 // 035 ASCII #
+#define SYM_AH_CH_TYPE3             0x190 // 400 to 402, crosshair 3
+#define SYM_AH_CH_TYPE4             0x193 // 403 to 405, crosshair 4
+#define SYM_AH_CH_TYPE5             0x196 // 406 to 408, crosshair 5
+#define SYM_AH_CH_TYPE6             0x199 // 409 to 411, crosshair 6
+#define SYM_AH_CH_TYPE7             0x19C // 412 to 414, crosshair 7
+#define SYM_AH_CH_TYPE8             0x19F // 415 to 417, crosshair 8
 
-#define SYM_AH_DECORATION_DOWN    0x24 // 036 Arrow down AHI
-
-//                                0x25 // 037 ASCII %
-
-#define SYM_AH_CH_LEFT            0x26 // 038 Crossair left
-#define SYM_AH_CH_RIGHT           0x27 // 039 Crossair right
-
-//                                0x28 // 040 to 062 ASCII
-
-#define SYM_MILLIOHM              0x3F // 063 battery impedance Mohm
-
-//                                0x40 // 064 to 095 ASCII
-
-#define SYM_ARROW_UP              0x60 // 096 Direction arrow 0°
-#define SYM_ARROW_2               0x61 // 097 Direction arrow 22.5°
-#define SYM_ARROW_3               0x62 // 098 Direction arrow 45°
-#define SYM_ARROW_4               0x63 // 099 Direction arrow 67.5°
-#define SYM_ARROW_RIGHT           0x64 // 100 Direction arrow 90°
-#define SYM_ARROW_6               0x65 // 101 Direction arrow 112.5°
-#define SYM_ARROW_7               0x66 // 102 Direction arrow 135°
-#define SYM_ARROW_8               0x67 // 103 Direction arrow 157.5°
-#define SYM_ARROW_DOWN            0x68 // 104 Direction arrow 180°
-#define SYM_ARROW_10              0x69 // 105 Direction arrow 202.5°
-#define SYM_ARROW_11              0x6A // 106 Direction arrow 225°
-#define SYM_ARROW_12              0x6B // 107 Direction arrow 247.5°
-#define SYM_ARROW_LEFT            0x6C // 108 Direction arrow 270°
-#define SYM_ARROW_14              0x6D // 109 Direction arrow 292.5°
-#define SYM_ARROW_15              0x6E // 110 Direction arrow 315°
-#define SYM_ARROW_16              0x6F // 111 Direction arrow 337.5°
-
-#define SYM_ON_H                  0x70 // 112 ON HR
-#define SYM_FLY_H                 0x71 // 113 FLY HR
-
-#define SYM_DIRECTION             0x72 // 114 to 121, directional little arrows
-
-#define SYM_HOME_NEAR             0x7A // 122 Home, near
-
-//                                0x7B // 123 to 125 ASCII
-
-#define SYM_AH_CH_CENTER          0x7E // 126 Crossair center
-
-#define SYM_GLIDESLOPE            0x7F // 127 Glideslope
-
-#define SYM_AH_H_START            0x80 // 128 to 136 Horizontal AHI
-
-#define SYM_3D_KMH                0x89  // 137 KM/H 3D
-#define SYM_3D_MPH                0x8A  // 138 MPH 3D
-#define SYM_3D_KTS                0x119 // 281 Knots 3D
-
-#define SYM_RPM                   0x8B // 139 RPM
-#define SYM_WAYPOINT              0x8C // 140 Waypoint
-#define SYM_AZIMUTH               0x8D // 141 Azimuth
-
-#define SYM_TELEMETRY_0           0x8E // 142 Antenna tracking telemetry
-#define SYM_TELEMETRY_1           0x8F // 143 Antenna tracking telemetry
-
-#define SYM_BATT_FULL             0x90 // 144 Battery full
-#define SYM_BATT_5                0x91 // 145 Battery
-#define SYM_BATT_4                0x92 // 146 Battery
-#define SYM_BATT_3                0x93 // 147 Battery
-#define SYM_BATT_2                0x94 // 148 Battery
-#define SYM_BATT_1                0x95 // 149 Battery
-#define SYM_BATT_EMPTY            0x96 // 150 Battery empty
-
-#define SYM_AIR                   0x97  // 151 Air speed
-//                                0x98  // 152 Home point map
-#define SYM_FTS                   0x99  // 153 FT/S
-#define SYM_100FTM                0xDC  // 220 100 Feet per Min
-#define SYM_AMP                   0x9A  // 154 A
-#define SYM_ON_M                  0x9B  // 155 On MN
-#define SYM_FLY_M                 0x9C  // 156 FL MN
-#define SYM_MAH_KM_0              0x9D  // 157 MAH/KM left
-#define SYM_MAH_KM_1              0x9E  // 158 MAH/KM right
-#define SYM_MS                    0x9F  // 159 M/S
-#define SYM_HOME_DIST 	          0xA0  // 160 DIS
-#define SYM_KMH                   0xA1  // 161 KM/H
-
-#define SYM_VARIO_UP_2A           0xA2 // 162 Vario up up
-#define SYM_VARIO_UP_1A           0xA3 // 163 Vario up
-#define SYM_VARIO_DOWN_1A         0xA4 // 164 Vario down
-#define SYM_VARIO_DOWN_2A         0xA5 // 165 Vario down down
-
-#define SYM_LAT                   0xA6  // 166 GPS LAT
-#define SYM_LON                   0xA7  // 167 GPS LON
-#define SYM_DEGREES               0xA8  // 168 ° heading angle
-#define SYM_HEADING               0xA9  // 169 Compass Heading symbol
-#define SYM_ALT                   0xAA  // 170 ALT
-#define SYM_WH                    0xAB  // 171 WH
-#define SYM_WH_KM                 0xAC  // 172 WH/KM
-#define SYM_WH_MI                 0xAD  // 173 WH/MI
-#define SYM_WH_NM       		  0x121 // 289 Wh/NM
-#define SYM_WATT                  0xAE  // 174 W
-#define SYM_SCALE                 0xAF  // 175 Map scale
-#define SYM_MPH                   0xB0  // 176 MPH
-#define SYM_KTS                   0xDE  // 222 Knots
-#define SYM_ALT_M                 0xB1  // 177 ALT M
-#define SYM_ALT_KM                0xB2  // 178 ALT KM
-#define SYM_ALT_FT                0xB3  // 179 ALT FT
-#define SYM_ALT_KFT               0xB4  // 180 DIS KFT
-#define SYM_DIST_M                0xB5  // 181 DIS M
-#define SYM_DIST_KM               0xB6  // 182 DIM KM
-#define SYM_DIST_FT               0xB7  // 183 DIS FT
-#define SYM_DIST_MI               0xB8  // 184 DIS MI
-#define SYM_DIST_NM               0xFE  // 254 DIS NM
-#define SYM_M                     0xB9  // 185 M
-#define SYM_KM                    0xBA  // 186 KM
-#define SYM_MI                    0xBB  // 187 MI
-#define SYM_NM                    0xDD  // 221 NM
-
-#define SYM_CLOCK                 0xBC // 188 Clock
-#define SYM_HDP_L                 0xBD // 189 HDOP left
-#define SYM_HDP_R                 0xBE // 190 HDOP right
-#define SYM_HOME                  0xBF // 191 Home icon
-
-#define SYM_ZERO_HALF_TRAILING_DOT 0xC0 // 192 to 201 Numbers with trailing dot
-
-#define SYM_AUTO_THR0             0xCA // 202 Auto-throttle left
-#define SYM_AUTO_THR1             0xCB // 203 Auto-throttle right
-
-#define SYM_ROLL_LEFT             0xCC // 204 Sym roll left
-#define SYM_ROLL_LEVEL            0xCD // 205 Sym roll horizontal
-#define SYM_ROLL_RIGHT            0xCE // 206 Sym roll right
-#define SYM_PITCH_UP              0xCF // 207 Pitch up
-
-#define SYM_ZERO_HALF_LEADING_DOT 0xD0 // 208 to 217 Numbers with leading dot
-
-#define SYM_PITCH_DOWN            0xDF // 223 Pitch down
-
-#define SYM_AH_V_START            0xE0 // 224 to 229 Vertical AHI
-
-#define SYM_GFORCE                0xE6 // 230 Gforce (all axis)
-#define SYM_GFORCE_X              0xE7 // 231 Gforce X
-#define SYM_GFORCE_Y              0xE8 // 232 Gforce Y
-#define SYM_GFORCE_Z              0xE9 // 233 Gforce Z
-
-#define SYM_BARO_TEMP             0xF0 // 240
-#define SYM_IMU_TEMP              0xF1 // 241
-#define SYM_TEMP                  0xF2 // 242
-#define SYM_ESC_TEMP              0xF3 // 243
-
-#define SYM_TEMP_SENSOR_FIRST     0xF2 // 242
-#define SYM_TEMP_SENSOR_LAST      0xF7 // 247
-#define TEMP_SENSOR_SYM_COUNT     (SYM_TEMP_SENSOR_LAST - SYM_TEMP_SENSOR_FIRST + 1)
-
-#define SYM_HUD_SIGNAL_0          0xF8  // 248 Hud signal icon Lost
-#define SYM_HUD_SIGNAL_1          0xF9  // 249 Hud signal icon 25%
-#define SYM_HUD_SIGNAL_2          0xFA  // 250 Hud signal icon 50%
-#define SYM_HUD_SIGNAL_3          0xFB  // 251 Hud signal icon 75%
-#define SYM_HUD_SIGNAL_4          0xFC  // 252 Hud signal icon 100%
-
-#define SYM_LOGO_START            0x101 // 257 to 280, INAV logo
-#define SYM_LOGO_WIDTH            6
-#define SYM_LOGO_HEIGHT           4
-
-#define SYM_AH_CH_TYPE3           0x190 // 400 to 402, crosshair 3
-#define SYM_AH_CH_TYPE4           0x193 // 403 to 405, crosshair 4
-#define SYM_AH_CH_TYPE5           0x196 // 406 to 408, crosshair 5
-#define SYM_AH_CH_TYPE6           0x199 // 409 to 411, crosshair 6
-#define SYM_AH_CH_TYPE7           0x19C // 412 to 414, crosshair 7
-
-#define SYM_AH_CH_AIRCRAFT0       0x1AE // 430 Crossair aircraft left
-#define SYM_AH_CH_AIRCRAFT1       0x1AF // 431 Crossair aircraft
-#define SYM_AH_CH_AIRCRAFT2       0x1B0 // 432 Crossair aircraft center
-#define SYM_AH_CH_AIRCRAFT3       0x1B1 // 433 Crossair aircraft
-#define SYM_AH_CH_AIRCRAFT4       0x1B2 // 434 Crossair aircraft right
-
-#define SYM_HUD_ARROWS_L1         0x1A2 // 418 1 arrow left
-#define SYM_HUD_ARROWS_L2         0x1A3 // 419 2 arrows left
-#define SYM_HUD_ARROWS_L3         0x1A4 // 420 3 arrows left
-#define SYM_HUD_ARROWS_R1         0x1A5 // 421 1 arrow right
-#define SYM_HUD_ARROWS_R2         0x1A6 // 422 2 arrows right
-#define SYM_HUD_ARROWS_R3         0x1A7 // 423 3 arrows right
-#define SYM_HUD_ARROWS_U1         0x1A8 // 424 1 arrow up
-#define SYM_HUD_ARROWS_U2         0x1A9 // 425 2 arrows up
-#define SYM_HUD_ARROWS_U3         0x1AA // 426 3 arrows up
-#define SYM_HUD_ARROWS_D1         0x1AB // 427 1 arrow down
-#define SYM_HUD_ARROWS_D2         0x1AC // 428 2 arrows down
-#define SYM_HUD_ARROWS_D3         0x1AD // 429 3 arrows down
-
-#define SYM_2RSS                  0xEA  // RSSI 2
-#define SYM_DB                    0xEB  // dB
-#define SYM_DBM                   0xEC  // dBm
-#define SYM_SNR                   0xEE  // SNR
-#define SYM_MW                    0xED  // mW
-
-#define SYM_KILOWATT              0xEF // 239 kW
+#define SYM_AH_CH_AIRCRAFT0         0x1A2 // 418 Crossair aircraft left
+#define SYM_AH_CH_AIRCRAFT1         0x1A3 // 419 Crossair aircraft
+#define SYM_AH_CH_AIRCRAFT2         0x1A4 // 420 Crossair aircraft center
+#define SYM_AH_CH_AIRCRAFT3         0x1A5 // 421 Crossair aircraft
+#define SYM_AH_CH_AIRCRAFT4         0x1A6 // 422 Crossair aircraft RIGHT
 
+#define SYM_HUD_ARROWS_L1           0x1AE // 430 1 arrow left
+#define SYM_HUD_ARROWS_L2           0x1AF // 431 2 arrows left
+#define SYM_HUD_ARROWS_L3           0x1B0 // 432 3 arrows left
+#define SYM_HUD_ARROWS_R1           0x1B1 // 433 1 arrow right
+#define SYM_HUD_ARROWS_R2           0x1B2 // 434 2 arrows right
+#define SYM_HUD_ARROWS_R3           0x1B3 // 435 3 arrows right
+#define SYM_HUD_ARROWS_U1           0x1B4 // 436 1 arrow up
+#define SYM_HUD_ARROWS_U2           0x1B5 // 437 2 arrows up
+#define SYM_HUD_ARROWS_U3           0x1B6 // 438 3 arrows up
+#define SYM_HUD_ARROWS_D1           0x1B7 // 439 1 arrow down
+#define SYM_HUD_ARROWS_D2           0x1B8 // 440 2 arrows down
+#define SYM_HUD_ARROWS_D3           0x1B9 // 441 3 arrows down
 
 #else
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b2b9488353..a66d44c431 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -101,7 +101,7 @@ tables:
     values: ["OR", "AND"]
     enum: modeActivationOperator_e
   - name: osd_crosshairs_style
-    values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7"]
+    values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7", "TYPE8"]
     enum: osd_crosshairs_style_e
   - name: osd_sidebar_scroll
     values: ["NONE", "ALTITUDE", "SPEED", "HOME_DISTANCE"]
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 63e8eea991..f0d2952c4e 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -145,7 +145,7 @@ FILE_COMPILE_FOR_SPEED
 #define OSD_CENTER_LEN(x) ((osdDisplayPort->cols - x) / 2)
 #define OSD_CENTER_S(s) OSD_CENTER_LEN(strlen(s))
 
-#define OSD_MIN_FONT_VERSION 2
+#define OSD_MIN_FONT_VERSION 3
 
 static unsigned currentLayout = 0;
 static int layoutOverride = -1;
@@ -421,7 +421,7 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
  * Converts velocity into a string based on the current unit system.
  * @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
  */
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, uint8_t elemPosY)
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
 {
     switch ((osd_unit_e)osdConfig()->units) {
     case OSD_UNIT_UK:
@@ -435,12 +435,7 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, u
         tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         break;
     case OSD_UNIT_GA:
-        if (_3D) {
-            tfp_sprintf(buff, "%3d", (int)osdConvertVelocityToUnit(vel));
-            displayWriteChar(osdDisplayPort, elemPosX + 3, elemPosY, SYM_3D_KTS);
-        } else {
-            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_KTS);
-        }
+        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
         break;
     }
 }
@@ -467,7 +462,7 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
             break;
         case OSD_UNIT_GA:
             centivalue = (ws * 0.019438444924406) * 100;
-            suffix = SYM_KTS;
+            suffix = SYM_KT;
             break;
         default:
         case OSD_UNIT_METRIC:
@@ -1109,8 +1104,8 @@ int osdGetHeadingAngle(int angle)
  * in-out used to store the last position where the craft was drawn to avoid
  * erasing all screen on each redraw.
  */
-static void osdDrawMap(int referenceHeading, uint8_t referenceSym, uint8_t centerSym,
-                       uint32_t poiDistance, int16_t poiDirection, uint8_t poiSymbol,
+static void osdDrawMap(int referenceHeading, uint16_t referenceSym, uint16_t centerSym,
+                       uint32_t poiDistance, int16_t poiDirection, uint16_t poiSymbol,
                        uint16_t *drawn, uint32_t *usedScale)
 {
     // TODO: These need to be tested with several setups. We might
@@ -1574,12 +1569,12 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_GPS_SPEED:
-        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false, elemPosX, elemPosY);
+        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false);
         break;
 
     case OSD_3D_SPEED:
         {
-            osdFormatVelocityStr(buff, osdGet3DSpeed(), true, elemPosX, elemPosY);
+            osdFormatVelocityStr(buff, osdGet3DSpeed(), true);
             break;
         }
 
@@ -2410,7 +2405,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
         #ifdef USE_PITOT
             buff[0] = SYM_AIR;
-            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false, elemPosX, elemPosY);
+            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false);
         #else
             return false;
         #endif
@@ -2572,8 +2567,7 @@ static bool osdDrawSingleElement(uint8_t item)
                     break;
                 case OSD_UNIT_GA:
                     osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10000, 0, 2, 0, 3);
-                    // buff[3] = SYM_WH_NM;
-                    displayWriteChar(osdDisplayPort, elemPosX +3, elemPosY, SYM_WH_NM);
+                    buff[3] = SYM_WH_NM;
                     break;
                 case OSD_UNIT_METRIC_MPH:
                     FALLTHROUGH;
@@ -3319,14 +3313,17 @@ static void osdCompleteAsyncInitialization(void)
             y++;
         }
         y++;
-    } else {
-        if (!fontHasMetadata || metadata.version < OSD_MIN_FONT_VERSION) {
-            const char *m = "INVALID FONT";
-            displayWrite(osdDisplayPort, OSD_CENTER_S(m), 3, m);
-        }
+    } else if (!fontHasMetadata) {
+        const char *m = "INVALID FONT";
+        displayWrite(osdDisplayPort, OSD_CENTER_S(m), 3, m);
         y = 4;
     }
 
+    if (fontHasMetadata && metadata.version < OSD_MIN_FONT_VERSION) {
+        const char *m = "INVALID FONT VERSION";
+        displayWrite(osdDisplayPort, OSD_CENTER_S(m), y++, m);
+    }
+
     char string_buffer[30];
     tfp_sprintf(string_buffer, "INAV VERSION: %s", FC_VERSION_STRING);
     displayWrite(osdDisplayPort, 5, y++, string_buffer);
@@ -3387,8 +3384,7 @@ static void osdCompleteAsyncInitialization(void)
                         break;
                     case OSD_UNIT_GA:
                         osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
-                        displayWriteChar(osdDisplayPort, STATS_LABEL_X_POS +3, y, SYM_WH_NM);
-                        // string_buffer[3] = SYM_WH_NM;
+                        string_buffer[3] = SYM_WH_NM;
                         break;
                     default:
                     case OSD_UNIT_METRIC_MPH:
@@ -3498,7 +3494,7 @@ static void osdShowStatsPage1(void)
 
     if (feature(FEATURE_GPS)) {
         displayWrite(osdDisplayPort, statNameX, top, "MAX SPEED        :");
-        osdFormatVelocityStr(buff, stats.max_speed, true, statValuesX, top);
+        osdFormatVelocityStr(buff, stats.max_speed, true);
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index efb1021503..9c89308042 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -412,7 +412,7 @@ int32_t osdGetAltitude(void);
 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, uint8_t elemPosY);
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 
diff --git a/src/main/io/osd_canvas.c b/src/main/io/osd_canvas.c
index 971a701ce1..43e3b9b481 100644
--- a/src/main/io/osd_canvas.c
+++ b/src/main/io/osd_canvas.c
@@ -438,7 +438,7 @@ void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *can
 
 void osdCanvasDrawHeadingGraph(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, int heading)
 {
-    static const uint8_t graph[] = {
+    static const uint16_t graph[] = {
         SYM_HEADING_W,
         SYM_HEADING_LINE,
         SYM_HEADING_DIVIDED_LINE,
@@ -621,7 +621,7 @@ static void osdCanvasSidebarGetUnit(osdUnit_t *unit, uint16_t *countsPerStep, os
                     *countsPerStep = 5;
                     break;
                 case OSD_UNIT_GA:
-                    unit->symbol = SYM_KTS;
+                    unit->symbol = SYM_KT;
                     unit->divisor = 0;
                     unit->divided_symbol = 0;
                     *countsPerStep = 5;
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index ceac0e6f67..6adb175fa6 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -700,7 +700,7 @@ void osdDJIFormatVelocityStr(char* buff)
             tfp_sprintf(buff, "%s %3d MPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
             break;
         case OSD_UNIT_GA:
-            tfp_sprintf(buff, "%s %3d KTS", sourceBuf, (int)osdConvertVelocityToUnit(vel));
+            tfp_sprintf(buff, "%s %3d KT", sourceBuf, (int)osdConvertVelocityToUnit(vel));
             break;
         case OSD_UNIT_METRIC:
             tfp_sprintf(buff, "%s %3d KPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
diff --git a/src/main/io/osd_grid.c b/src/main/io/osd_grid.c
index 2a1ee09d0c..680f8a9999 100644
--- a/src/main/io/osd_grid.c
+++ b/src/main/io/osd_grid.c
@@ -59,7 +59,7 @@ typedef struct osd_sidebar_s {
 void osdGridDrawVario(displayPort_t *display, unsigned gx, unsigned gy, float zvel)
 {
     int v = zvel / OSD_VARIO_CM_S_PER_ARROW;
-    uint8_t vchars[] = {SYM_BLANK, SYM_BLANK, SYM_BLANK, SYM_BLANK, SYM_BLANK};
+    uint16_t vchars[] = {SYM_BLANK, SYM_BLANK, SYM_BLANK, SYM_BLANK, SYM_BLANK};
 
     if (v >= 6)
         vchars[0] = SYM_VARIO_UP_2A;
@@ -220,11 +220,11 @@ void osdGridDrawHeadingGraph(displayPort_t *display, unsigned gx, unsigned gy, i
     displayWrite(display, gx, gy, buf);
 }
 
-static uint8_t osdUpdateSidebar(osd_sidebar_scroll_e scroll, osd_sidebar_t *sidebar, timeMs_t currentTimeMs)
+static uint16_t osdUpdateSidebar(osd_sidebar_scroll_e scroll, osd_sidebar_t *sidebar, timeMs_t currentTimeMs)
 {
     // Scroll between SYM_AH_DECORATION_MIN and SYM_AH_DECORATION_MAX.
     // Zero scrolling should draw SYM_AH_DECORATION.
-    uint8_t decoration = SYM_AH_DECORATION;
+    uint16_t decoration = SYM_AH_DECORATION;
     int offset = 0;
     int steps;
     switch (scroll) {
@@ -291,8 +291,8 @@ void osdGridDrawSidebars(displayPort_t *display)
     static osd_sidebar_t right;
 
     timeMs_t currentTimeMs = millis();
-    uint8_t leftDecoration = osdUpdateSidebar(osdConfig()->left_sidebar_scroll, &left, currentTimeMs);
-    uint8_t rightDecoration = osdUpdateSidebar(osdConfig()->right_sidebar_scroll, &right, currentTimeMs);
+    uint16_t leftDecoration = osdUpdateSidebar(osdConfig()->left_sidebar_scroll, &left, currentTimeMs);
+    uint16_t rightDecoration = osdUpdateSidebar(osdConfig()->right_sidebar_scroll, &right, currentTimeMs);
 
     const int hudwidth = OSD_AH_SIDEBAR_WIDTH_POS;
     const int hudheight = osdConfig()->sidebar_height;
diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index ae9b30278b..d6d092ef17 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -226,6 +226,7 @@ void osdHudDrawCrosshair(displayCanvas_t *canvas, uint8_t px, uint8_t py)
         SYM_AH_CH_TYPE5, SYM_AH_CH_TYPE5 + 1, SYM_AH_CH_TYPE5 + 2,
         SYM_AH_CH_TYPE6, SYM_AH_CH_TYPE6 + 1, SYM_AH_CH_TYPE6 + 2,
         SYM_AH_CH_TYPE7, SYM_AH_CH_TYPE7 + 1, SYM_AH_CH_TYPE7 + 2,
+        SYM_AH_CH_TYPE8, SYM_AH_CH_TYPE8 + 1, SYM_AH_CH_TYPE8 + 2,
     };
 
     // Center on the screen
@@ -345,7 +346,7 @@ void osdHudDrawExtras(uint8_t poi_id)
 
     displayWrite(osdGetDisplayPort(), minX + 4, lineY, buftmp);
 
-    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false, minX + 5, lineY);
+    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false);
     displayWrite(osdGetDisplayPort(), maxX - 9, lineY, buftmp);
 
     tfp_sprintf(buftmp, "%3d%c", radar_pois[poi_id].heading, SYM_HEADING);

From 6bf51e9d7af8e6e3266a5ff5e5d849a408a8e8d8 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 12 Jul 2021 22:41:16 +0100
Subject: [PATCH 127/336] Updated font to keep mAh-mi together

---
 src/main/drivers/osd_symbols.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 899077672d..83796235fa 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -55,10 +55,10 @@
 //                                  0x23  // 035 ASCII #
 #define SYM_AH_MI                   0x24  // 036 Ah/mi
 //                                  0x25  // 037 ASCII %
-#define SYM_AH_NM       		    0x26  // 038 Ah/NM
-#define SYM_MAH_MI_0                0x27  // 039 mAh/mi left
+#define SYM_MAH_MI_0                0x26  // 038 mAh/mi left
+#define SYM_MAH_MI_1                0x27  // 039 mAh/mi right
 //                                  0x28  // 040 to 062 ASCII
-#define SYM_MAH_MI_1                0x3F  // 063 mAh/mi right
+#define SYM_AH_NM       		    0x3F  // 063 Ah/NM
 //                                  0x40  // 064 to 095 ASCII
 #define SYM_MAH_NM_0                0x60  // 096 mAh/NM left
 #define SYM_MAH_NM_1                0x61  // 097 mAh/NM right

From 5aba7a8a84a5447ced65298a91750fa2c69f5c97 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 13 Jul 2021 08:24:13 +0100
Subject: [PATCH 128/336] Updated to have the heading graph together

---
 src/main/drivers/osd_symbols.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 83796235fa..03f201e187 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -115,9 +115,6 @@
 #define SYM_MPH                     0x91  // 145 MPH
 #define SYM_KT                      0x92  // 146 Knots
 
-#define SYM_HEADING_DIVIDED_LINE    0x93  // 147 Heading Graphic
-#define SYM_HEADING_LINE            0x94  // 148 Heading Graphic
-
 #define SYM_THR                     0x95  // 149 Throttle
 #define SYM_TEMP_F                  0x96  // 150 °F
 #define SYM_TEMP_C                  0x97  // 151 °C
@@ -158,6 +155,8 @@
 #define SYM_HEADING_S               0xC9  // 201 Heading Graphic south
 #define SYM_HEADING_E               0xCA  // 202 Heading Graphic east
 #define SYM_HEADING_W               0xCB  // 203 Heading Graphic west
+#define SYM_HEADING_DIVIDED_LINE    0xCC  // 204 Heading Graphic
+#define SYM_HEADING_LINE            0xCD  // 205 Heading Graphic
 
 
 #define SYM_LOGO_START              0x101 // 257 to 280, INAV logo

From 2af9ae085972769a26223a8786f83643ef29df59 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Jul 2021 11:58:05 +0200
Subject: [PATCH 129/336] Dummy driver

---
 src/main/CMakeLists.txt                    |   2 +
 src/main/drivers/bus.h                     |   1 +
 src/main/drivers/compass/compass_vcm5883.c | 101 +++++++++++++++++++++
 src/main/drivers/compass/compass_vcm5883.h |  27 ++++++
 src/main/fc/settings.yaml                  |   2 +-
 src/main/sensors/compass.c                 |  16 +++-
 src/main/sensors/compass.h                 |   3 +-
 src/main/target/common.h                   |   3 +
 src/main/target/common_hardware.c          |   8 ++
 9 files changed, 160 insertions(+), 3 deletions(-)
 create mode 100644 src/main/drivers/compass/compass_vcm5883.c
 create mode 100644 src/main/drivers/compass/compass_vcm5883.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 00968141ee..5038855eb7 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -162,6 +162,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_qmc5883l.h
     drivers/compass/compass_rm3100.c
     drivers/compass/compass_rm3100.h
+    drivers/compass/compass_vcm5883.c
+    drivers/compass/compass_vcm5883.h
     drivers/compass/compass_msp.c
     drivers/compass/compass_msp.h
 
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index eefa81eb10..bd385c6f13 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -119,6 +119,7 @@ typedef enum {
     DEVHW_MAG3110,
     DEVHW_LIS3MDL,
     DEVHW_RM3100,
+    DEVHW_VCM5883,
 
     /* Temp sensor chips */
     DEVHW_LM75_0,
diff --git a/src/main/drivers/compass/compass_vcm5883.c b/src/main/drivers/compass/compass_vcm5883.c
new file mode 100644
index 0000000000..11080b5db9
--- /dev/null
+++ b/src/main/drivers/compass/compass_vcm5883.c
@@ -0,0 +1,101 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include "platform.h"
+
+#ifdef USE_MAG_VCM5883
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_i2c.h"
+
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#include "drivers/compass/compass_vcm5883.h"
+
+#include "build/debug.h"
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        busWrite(mag->busDev, 0x0A, 0b0100);
+        delay(30);
+
+        DEBUG_SET(DEBUG_ALWAYS, 1, 3);
+
+        uint8_t sig = 0;
+        bool ack = busRead(mag->busDev, 0x0C, &sig);
+
+        DEBUG_SET(DEBUG_ALWAYS, 1, 5);
+        DEBUG_SET(DEBUG_ALWAYS, 2, ack);
+        DEBUG_SET(DEBUG_ALWAYS, 3, sig);
+
+        if (ack && sig == 0x82) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool vcm5883Detect(magDev_t * mag)
+{
+    DEBUG_SET(DEBUG_ALWAYS, 0, 1);
+
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_VCM5883, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+    DEBUG_SET(DEBUG_ALWAYS, 0, 2);
+
+    if (!deviceDetect(mag)) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, 7);
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+    DEBUG_SET(DEBUG_ALWAYS, 0, 3);
+
+    // mag->init = qmc5883Init;
+    // mag->read = qmc5883Read;
+
+    return false;
+
+    // return true;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/compass/compass_vcm5883.h b/src/main/drivers/compass/compass_vcm5883.h
new file mode 100644
index 0000000000..b21063bf06
--- /dev/null
+++ b/src/main/drivers/compass/compass_vcm5883.h
@@ -0,0 +1,27 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+bool vcm5883Detect(magDev_t *mag);
\ No newline at end of file
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 1d821e4467..7cd6540831 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -13,7 +13,7 @@ tables:
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 92ea43ee6b..a6ca548dd1 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -41,6 +41,7 @@
 #include "drivers/compass/compass_mpu9250.h"
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_rm3100.h"
+#include "drivers/compass/compass_vcm5883.h"
 #include "drivers/compass/compass_msp.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -62,7 +63,7 @@ mag_t mag;                   // mag access functions
 
 #ifdef USE_MAG
 
-PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 5);
 
 PG_RESET_TEMPLATE(compassConfig_t, compassConfig,
     .mag_align = SETTING_ALIGN_MAG_DEFAULT,
@@ -246,6 +247,19 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_VCM5883:
+#ifdef USE_MAG_VCM5883
+        if (vcm5883Detect(dev)) {
+            magHardware = MAG_VCM5883;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index fb0e75367f..389e516847 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -42,7 +42,8 @@ typedef enum {
     MAG_LIS3MDL = 11,
     MAG_MSP = 12,
     MAG_RM3100 = 13,
-    MAG_FAKE = 14,
+    MAG_VCM5883 = 14,
+    MAG_FAKE = 15,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 
diff --git a/src/main/target/common.h b/src/main/target/common.h
index c110a6112f..1786f95d28 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -79,6 +79,9 @@
 #endif
 
 #if (MCU_FLASH_SIZE > 256)
+
+#define USE_MAG_VCM5883
+
 #define USE_MR_BRAKING_MODE
 #define USE_PITOT
 #define USE_PITOT_ADC
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index bc32325ced..f15bbe23ce 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -244,6 +244,14 @@
     BUSDEV_REGISTER_SPI(busdev_rm3100,      DEVHW_RM3100,       RM3100_SPI_BUS,     RM3100_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
     #endif
 #endif
+
+#if defined(USE_MAG_VCM5883)
+    #if !defined(VCM5883_I2C_BUS)
+        #define VCM5883_I2C_BUS MAG_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_vcm5883,     DEVHW_VCM5883,      VCM5883_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
+#endif
+
 #endif
 
 

From 8dd4571ea3ec048fecc0f0bc5e2b2771b4b6da71 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Jul 2021 12:05:26 +0200
Subject: [PATCH 130/336] Enable MPU6000 on kakute F4 v2

---
 src/main/target/KAKUTEF4/target.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index f64101ea75..28e94d1e7f 100755
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -47,6 +47,10 @@
 #define MPU6500_CS_PIN          PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN          PC4
+#define MPU6000_SPI_BUS         BUS_SPI1
 
 #ifdef KAKUTEF4V2
 #   define USE_I2C

From 3a55a46f39ecd76037d4d8f9753dc58d933ea160 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 13 Jul 2021 12:47:54 +0200
Subject: [PATCH 131/336] Finish VCM5883 driver

---
 src/main/drivers/compass/compass_vcm5883.c | 54 +++++++++++++++-------
 1 file changed, 37 insertions(+), 17 deletions(-)

diff --git a/src/main/drivers/compass/compass_vcm5883.c b/src/main/drivers/compass/compass_vcm5883.c
index 11080b5db9..b91dccba36 100644
--- a/src/main/drivers/compass/compass_vcm5883.c
+++ b/src/main/drivers/compass/compass_vcm5883.c
@@ -49,21 +49,21 @@
 
 #include "build/debug.h"
 
+#define VCM5883_REGISTER_ADDR_CNTL1 0x0B
+#define VCM5883_REGISTER_ADDR_CNTL2 0x0A
+#define VCM5883_REGISTER_ADDR_CHIPID 0x0C
+#define VCM5883_REGISTER_ADDR_OUTPUT_X 0x00
+#define VCM5883_INITIAL_CONFIG 0b0100
+
 #define DETECTION_MAX_RETRY_COUNT   5
 static bool deviceDetect(magDev_t * mag)
 {
     for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
-        busWrite(mag->busDev, 0x0A, 0b0100);
+        busWrite(mag->busDev, VCM5883_REGISTER_ADDR_CNTL2, 0b01000001);
         delay(30);
 
-        DEBUG_SET(DEBUG_ALWAYS, 1, 3);
-
         uint8_t sig = 0;
-        bool ack = busRead(mag->busDev, 0x0C, &sig);
-
-        DEBUG_SET(DEBUG_ALWAYS, 1, 5);
-        DEBUG_SET(DEBUG_ALWAYS, 2, ack);
-        DEBUG_SET(DEBUG_ALWAYS, 3, sig);
+        bool ack = busRead(mag->busDev, VCM5883_REGISTER_ADDR_CHIPID, &sig);
 
         if (ack && sig == 0x82) {
             return true;
@@ -73,29 +73,49 @@ static bool deviceDetect(magDev_t * mag)
     return false;
 }
 
+static bool vcm5883Init(magDev_t * mag) {
+    UNUSED(mag);
+    return true;
+}
+
+static bool vcm5883Read(magDev_t * mag)
+{
+    uint8_t buf[6];
+
+    // set magData to zero for case of failed read
+    mag->magADCRaw[X] = 0;
+    mag->magADCRaw[Y] = 0;
+    mag->magADCRaw[Z] = 0;
+
+    bool ack = busReadBuf(mag->busDev, VCM5883_REGISTER_ADDR_OUTPUT_X, buf, 6);
+    if (!ack) {
+        return false;
+    }
+
+    mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]);
+    mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]);
+    mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]);
+
+    return true;
+}
+
 bool vcm5883Detect(magDev_t * mag)
 {
-    DEBUG_SET(DEBUG_ALWAYS, 0, 1);
-
     mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_VCM5883, mag->magSensorToUse, OWNER_COMPASS);
     if (mag->busDev == NULL) {
         return false;
     }
-    DEBUG_SET(DEBUG_ALWAYS, 0, 2);
 
     if (!deviceDetect(mag)) {
         DEBUG_SET(DEBUG_ALWAYS, 0, 7);
         busDeviceDeInit(mag->busDev);
         return false;
     }
-    DEBUG_SET(DEBUG_ALWAYS, 0, 3);
 
-    // mag->init = qmc5883Init;
-    // mag->read = qmc5883Read;
+    mag->init = vcm5883Init;
+    mag->read = vcm5883Read;
 
-    return false;
-
-    // return true;
+    return true;
 }
 
 #endif
\ No newline at end of file

From 00f842d2f16a9a9c8958cee2ab4cb647e35d4c8d Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Tue, 13 Jul 2021 19:16:16 +0200
Subject: [PATCH 132/336] [IMU] Add support for ICM42605 and ICM42688P IMUs

---
 src/main/CMakeLists.txt                     |   2 +
 src/main/drivers/accgyro/accgyro_icm42605.c | 270 ++++++++++++++++++++
 src/main/drivers/accgyro/accgyro_icm42605.h |  21 ++
 src/main/drivers/accgyro/accgyro_mpu.h      |   2 +
 src/main/drivers/bus.h                      |   1 +
 src/main/fc/settings.yaml                   |   2 +-
 src/main/sensors/acceleration.c             |  14 +
 src/main/sensors/acceleration.h             |  29 ++-
 src/main/sensors/gyro.c                     |  10 +
 src/main/sensors/gyro.h                     |   1 +
 src/main/target/common_hardware.c           |   4 +
 11 files changed, 341 insertions(+), 15 deletions(-)
 create mode 100644 src/main/drivers/accgyro/accgyro_icm42605.c
 create mode 100644 src/main/drivers/accgyro/accgyro_icm42605.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 00968141ee..54ba52249c 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -83,6 +83,8 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_fake.h
     drivers/accgyro/accgyro_icm20689.c
     drivers/accgyro/accgyro_icm20689.h
+    drivers/accgyro/accgyro_icm42605.c
+    drivers/accgyro/accgyro_icm42605.h
     drivers/accgyro/accgyro_l3g4200d.c
     drivers/accgyro/accgyro_l3g4200d.h
     drivers/accgyro/accgyro_l3gd20.c
diff --git a/src/main/drivers/accgyro/accgyro_icm42605.c b/src/main/drivers/accgyro/accgyro_icm42605.c
new file mode 100644
index 0000000000..824b9b9fd5
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_icm42605.c
@@ -0,0 +1,270 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/system.h"
+#include "drivers/time.h"
+#include "drivers/exti.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_icm42605.h"
+
+#if defined(USE_IMU_ICM42605)
+
+#define ICM42605_RA_PWR_MGMT0                       0x4E
+
+#define ICM42605_PWR_MGMT0_ACCEL_MODE_LN            (3 << 0)
+#define ICM42605_PWR_MGMT0_GYRO_MODE_LN             (3 << 2)
+#define ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF         (0 << 5)
+#define ICM42605_PWR_MGMT0_TEMP_DISABLE_ON          (1 << 5)
+
+#define ICM42605_RA_GYRO_CONFIG0                    0x4F
+#define ICM42605_RA_ACCEL_CONFIG0                   0x50
+
+#define ICM42605_RA_GYRO_ACCEL_CONFIG0              0x52
+
+#define ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY       (14 << 4)
+#define ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY        (14 << 0)
+
+#define ICM42605_RA_GYRO_DATA_X1                    0x25
+#define ICM42605_RA_ACCEL_DATA_X1                   0x1F
+
+#define ICM42605_RA_INT_CONFIG                      0x14
+#define ICM42605_INT1_MODE_PULSED                   (0 << 2)
+#define ICM42605_INT1_MODE_LATCHED                  (1 << 2)
+#define ICM42605_INT1_DRIVE_CIRCUIT_OD              (0 << 1)
+#define ICM42605_INT1_DRIVE_CIRCUIT_PP              (1 << 1)
+#define ICM42605_INT1_POLARITY_ACTIVE_LOW           (0 << 0)
+#define ICM42605_INT1_POLARITY_ACTIVE_HIGH          (1 << 0)
+
+#define ICM42605_RA_INT_CONFIG0                     0x63
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR           ((0 << 5) || (0 << 4))
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (0 << 4)) // duplicate settings in datasheet, Rev 1.2.
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_F1BR          ((1 << 5) || (0 << 4))
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR  ((1 << 5) || (1 << 4))
+
+#define ICM42605_RA_INT_CONFIG1                     0x64
+#define ICM42605_INT_ASYNC_RESET_BIT                4
+#define ICM42605_INT_TDEASSERT_DISABLE_BIT          5
+#define ICM42605_INT_TDEASSERT_ENABLED              (0 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
+#define ICM42605_INT_TDEASSERT_DISABLED             (1 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
+#define ICM42605_INT_TPULSE_DURATION_BIT            6
+#define ICM42605_INT_TPULSE_DURATION_100            (0 << ICM42605_INT_TPULSE_DURATION_BIT)
+#define ICM42605_INT_TPULSE_DURATION_8              (1 << ICM42605_INT_TPULSE_DURATION_BIT)
+
+
+#define ICM42605_RA_INT_SOURCE0                     0x65
+#define ICM42605_UI_DRDY_INT1_EN_DISABLED           (0 << 3)
+#define ICM42605_UI_DRDY_INT1_EN_ENABLED            (1 << 3)
+
+
+static void icm42605AccInit(accDev_t *acc)
+{
+    acc->acc_1G = 512 * 4;
+}
+
+static bool icm42605AccRead(accDev_t *acc)
+{
+    uint8_t data[6];
+
+    const bool ack = busReadBuf(acc->busDev, ICM42605_RA_ACCEL_DATA_X1, data, 6);
+    if (!ack) {
+        return false;
+    }
+
+    acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
+    acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
+    acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
+
+    return true;
+}
+
+bool icm42605AccDetect(accDev_t *acc)
+{
+    acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_ICM42605, acc->imuSensorToUse);
+    if (acc->busDev == NULL) {
+        return false;
+    }
+
+    mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
+    if (ctx->chipMagicNumber != 0x4265) {
+        return false;
+    }
+
+    acc->initFn = icm42605AccInit;
+    acc->readFn = icm42605AccRead;
+    acc->accAlign = acc->busDev->param;
+
+    return true;
+}
+
+static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = {
+    /*                            DLPF  ODR */
+    { GYRO_LPF_256HZ,   8000,   { 6,    3  } }, /* 400 Hz LPF */
+    { GYRO_LPF_256HZ,   4000,   { 5,    4  } }, /* 250 Hz LPF */
+    { GYRO_LPF_256HZ,   2000,   { 3,    5  } }, /* 250 Hz LPF */
+    { GYRO_LPF_256HZ,   1000,   { 1,    6  } }, /* 250 Hz LPF */
+    { GYRO_LPF_256HZ,    500,   { 0,    15 } }, /* 250 Hz LPF */
+
+    { GYRO_LPF_188HZ,   1000,   { 3,   6  } },  /* 125 HZ */
+    { GYRO_LPF_188HZ,    500,   { 1,   15 } },  /* 125 HZ */
+
+    { GYRO_LPF_98HZ,    1000,   { 4,    6  } }, /* 100 HZ*/
+    { GYRO_LPF_98HZ,     500,   { 2,    15 } }, /* 100 HZ*/
+
+    { GYRO_LPF_42HZ,    1000,   { 6,    6  } }, /* 50 HZ */
+    { GYRO_LPF_42HZ,     500,   { 4,    15 } },
+
+    { GYRO_LPF_20HZ,    1000,   { 7,    6  } }, /* 25 HZ */
+    { GYRO_LPF_20HZ,     500,   { 6,    15 } },
+
+    { GYRO_LPF_10HZ,    1000,   { 7,    6  } }, /* 25 HZ */
+    { GYRO_LPF_10HZ,     500,   { 7,    15 } }  /* 12.5 HZ */
+};
+
+static void icm42605AccAndGyroInit(gyroDev_t *gyro)
+{
+    busDevice_t * dev = gyro->busDev;
+    const gyroFilterAndRateConfig_t * config = chooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs,
+                                                                &icm42605GyroConfigs[0], ARRAYLEN(icm42605GyroConfigs));
+    gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
+
+    gyroIntExtiInit(gyro);
+
+    busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
+
+    busWrite(dev, ICM42605_RA_PWR_MGMT0, ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF | ICM42605_PWR_MGMT0_ACCEL_MODE_LN | ICM42605_PWR_MGMT0_GYRO_MODE_LN);
+    delay(15);
+
+    /* ODR and dynamic range */
+    busWrite(dev, ICM42605_RA_GYRO_CONFIG0, (0x00) << 5 | (config->gyroConfigValues[1] & 0x0F));    /* 2000 deg/s */
+    delay(15);
+
+    busWrite(dev, ICM42605_RA_ACCEL_CONFIG0, (0x00) << 5 | (config->gyroConfigValues[1] & 0x0F));    /* 16 G deg/s */
+    delay(15);
+
+    /* LPF bandwidth */
+    busWrite(dev, ICM42605_RA_GYRO_ACCEL_CONFIG0, (config->gyroConfigValues[1]) | (config->gyroConfigValues[1] << 4));
+    delay(15);
+
+    busWrite(dev, ICM42605_RA_INT_CONFIG, ICM42605_INT1_MODE_PULSED | ICM42605_INT1_DRIVE_CIRCUIT_PP | ICM42605_INT1_POLARITY_ACTIVE_HIGH);
+    delay(15);
+
+    busWrite(dev, ICM42605_RA_INT_CONFIG0, ICM42605_UI_DRDY_INT_CLEAR_ON_SBR);
+    delay(100);
+
+#ifdef USE_MPU_DATA_READY_SIGNAL
+    uint8_t intConfig1Value;
+
+    busWrite(dev, ICM42605_RA_INT_SOURCE0, ICM42605_UI_DRDY_INT1_EN_ENABLED);
+
+    // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
+    busRead(dev, ICM42605_RA_INT_CONFIG1, &intConfig1Value);
+
+    intConfig1Value &= ~(1 << ICM42605_INT_ASYNC_RESET_BIT);
+    intConfig1Value |= (ICM42605_INT_TPULSE_DURATION_8 | ICM42605_INT_TDEASSERT_DISABLED);
+
+    busWrite(dev, ICM42605_RA_INT_CONFIG1, intConfig1Value);
+    delay(15);
+#endif
+
+    busSetSpeed(dev, BUS_SPEED_FAST);
+}
+
+static bool icm42605DeviceDetect(busDevice_t * dev)
+{
+    uint8_t tmp;
+    uint8_t attemptsRemaining = 5;
+
+    busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
+
+    busWrite(dev, ICM42605_RA_PWR_MGMT0, 0x00);
+
+    do {
+        delay(150);
+
+        busRead(dev, MPU_RA_WHO_AM_I, &tmp);
+
+        switch (tmp) {
+            /* ICM42605 and ICM42688P share the register structure*/
+            case ICM42605_WHO_AM_I_CONST:
+            case ICM42688P_WHO_AM_I_CONST:
+                return true;
+
+            default:
+                // Retry detection
+                break;
+        }
+    } while (attemptsRemaining--);
+
+    return false;
+}
+
+static bool icm42605GyroRead(gyroDev_t *gyro)
+{
+    uint8_t data[6];
+
+    const bool ack = busReadBuf(gyro->busDev, ICM42605_RA_GYRO_DATA_X1, data, 6);
+    if (!ack) {
+        return false;
+    }
+
+    gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
+    gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
+    gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
+
+    return true;
+}
+
+bool icm42605GyroDetect(gyroDev_t *gyro)
+{
+    gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM42605, gyro->imuSensorToUse, OWNER_MPU);
+    if (gyro->busDev == NULL) {
+        return false;
+    }
+
+    if (!icm42605DeviceDetect(gyro->busDev)) {
+        busDeviceDeInit(gyro->busDev);
+        return false;
+    }
+
+    // Magic number for ACC detection to indicate that we have detected icm42605 gyro
+    mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
+    ctx->chipMagicNumber = 0x4265;
+
+    gyro->initFn = icm42605AccAndGyroInit;
+    gyro->readFn = icm42605GyroRead;
+    gyro->intStatusFn = gyroCheckDataReady;
+    gyro->temperatureFn = NULL;
+    gyro->scale = 1.0f / 16.4f;     // 16.4 dps/lsb scalefactor
+    gyro->gyroAlign = gyro->busDev->param;
+
+    return true;
+}
+
+#endif
diff --git a/src/main/drivers/accgyro/accgyro_icm42605.h b/src/main/drivers/accgyro/accgyro_icm42605.h
new file mode 100644
index 0000000000..5224222f26
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_icm42605.h
@@ -0,0 +1,21 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool icm42605AccDetect(accDev_t *acc);
+bool icm42605GyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index b6b8cb38f3..16d7f5ac19 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -35,6 +35,8 @@
 #define ICM20602_WHO_AM_I_CONST             (0x12)
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
 #define ICM20689_WHO_AM_I_CONST             (0x98)
+#define ICM42605_WHO_AM_I_CONST             (0x42)
+#define ICM42688P_WHO_AM_I_CONST            (0x47)
 
 
 // RA = Register Address
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index eefa81eb10..7b9282ae99 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -94,6 +94,7 @@ typedef enum {
     DEVHW_BMI088_GYRO,
     DEVHW_BMI088_ACC,
     DEVHW_ICM20689,
+    DEVHW_ICM42605,
 
     /* Combined ACC/GYRO/MAG chips */
     DEVHW_MPU9250,
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 1d821e4467..cc8b097399 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -4,7 +4,7 @@ tables:
   - name: gyro_lpf
     values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "FAKE"]
+    values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42"]
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 1f5d1de04d..d795b05bcb 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -53,6 +53,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
+#include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/sensor.h"
 
@@ -268,6 +269,19 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_ICM42605
+    case ACC_ICM42605:
+        if (icm42605AccDetect(dev)) {
+            accHardware = ACC_ICM42605;
+            break;
+        }
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 
 #ifdef USE_IMU_FAKE
     case ACC_FAKE:
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index a650b4be95..08b404dccb 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -33,20 +33,21 @@
 
 // Type of accelerometer used/detected
 typedef enum {
-    ACC_NONE = 0,
-    ACC_AUTODETECT = 1,
-    ACC_ADXL345 = 2,
-    ACC_MPU6050 = 3,
-    ACC_MMA8452 = 4,
-    ACC_BMA280 = 5,
-    ACC_LSM303DLHC = 6,
-    ACC_MPU6000 = 7,
-    ACC_MPU6500 = 8,
-    ACC_MPU9250 = 9,
-    ACC_BMI160 = 10,
-    ACC_ICM20689 = 11,
-    ACC_BMI088 = 12,
-    ACC_FAKE = 13,
+    ACC_NONE        = 0,
+    ACC_AUTODETECT  = 1,
+    ACC_ADXL345     = 2,
+    ACC_MPU6050     = 3,
+    ACC_MMA8452     = 4,
+    ACC_BMA280      = 5,
+    ACC_LSM303DLHC  = 6,
+    ACC_MPU6000     = 7,
+    ACC_MPU6500     = 8,
+    ACC_MPU9250     = 9,
+    ACC_BMI160      = 10,
+    ACC_ICM20689    = 11,
+    ACC_BMI088      = 12,
+    ACC_ICM42605    = 13,
+    ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index f70bdbcdf0..d605a4528a 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -55,6 +55,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
+#include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/io.h"
 
@@ -247,6 +248,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_ICM42605
+    case GYRO_ICM42605:
+        if (icm42605GyroDetect(dev)) {
+            gyroHardware = GYRO_ICM42605;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_IMU_FAKE
     case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index eed2aceb60..3957769e0b 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -37,6 +37,7 @@ typedef enum {
     GYRO_BMI160,
     GYRO_ICM20689,
     GYRO_BMI088,
+    GYRO_ICM42605,
     GYRO_FAKE
 } gyroSensor_e;
 
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index bc32325ced..d9b803e143 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -73,6 +73,10 @@
         BUSDEV_REGISTER_SPI(busdev_icm20689,    DEVHW_ICM20689,     ICM20689_SPI_BUS,   ICM20689_CS_PIN,    GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_ICM20689_ALIGN);
     #endif
 
+    #if defined(USE_IMU_ICM42605)
+        BUSDEV_REGISTER_SPI(busdev_icm42605,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,    GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+    #endif
+
     #if defined(USE_IMU_BMI160)
         #if defined(BMI160_SPI_BUS)
         BUSDEV_REGISTER_SPI(busdev_bmi160,      DEVHW_BMI160,       BMI160_SPI_BUS,     BMI160_CS_PIN,      GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_BMI160_ALIGN);

From b8cb6ed27819d28e53215e6d523b0ce06b358aa6 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 13 Jul 2021 20:13:23 +0100
Subject: [PATCH 133/336] Fixed Aircraft crosshair. Now displays as intended.

---
 src/main/io/osd_hud.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index d6d092ef17..81b86e946d 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -241,6 +241,11 @@ void osdHudDrawCrosshair(displayCanvas_t *canvas, uint8_t px, uint8_t py)
     displayWriteChar(osdGetDisplayPort(), px, py, crh_style_all[crh_crosshair * 3 + 1]);
     displayWriteChar(osdGetDisplayPort(), px + 1, py, crh_style_all[crh_crosshair * 3 + 2]);
 
+    if ((crh_style_all[crh_crosshair * 3]) == SYM_AH_CH_AIRCRAFT1) {
+        displayWriteChar(osdGetDisplayPort(), px - 2, py, SYM_AH_CH_AIRCRAFT0);
+        displayWriteChar(osdGetDisplayPort(), px + 2, py, SYM_AH_CH_AIRCRAFT4);
+    }
+
     if (canvas) {
         displayCanvasContextPop(canvas);
     }

From 57b7b8386028edb54c97580a8d49165bf85a9bb7 Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Wed, 14 Jul 2021 09:43:45 +0200
Subject: [PATCH 134/336] [TARGET] Add MATEKF765SE variant, supporting ICM42605
 IMU

---
 src/main/drivers/accgyro/accgyro_icm42605.c | 2 ++
 src/main/target/MATEKF765/CMakeLists.txt    | 1 +
 src/main/target/MATEKF765/target.c          | 4 ++++
 src/main/target/MATEKF765/target.h          | 9 +++++++--
 4 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_icm42605.c b/src/main/drivers/accgyro/accgyro_icm42605.c
index 824b9b9fd5..5bf61e0760 100644
--- a/src/main/drivers/accgyro/accgyro_icm42605.c
+++ b/src/main/drivers/accgyro/accgyro_icm42605.c
@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+#include "build/debug.h"
+
 #include "common/axis.h"
 #include "common/maths.h"
 #include "common/utils.h"
diff --git a/src/main/target/MATEKF765/CMakeLists.txt b/src/main/target/MATEKF765/CMakeLists.txt
index 2461647ec0..0efbb358d6 100644
--- a/src/main/target/MATEKF765/CMakeLists.txt
+++ b/src/main/target/MATEKF765/CMakeLists.txt
@@ -1 +1,2 @@
 target_stm32f765xi(MATEKF765)
+target_stm32f765xi(MATEKF765SE)
diff --git a/src/main/target/MATEKF765/target.c b/src/main/target/MATEKF765/target.c
index af157cad89..a1d8c151fa 100644
--- a/src/main/target/MATEKF765/target.c
+++ b/src/main/target/MATEKF765/target.c
@@ -29,6 +29,10 @@
 BUSDEV_REGISTER_SPI_TAG(busdev_imu0,    DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_imu1,    DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
 
+#if defined(MATEKF765SE)
+BUSDEV_REGISTER_SPI_TAG(busdev_imu3,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,    ICM42605_EXTI_PIN,      0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+#endif
+
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH1, PA0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1  UP(1,7), D(1,5,3)
     DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S2  UP(1,7), D(1,6,3)
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 449801cc50..a13a5ba3c7 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -56,6 +56,13 @@
 #define MPU6500_CS_PIN          PD7
 #define MPU6500_EXTI_PIN        PD4
 
+#if defined(MATEKF765SE)
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG_FLIP
+#define ICM42605_SPI_BUS        BUS_SPI4
+#define ICM42605_CS_PIN         PE11
+#define ICM42605_EXTI_PIN       PC13
+#endif
 
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
@@ -103,12 +110,10 @@
 #define MAX7456_CS_PIN          PB12
 
 // *************** SPI4 ******************************
-/*
 #define USE_SPI_DEVICE_4
 #define SPI4_SCK_PIN            PE12
 #define SPI4_MISO_PIN           PE13
 #define SPI4_MOSI_PIN           PE14
-*/
 
 // *************** UART *****************************
 #define USE_VCP

From b71c392cf36f1123758934f09f9f0acfc3054a0d Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Wed, 14 Jul 2021 11:43:14 +0200
Subject: [PATCH 135/336] Fix gyro list for CLI status command

---
 src/main/fc/cli.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index ef745dc858..991dd5d2b4 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
 // sync with gyroSensor_e
-static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"};
+static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"};
 
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {

From ef75f7677be30de7c7fc1711ba54e64bc6d80b47 Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Wed, 14 Jul 2021 11:59:45 +0200
Subject: [PATCH 136/336] [TARET] Add support for RX5 on MATEKF765 target

---
 src/main/target/MATEKF765/target.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 449801cc50..04d87daaa0 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -131,6 +131,11 @@
 #define UART4_TX_PIN            PD1
 #define UART4_RX_PIN            PD0
 
+#define USE_UART5
+#define UART5_TX_PIN            NONE
+#define UART5_RX_PIN            PB8
+#define UART5_AF                7
+
 #define USE_UART6
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7

From 3161b7a9032174139b14bff9c3ba7ad869f9fa6a Mon Sep 17 00:00:00 2001
From: "Konstantin (DigitalEntity) Sharlaimov"
 <konstantin.sharlaimov@gmail.com>
Date: Wed, 14 Jul 2021 12:23:28 +0200
Subject: [PATCH 137/336] Fix number of serial ports

---
 src/main/target/MATEKF765/target.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 04d87daaa0..bb2d33d094 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -154,7 +154,7 @@
 #define SOFTSERIAL_1_RX_PIN      PC6  //TX6 pad
 
 
-#define SERIAL_PORT_COUNT       9
+#define SERIAL_PORT_COUNT       10
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS

From a3aff38ce345e87d3af077261f81945b781c81cc Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 15 Jul 2021 09:46:43 +0200
Subject: [PATCH 138/336] First cut on telemetry

---
 src/main/CMakeLists.txt        |   2 +
 src/main/rx/jetiexbus.c        | 426 +++----------------------
 src/main/rx/jetiexbus.h        |  32 ++
 src/main/target/common.h       |   1 +
 src/main/telemetry/jetiexbus.c | 560 +++++++++++++++++++++++++++++++++
 src/main/telemetry/telemetry.c |   6 +-
 6 files changed, 640 insertions(+), 387 deletions(-)
 create mode 100644 src/main/telemetry/jetiexbus.c

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 00968141ee..61d005be9e 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -581,6 +581,8 @@ main_sources(COMMON_SRC
     telemetry/ghst.h
     telemetry/hott.c
     telemetry/hott.h
+    telemetry/jetiexbus.c
+    telemetry/jetiexbus.h
     telemetry/ibus_shared.c
     telemetry/ibus_shared.h
     telemetry/ibus.c
diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c
index 14424ff952..3521ff6ab7 100644
--- a/src/main/rx/jetiexbus.c
+++ b/src/main/rx/jetiexbus.c
@@ -1,19 +1,24 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
  *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
  * Authors:
  * Thomas Miric - marv-t
  *
@@ -28,15 +33,12 @@
  * Number of channels: 16
  *
  * Connect as follows:
- * Jeti EX Bus -> Serial RX (connect directly)
- * Serial TX -> Resistor(2k4) ->Serial RX
- * In jeti pdf it is different, but if the resistor breaks, the receiver continues to operate.
- *
+ * Jeti EX Bus -> Serial TX (connect directly)
  */
 
+
 #include <stdbool.h>
 #include <stdint.h>
-#include <string.h>
 
 #include "platform.h"
 
@@ -47,8 +49,6 @@
 
 #include "common/utils.h"
 
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
 #include "drivers/time.h"
 
 #include "io/serial.h"
@@ -56,176 +56,49 @@
 #include "rx/rx.h"
 #include "rx/jetiexbus.h"
 
-#ifdef USE_TELEMETRY
-#include "sensors/sensors.h"
-#include "sensors/battery.h"
-#include "sensors/barometer.h"
-
-#include "telemetry/telemetry.h"
-#include "telemetry/jetiexbus.h"
-#endif // TELEMETRY
-
 
 //
 // Serial driver for Jeti EX Bus receiver
 //
 #define JETIEXBUS_BAUDRATE 125000                       // EX Bus 125000; EX Bus HS 250000 not supported
-#define JETIEXBUS_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO | SERIAL_NOT_INVERTED)
+#define JETIEXBUS_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
 #define JETIEXBUS_MIN_FRAME_GAP     1000
 #define JETIEXBUS_CHANNEL_COUNT     16                  // most Jeti TX transmit 16 channels
 
-#define EXBUS_HEADER_LEN                6
-#define EXBUS_CRC_LEN                   2
-#define EXBUS_OVERHEAD                  (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
-#define EXBUS_MAX_CHANNEL_FRAME_SIZE    (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
-#define EXBUS_MAX_REQUEST_FRAME_SIZE    9
 
 #define EXBUS_START_CHANNEL_FRAME       (0x3E)
 #define EXBUS_START_REQUEST_FRAME       (0x3D)
-#define EXBUS_EX_REQUEST                (0x3A)
 #define EXBUS_JETIBOX_REQUEST           (0x3B)
 
 #define EXBUS_CHANNELDATA               (0x3E03)        // Frame contains Channel Data
 #define EXBUS_CHANNELDATA_DATA_REQUEST  (0x3E01)        // Frame contains Channel Data, but with a request for data
 #define EXBUS_TELEMETRY_REQUEST         (0x3D01)        // Frame is a request Frame
 
-enum {
-    EXBUS_STATE_ZERO = 0,
-    EXBUS_STATE_IN_PROGRESS,
-    EXBUS_STATE_RECEIVED,
-    EXBUS_STATE_PROCESSED
-};
-
-enum {
-    EXBUS_TRANS_ZERO = 0,
-    EXBUS_TRANS_RX_READY,
-    EXBUS_TRANS_RX,
-    EXBUS_TRANS_IS_TX_COMPLETED,
-    EXBUS_TRANS_TX
-};
-
-enum exBusHeader_e {
-    EXBUS_HEADER_SYNC = 0,
-    EXBUS_HEADER_REQ,
-    EXBUS_HEADER_MSG_LEN,
-    EXBUS_HEADER_PACKET_ID,
-    EXBUS_HEADER_DATA_ID,
-    EXBUS_HEADER_SUBLEN,
-    EXBUS_HEADER_DATA
-};
-
-#ifdef USE_TELEMETRY
-
-#define EXTEL_DATA_MSG      (0x40)
-#define EXTEL_UNMASK_TYPE   (0x3F)
-#define EXTEL_SYNC_LEN      1
-#define EXTEL_CRC_LEN       1
-#define EXTEL_HEADER_LEN    6
-#define EXTEL_MAX_LEN       29
-#define EXTEL_OVERHEAD      (EXTEL_SYNC_LEN + EXTEL_HEADER_LEN + EXTEL_CRC_LEN)
-#define EXTEL_MAX_PAYLOAD   (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
-#define EXBUS_MAX_REQUEST_BUFFER_SIZE   (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
-
-enum exTelHeader_e {
-    EXTEL_HEADER_SYNC = 0,
-    EXTEL_HEADER_TYPE_LEN,
-    EXTEL_HEADER_USN_LB,
-    EXTEL_HEADER_USN_HB,
-    EXTEL_HEADER_LSN_LB,
-    EXTEL_HEADER_LSN_HB,
-    EXTEL_HEADER_RES,
-    EXTEL_HEADER_ID,
-    EXTEL_HEADER_DATA
-};
-
-enum exDataType_e {
-    EX_TYPE_6b   = 0, // int6_t  Data type 6b (-31 ¸31)
-    EX_TYPE_14b  = 1, // int14_t Data type 14b (-8191 ¸8191)
-    EX_TYPE_22b  = 4, // int22_t Data type 22b (-2097151 ¸2097151)
-    EX_TYPE_DT   = 5, // int22_t Special data type – time and date
-    EX_TYPE_30b  = 8, // int30_t Data type 30b (-536870911 ¸536870911)
-    EX_TYPE_GPS  = 9  // int30_t Special data type – GPS coordinates:  lo/hi minute - lo/hi degree.
-};
-
-const uint8_t exDataTypeLen[]={
-    [EX_TYPE_6b]  = 1,
-    [EX_TYPE_14b] = 2,
-    [EX_TYPE_22b] = 3,
-    [EX_TYPE_DT]  = 3,
-    [EX_TYPE_30b] = 4,
-    [EX_TYPE_GPS] = 4
-};
-
-typedef struct exBusSensor_s{
-    const char *label;
-    const char *unit;
-    int32_t value;
-    const uint8_t exDataType;
-    const uint8_t decimals;
-} exBusSensor_t;
-
-#define DECIMAL_MASK(decimals) (decimals << 5)
-
-// list of telemetry messages
-// after every 15 sensors a new header has to be inserted (e.g. "CF-Dev 1.12 S2")
-exBusSensor_t jetiExSensors[] = {
-    { "CF-Dev 1.12 S1", "",     0,      0,             0 },                     // device descripton
-    { "Voltage",        "V",    0,      EX_TYPE_14b,   DECIMAL_MASK(1) },
-    { "Current",        "A",    0,      EX_TYPE_14b,   DECIMAL_MASK(2) },
-    { "Altitude",       "m",    0,      EX_TYPE_14b,   DECIMAL_MASK(1) },
-    { "Capacity",       "mAh",  0,      EX_TYPE_22b,   DECIMAL_MASK(0) },
-    { "frames lost",    " ",    0,      EX_TYPE_22b,   DECIMAL_MASK(0) },       // for debug only
-    { "time Diff",      "us",   0,      EX_TYPE_14b,   DECIMAL_MASK(0) }        // for debug only
-};
 
 
-// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
-enum exSensors_e {
-    EX_VOLTAGE = 1,
-    EX_CURRENT,
-    EX_ALTITUDE,
-    EX_CAPACITY,
-    EX_FRAMES_LOST,                                                             // for debug only
-    EX_TIME_DIFF                                                                // for debug only
-};
+serialPort_t *jetiExBusPort;
 
-#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
-#endif //TELEMETRY
-
-static serialPort_t *jetiExBusPort;
-
-static uint32_t jetiTimeStampRequest = 0;
+uint32_t jetiTimeStampRequest = 0;
 
 static uint8_t jetiExBusFramePosition;
 static uint8_t jetiExBusFrameLength;
 
 static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
-static uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
+uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
 
 // Use max values for ram areas
 static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE];
-static uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
+uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
 
 static uint16_t jetiExBusChannelData[JETIEXBUS_CHANNEL_COUNT];
 
-#ifdef USE_TELEMETRY
-
-static uint8_t jetiExBusTelemetryFrame[40];
-static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
-static void sendJetiExBusTelemetry(uint8_t packetID);
-
-uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen);
-
-#endif //TELEMETRY
-
-
 // Jeti Ex Bus CRC calculations for a frame
-uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
+uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen)
 {
     uint16_t crc16_data = 0;
     uint8_t data=0;
 
-    for (uint8_t mlen = 0; mlen < msgLen; mlen++){
+    for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
         data = pt[mlen] ^ ((uint8_t)(crc16_data) & (uint8_t)(0xFF));
         data ^= data << 4;
         crc16_data = ((((uint16_t)data << 8) | ((crc16_data & 0xFF00) >> 8))
@@ -235,31 +108,13 @@ uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen)
     return(crc16_data);
 }
 
-#ifdef USE_TELEMETRY
-
-
-// Jeti Ex Telemetry CRC calculations for a frame
-uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
-{
-    uint8_t crc=0;
-
-    for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
-        crc  ^= pt[mlen];
-        crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
-    }
-    return(crc);
-}
-
-#endif //TELEMETRY
-
-
 void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
 {
     uint16_t value;
     uint8_t frameAddr;
 
     // Decode header
-    switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])){
+    switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])) {
 
     case EXBUS_CHANNELDATA_DATA_REQUEST:                   // not yet specified
     case EXBUS_CHANNELDATA:
@@ -274,14 +129,12 @@ void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
     }
 }
 
-
 void jetiExBusFrameReset(void)
 {
     jetiExBusFramePosition = 0;
     jetiExBusFrameLength = EXBUS_MAX_CHANNEL_FRAME_SIZE;
 }
 
-
 /*
   supported:
   0x3E 0x01 LEN Packet_ID 0x31 SUB_LEN Data_array CRC16      // Channel Data with telemetry request (2nd byte 0x01)
@@ -294,31 +147,25 @@ void jetiExBusFrameReset(void)
 */
 
 // Receive ISR callback
-static void jetiExBusDataReceive(uint16_t c, void *rxCallbackData)
+static void jetiExBusDataReceive(uint16_t c, void *data)
 {
-    UNUSED(rxCallbackData);
+    UNUSED(data);
 
-    timeUs_t now;
     static timeUs_t jetiExBusTimeLast = 0;
-    static timeDelta_t jetiExBusTimeInterval;
-
     static uint8_t *jetiExBusFrame;
+    const timeUs_t now = microsISR();
 
     // Check if we shall reset frame position due to time
-    now = micros();
-
-    jetiExBusTimeInterval = cmpTimeUs(now, jetiExBusTimeLast);
-    jetiExBusTimeLast = now;
-
-    if (jetiExBusTimeInterval > JETIEXBUS_MIN_FRAME_GAP) {
+    if (cmpTimeUs(now, jetiExBusTimeLast) > JETIEXBUS_MIN_FRAME_GAP) {
         jetiExBusFrameReset();
         jetiExBusFrameState = EXBUS_STATE_ZERO;
         jetiExBusRequestState = EXBUS_STATE_ZERO;
     }
+    jetiExBusTimeLast = now;
 
     // Check if we shall start a frame?
     if (jetiExBusFramePosition == 0) {
-        switch (c){
+        switch (c) {
         case EXBUS_START_CHANNEL_FRAME:
             jetiExBusFrameState = EXBUS_STATE_IN_PROGRESS;
             jetiExBusFrame = jetiExBusChannelFrame;
@@ -363,32 +210,30 @@ static void jetiExBusDataReceive(uint16_t c, void *rxCallbackData)
             jetiExBusFrameState = EXBUS_STATE_RECEIVED;
         if (jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) {
             jetiExBusRequestState = EXBUS_STATE_RECEIVED;
-            jetiTimeStampRequest = micros();
+            jetiTimeStampRequest = now;
         }
 
         jetiExBusFrameReset();
     }
 }
 
-
 // Check if it is time to read a frame from the data...
 static uint8_t jetiExBusFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
 {
     UNUSED(rxRuntimeConfig);
 
-    if (jetiExBusFrameState != EXBUS_STATE_RECEIVED)
-        return RX_FRAME_PENDING;
+    uint8_t frameStatus = RX_FRAME_PENDING;
 
-    if (calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) {
-        jetiExBusDecodeChannelFrame(jetiExBusChannelFrame);
+    if (jetiExBusFrameState == EXBUS_STATE_RECEIVED) {
+        if (jetiExBusCalcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) {
+            jetiExBusDecodeChannelFrame(jetiExBusChannelFrame);
+            frameStatus = RX_FRAME_COMPLETE;
+        }
         jetiExBusFrameState = EXBUS_STATE_ZERO;
-        return RX_FRAME_COMPLETE;
-    } else {
-        jetiExBusFrameState = EXBUS_STATE_ZERO;
-        return RX_FRAME_PENDING;
     }
-}
 
+    return frameStatus;
+}
 
 static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
 {
@@ -398,191 +243,6 @@ static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uin
     return (jetiExBusChannelData[chan]);
 }
 
-
-#ifdef USE_TELEMETRY
-/*
-  -----------------------------------------------
-   Jeti Ex Bus Telemetry
-  -----------------------------------------------
-*/
-
-void initJetiExBusTelemetry(void)
-{
-    // Init Ex Bus Frame header
-    jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B;       // Startbytes
-    jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
-    jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A;    // Ex Telemetry
-
-
-    // Init Ex Telemetry header
-    uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
-    jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F;              // Startbyte
-    jetiExTelemetryFrame[EXTEL_HEADER_USN_LB] = 0x1E;            // Serial Number 4 Byte
-    jetiExTelemetryFrame[EXTEL_HEADER_USN_HB] = 0xA4;
-    jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00;            // increment by telemetry count (%16) > only 15 values per device possible
-    jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
-    jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00;               // reserved, by default 0x00
-}
-
-
-void createExTelemetrieTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
-{
-    uint8_t labelLength = strlen(sensor->label);
-    uint8_t unitLength = strlen(sensor->unit);
-
-    exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
-    exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0;                              // Device ID
-    exMessage[EXTEL_HEADER_ID] = messageID & 0x0F;                                  // Sensor ID (%16)
-    exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
-
-    memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
-    memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
-
-    exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
-}
-
-
-uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart)
-{
-    uint8_t item = itemStart;
-    uint8_t iCount;
-    uint8_t messageSize;
-    uint32_t sensorValue;
-
-    if ((item & 0x0F) == 0)
-        item++;
-
-    if (item >= JETI_EX_SENSOR_COUNT)
-        item = 1;
-
-    exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0;                                   // Device ID
-    uint8_t *p = &exMessage[EXTEL_HEADER_ID];
-
-    while (item <= (itemStart | 0x0F)) {
-        *p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType;               // Sensor ID (%16) | EX Data Type
-
-        sensorValue = jetiExSensors[item].value;
-        iCount = exDataTypeLen[jetiExSensors[item].exDataType];
-        while (iCount > 1) {
-            *p++ = sensorValue;
-            sensorValue = sensorValue >> 8;
-            iCount--;
-        }
-        *p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
-
-        item++;
-        if (item >= JETI_EX_SENSOR_COUNT)
-            break;
-        if (EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1)
-            break;
-    }
-
-    messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
-    exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
-    exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
-
-    return item;        // return the next item
-}
-
-
-void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
-{
-    uint16_t crc16;
-
-    exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
-    exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2;    // +2: startbyte & CRC8
-    exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
-
-    crc16 = calcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
-    exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
-    exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
-}
-
-
-void checkJetiExBusTelemetryState(void)
-{
-    return;
-}
-
-
-void handleJetiExBusTelemetry(void)
-{
-    static uint16_t framesLost = 0; // only for debug
-    uint32_t timeDiff;
-    // Check if we shall reset frame position due to time
-
-    if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
-
-        // to prevent timing issues from request to answer - max. 4ms
-        timeDiff = micros() - jetiTimeStampRequest;
-
-        if (timeDiff > 3000) {   // include reserved time
-            jetiExBusRequestState = EXBUS_STATE_ZERO;
-            framesLost++;
-            return;
-        }
-
-        if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
-            jetiExSensors[EX_VOLTAGE].value = getBatteryVoltage() / 10;
-            jetiExSensors[EX_CURRENT].value = getAmperage();
-            jetiExSensors[EX_ALTITUDE].value = baro.BaroAlt;
-            jetiExSensors[EX_CAPACITY].value = getMAhDrawn();
-            jetiExSensors[EX_FRAMES_LOST].value = framesLost;
-            jetiExSensors[EX_TIME_DIFF].value = timeDiff;
-
-            // switch to TX mode
-            if (uartTotalRxBytesWaiting(jetiExBusPort) == 0) {
-                serialSetMode(jetiExBusPort, MODE_TX);
-                jetiExBusTransceiveState = EXBUS_TRANS_TX;
-                sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID]);
-                jetiExBusRequestState = EXBUS_STATE_PROCESSED;
-            }
-        } else {
-            jetiExBusRequestState = EXBUS_STATE_ZERO;
-            return;
-        }
-    }
-
-    // check the state if transmit is ready
-    if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
-        if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
-            serialSetMode(jetiExBusPort, MODE_RX);
-            jetiExBusTransceiveState = EXBUS_TRANS_RX;
-            jetiExBusRequestState = EXBUS_STATE_ZERO;
-        }
-    }
-}
-
-
-void sendJetiExBusTelemetry(uint8_t packetID)
-{
-    static uint8_t sensorDescriptionCounter = 0;
-    static uint8_t sensorValueCounter = 1;
-    static uint8_t requestLoop = 0;
-    uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
-
-    if (requestLoop == 100){              //every nth request send the name of a value
-        if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT )
-            sensorDescriptionCounter = 0;
-
-        createExTelemetrieTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
-        createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
-
-        requestLoop = 0;
-        sensorDescriptionCounter++;
-    } else {
-        sensorValueCounter = createExTelemetrieValueMessage(jetiExTelemetryFrame, sensorValueCounter);
-        createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
-    }
-
-    for (uint8_t iCount = 0; iCount < jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]; iCount++) {
-        serialWrite(jetiExBusPort, jetiExBusTelemetryFrame[iCount]);
-    }
-    jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
-    requestLoop++;
-}
-#endif // TELEMETRY
-
 bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 {
     UNUSED(rxConfig);
@@ -607,10 +267,8 @@ bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfi
         NULL,
         JETIEXBUS_BAUDRATE,
         MODE_RXTX,
-        JETIEXBUS_OPTIONS | (tristateWithDefaultOffIsActive(rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
+        JETIEXBUS_OPTIONS | (rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) | SERIAL_BIDIR
         );
-
-    serialSetMode(jetiExBusPort, MODE_RX);
     return jetiExBusPort != NULL;
 }
-#endif // USE_SERIALRX_JETIEXBUS
+#endif // SERIAL_RX
diff --git a/src/main/rx/jetiexbus.h b/src/main/rx/jetiexbus.h
index 4622c7a4d4..d23999e9b0 100644
--- a/src/main/rx/jetiexbus.h
+++ b/src/main/rx/jetiexbus.h
@@ -17,4 +17,36 @@
 
 #pragma once
 
+#define EXBUS_HEADER_LEN                6
+#define EXBUS_CRC_LEN                   2
+#define EXBUS_OVERHEAD                  (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
+#define EXBUS_MAX_CHANNEL_FRAME_SIZE    (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
+#define EXBUS_MAX_REQUEST_FRAME_SIZE    9
+
+#define EXBUS_EX_REQUEST                (0x3A)
+
+enum exBusHeader_e {
+    EXBUS_HEADER_SYNC = 0,
+    EXBUS_HEADER_REQ,
+    EXBUS_HEADER_MSG_LEN,
+    EXBUS_HEADER_PACKET_ID,
+    EXBUS_HEADER_DATA_ID,
+    EXBUS_HEADER_SUBLEN,
+    EXBUS_HEADER_DATA
+};
+
+enum {
+    EXBUS_STATE_ZERO = 0,
+    EXBUS_STATE_IN_PROGRESS,
+    EXBUS_STATE_RECEIVED,
+    EXBUS_STATE_PROCESSED
+};
+
+extern uint8_t jetiExBusRequestState;
+extern uint32_t jetiTimeStampRequest;
+extern uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
+struct serialPort_s;
+extern struct serialPort_s *jetiExBusPort;
+
+uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen);
 bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
diff --git a/src/main/target/common.h b/src/main/target/common.h
index c110a6112f..734dade645 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -187,6 +187,7 @@
 #define USE_TELEMETRY_IBUS
 #define USE_TELEMETRY_SMARTPORT
 #define USE_TELEMETRY_CRSF
+#define USE_TELEMETRY_JETIEXBUS
 // These are rather exotic serial protocols
 #define USE_RX_MSP
 //#define USE_MSP_RC_OVERRIDE
diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
new file mode 100644
index 0000000000..7eaac9027d
--- /dev/null
+++ b/src/main/telemetry/jetiexbus.c
@@ -0,0 +1,560 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#if defined(USE_TELEMETRY_JETIEXBUS)
+
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "fc/runtime_config.h"
+#include "fc/config.h"
+#include "config/feature.h"
+
+#include "common/utils.h"
+#include "common/bitarray.h"
+
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/time.h"
+
+#include "flight/imu.h"
+
+#include "io/serial.h"
+#include "io/gps.h"
+
+#include "rx/rx.h"
+#include "rx/jetiexbus.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+#include "sensors/acceleration.h"
+
+#include "telemetry/jetiexbus.h"
+#include "telemetry/telemetry.h"
+
+#include "navigation/navigation.h"
+
+#define EXTEL_DATA_MSG      (0x40)
+#define EXTEL_UNMASK_TYPE   (0x3F)
+#define EXTEL_SYNC_LEN      1
+#define EXTEL_CRC_LEN       1
+#define EXTEL_HEADER_LEN    6
+#define EXTEL_MAX_LEN       26
+#define EXTEL_OVERHEAD      (EXTEL_SYNC_LEN + EXTEL_HEADER_LEN + EXTEL_CRC_LEN)
+#define EXTEL_MAX_PAYLOAD   (EXTEL_MAX_LEN - EXTEL_OVERHEAD)
+#define EXBUS_MAX_REQUEST_BUFFER_SIZE   (EXBUS_OVERHEAD + EXTEL_MAX_LEN)
+
+enum exTelHeader_e {
+    EXTEL_HEADER_SYNC = 0,
+    EXTEL_HEADER_TYPE_LEN,
+    EXTEL_HEADER_USN_LB,
+    EXTEL_HEADER_USN_HB,
+    EXTEL_HEADER_LSN_LB,
+    EXTEL_HEADER_LSN_HB,
+    EXTEL_HEADER_RES,
+    EXTEL_HEADER_ID,
+    EXTEL_HEADER_DATA
+};
+
+enum {
+    EXBUS_TRANS_ZERO = 0,
+    EXBUS_TRANS_RX_READY,
+    EXBUS_TRANS_RX,
+    EXBUS_TRANS_IS_TX_COMPLETED,
+    EXBUS_TRANS_TX
+};
+
+enum exDataType_e {
+    EX_TYPE_6b   = 0,                // int6_t  Data type 6b (-31 ¸31)
+    EX_TYPE_14b  = 1,                // int14_t Data type 14b (-8191 ¸8191)
+    EX_TYPE_22b  = 4,                // int22_t Data type 22b (-2097151 ¸2097151)
+    EX_TYPE_DT   = 5,                // int22_t Special data type – time and date
+    EX_TYPE_30b  = 8,                // int30_t Data type 30b (-536870911 ¸536870911)
+    EX_TYPE_GPS  = 9,                // int30_t Special data type – GPS coordinates:  lo/hi minute - lo/hi degree.
+    EX_TYPE_DES  = 255               // only for devicedescription
+};
+
+const uint8_t exDataTypeLen[] = {
+    [EX_TYPE_6b]  = 1,
+    [EX_TYPE_14b] = 2,
+    [EX_TYPE_22b] = 3,
+    [EX_TYPE_DT]  = 3,
+    [EX_TYPE_30b] = 4,
+    [EX_TYPE_GPS] = 4
+};
+
+typedef struct exBusSensor_s {
+    const char *label;
+    const char *unit;
+    const uint8_t exDataType;
+    const uint8_t decimals;
+} exBusSensor_t;
+
+#define DECIMAL_MASK(decimals) (decimals << 5)
+
+// list of telemetry messages
+// after every 15 sensors a new header has to be inserted (e.g. "BF D2")
+const exBusSensor_t jetiExSensors[] = {
+    {"INAV D1",         "",         EX_TYPE_DES,   0              },     // device descripton
+    {"Voltage",         "V",        EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Current",         "A",        EX_TYPE_22b,   DECIMAL_MASK(2)},
+    {"Altitude",        "m",        EX_TYPE_22b,   DECIMAL_MASK(2)},
+    {"Capacity",        "mAh",      EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"Power",           "W",        EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Roll angle",      "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Pitch angle",     "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Heading",         "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Vario",           "m/s",      EX_TYPE_22b,   DECIMAL_MASK(2)},
+    {"GPS Sats",        "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"GPS Long",        "",         EX_TYPE_GPS,   DECIMAL_MASK(0)},
+    {"GPS Lat",         "",         EX_TYPE_GPS,   DECIMAL_MASK(0)},
+    {"GPS Speed",       "m/s",      EX_TYPE_22b,   DECIMAL_MASK(2)},
+    {"GPS H-Distance",  "m",        EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"GPS H-Direction", "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"INAV D2",           "",         EX_TYPE_DES,   0              },     // device descripton
+    {"GPS Heading",     "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"GPS Altitude",    "m",        EX_TYPE_22b,   DECIMAL_MASK(2)},
+    {"G-Force X",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
+    {"G-Force Y",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
+    {"G-Force Z",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)}
+};
+
+// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
+enum exSensors_e {
+    EX_VOLTAGE = 1,
+    EX_CURRENT,
+    EX_ALTITUDE,
+    EX_CAPACITY,
+    EX_POWER,
+    EX_ROLL_ANGLE,
+    EX_PITCH_ANGLE,
+    EX_HEADING,
+    EX_VARIO,
+    EX_GPS_SATS,
+    EX_GPS_LONG,
+    EX_GPS_LAT,
+    EX_GPS_SPEED,
+    EX_GPS_DISTANCE_TO_HOME,
+    EX_GPS_DIRECTION_TO_HOME,
+    EX_GPS_HEADING = 17,
+    EX_GPS_ALTITUDE,
+    EX_GFORCE_X,
+    EX_GFORCE_Y,
+    EX_GFORCE_Z
+};
+
+union{
+    int32_t vInt;
+    uint16_t vWord[2];
+    char    vBytes[4];
+} exGps;
+
+
+#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
+
+static uint8_t jetiExBusTelemetryFrame[40];
+static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
+static uint8_t firstActiveSensor = 0;
+static uint32_t exSensorEnabled = 0;
+
+static uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item);
+static uint8_t getNextActiveSensor(uint8_t currentSensor);
+
+// Jeti Ex Telemetry CRC calculations for a frame
+uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen)
+{
+    uint8_t crc=0;
+    for (uint8_t mlen = 0; mlen < msgLen; mlen++) {
+        crc  ^= pt[mlen];
+        crc = crc ^ (crc << 1) ^ (crc << 2) ^ (0x0e090700 >> ((crc >> 3) & 0x18));
+    }
+    return(crc);
+}
+
+void enableGpsTelemetry(bool enable)
+{
+    if (enable) {
+        bitArraySet(&exSensorEnabled, EX_GPS_SATS);
+        bitArraySet(&exSensorEnabled, EX_GPS_LONG);
+        bitArraySet(&exSensorEnabled, EX_GPS_LAT);
+        bitArraySet(&exSensorEnabled, EX_GPS_SPEED);
+        bitArraySet(&exSensorEnabled, EX_GPS_DISTANCE_TO_HOME);
+        bitArraySet(&exSensorEnabled, EX_GPS_DIRECTION_TO_HOME);
+        bitArraySet(&exSensorEnabled, EX_GPS_HEADING);
+        bitArraySet(&exSensorEnabled, EX_GPS_ALTITUDE);
+    } else {
+        bitArrayClr(&exSensorEnabled, EX_GPS_SATS);
+        bitArrayClr(&exSensorEnabled, EX_GPS_LONG);
+        bitArrayClr(&exSensorEnabled, EX_GPS_LAT);
+        bitArrayClr(&exSensorEnabled, EX_GPS_SPEED);
+        bitArrayClr(&exSensorEnabled, EX_GPS_DISTANCE_TO_HOME);
+        bitArrayClr(&exSensorEnabled, EX_GPS_DIRECTION_TO_HOME);
+        bitArrayClr(&exSensorEnabled, EX_GPS_HEADING);
+        bitArrayClr(&exSensorEnabled, EX_GPS_ALTITUDE);
+    }
+}
+
+/*
+ * -----------------------------------------------
+ *  Jeti Ex Bus Telemetry
+ * -----------------------------------------------
+ */
+void initJetiExBusTelemetry(void)
+{
+    // Init Ex Bus Frame header
+    jetiExBusTelemetryFrame[EXBUS_HEADER_SYNC] = 0x3B;       // Startbytes
+    jetiExBusTelemetryFrame[EXBUS_HEADER_REQ] = 0x01;
+    jetiExBusTelemetryFrame[EXBUS_HEADER_DATA_ID] = 0x3A;    // Ex Telemetry
+
+    // Init Ex Telemetry header
+    uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
+
+    jetiExTelemetryFrame[EXTEL_HEADER_SYNC] = 0x9F;              // Startbyte
+    jetiExTelemetryFrame[EXTEL_HEADER_USN_LB] = 0x1E;            // Serial Number 4 Byte
+    jetiExTelemetryFrame[EXTEL_HEADER_USN_HB] = 0xA4;
+    jetiExTelemetryFrame[EXTEL_HEADER_LSN_LB] = 0x00;            // increment by telemetry count (%16) > only 15 values per device possible
+    jetiExTelemetryFrame[EXTEL_HEADER_LSN_HB] = 0x00;
+    jetiExTelemetryFrame[EXTEL_HEADER_RES] = 0x00;               // reserved, by default 0x00
+
+    // Check which sensors are available
+    if (isBatteryVoltageConfigured()) {
+        bitArraySet(&exSensorEnabled, EX_VOLTAGE);
+    }
+    if (isAmperageConfigured()) {
+        bitArraySet(&exSensorEnabled, EX_CURRENT);
+    }
+    if (isBatteryVoltageConfigured() && isAmperageConfigured()) {
+        bitArraySet(&exSensorEnabled, EX_POWER);
+        bitArraySet(&exSensorEnabled, EX_CAPACITY);
+    }
+    if (sensors(SENSOR_BARO)) {
+        bitArraySet(&exSensorEnabled, EX_ALTITUDE);
+#ifdef USE_VARIO
+        bitArraySet(&exSensorEnabled, EX_VARIO);
+#endif
+    }
+    if (sensors(SENSOR_ACC)) {
+        bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
+        bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
+        bitArraySet(&exSensorEnabled, EX_GFORCE_X);
+        bitArraySet(&exSensorEnabled, EX_GFORCE_Y);
+        bitArraySet(&exSensorEnabled, EX_GFORCE_Z);
+    }
+    if (sensors(SENSOR_MAG)) {
+        bitArraySet(&exSensorEnabled, EX_HEADING);
+    }
+
+    enableGpsTelemetry(feature(FEATURE_GPS));
+
+    firstActiveSensor = getNextActiveSensor(0);     // find the first active sensor
+}
+
+void createExTelemetryTextMessage(uint8_t *exMessage, uint8_t messageID, const exBusSensor_t *sensor)
+{
+    uint8_t labelLength = strlen(sensor->label);
+    uint8_t unitLength = strlen(sensor->unit);
+
+    exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_OVERHEAD + labelLength + unitLength;
+    exMessage[EXTEL_HEADER_LSN_LB] = messageID & 0xF0;                              // Device ID
+    exMessage[EXTEL_HEADER_ID] = messageID & 0x0F;                                  // Sensor ID (%16)
+    exMessage[EXTEL_HEADER_DATA] = (labelLength << 3) + unitLength;
+
+    memcpy(&exMessage[EXTEL_HEADER_DATA + 1], sensor->label, labelLength);
+    memcpy(&exMessage[EXTEL_HEADER_DATA + 1 + labelLength], sensor->unit, unitLength);
+
+    exMessage[exMessage[EXTEL_HEADER_TYPE_LEN] + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], exMessage[EXTEL_HEADER_TYPE_LEN]);
+}
+
+uint32_t calcGpsDDMMmmm(int32_t value, bool isLong)
+{
+    uint32_t absValue = ABS(value);
+    uint16_t deg16 = absValue / GPS_DEGREES_DIVIDER;
+    uint16_t min16 = (absValue - deg16 * GPS_DEGREES_DIVIDER) * 6 / 1000;
+
+    exGps.vInt = 0;
+    exGps.vWord[0] = min16;
+    exGps.vWord[1] = deg16;
+    exGps.vWord[1] |= isLong ? 0x2000 : 0;
+    exGps.vWord[1] |= (value < 0) ? 0x4000 : 0;
+
+    return exGps.vInt;
+}
+
+
+int32_t getSensorValue(uint8_t sensor)
+{
+    switch (sensor) {
+    case EX_VOLTAGE:
+        return telemetryConfig()->report_cell_voltage ? getBatteryAverageCellVoltage() : getBatteryVoltage();
+        break;
+
+    case EX_CURRENT:
+        return getAmperage();
+        break;
+
+    case EX_ALTITUDE:
+        return getEstimatedActualPosition(Z);
+        break;
+
+    case EX_CAPACITY:
+        return getMAhDrawn();
+        break;
+
+    case EX_POWER:
+        return (getBatteryVoltage() * getAmperage() / 1000);
+        break;
+
+    case EX_ROLL_ANGLE:
+        return attitude.values.roll;
+        break;
+
+    case EX_PITCH_ANGLE:
+        return attitude.values.pitch;
+        break;
+
+    case EX_HEADING:
+        return attitude.values.yaw;
+        break;
+
+#ifdef USE_VARIO
+    case EX_VARIO:
+        return getEstimatedVario();
+        break;
+#endif
+
+#ifdef USE_GPS
+    case EX_GPS_SATS:
+        return gpsSol.numSat;
+    break;
+
+    case EX_GPS_LONG:
+        return calcGpsDDMMmmm(gpsSol.llh.lon, true);
+    break;
+
+    case EX_GPS_LAT:
+        return calcGpsDDMMmmm(gpsSol.llh.lat, false);
+    break;
+
+    case EX_GPS_SPEED:
+        return gpsSol.groundSpeed;
+    break;
+
+    case EX_GPS_DISTANCE_TO_HOME:
+        return GPS_distanceToHome;
+    break;
+
+    case EX_GPS_DIRECTION_TO_HOME:
+        return GPS_directionToHome;
+    break;
+
+    case EX_GPS_HEADING:
+        return gpsSol.groundCourse;
+    break;
+
+    case EX_GPS_ALTITUDE:
+        return getEstimatedActualPosition(Z);
+    break;
+#endif
+
+#if defined(USE_ACC)
+    case EX_GFORCE_X:
+       return (int16_t)(((float)acc.accADC[0] / acc.dev.acc_1G) * 1000);
+    break;
+
+    case EX_GFORCE_Y:
+       return (int16_t)(((float)acc.accADC[1] / acc.dev.acc_1G) * 1000);
+    break;
+
+    case EX_GFORCE_Z:
+        return (int16_t)(((float)acc.accADC[2] / acc.dev.acc_1G) * 1000);
+    break;
+#endif
+
+    default:
+        return -1;
+    }
+}
+
+uint8_t getNextActiveSensor(uint8_t currentSensor)
+{
+    while( ++currentSensor < JETI_EX_SENSOR_COUNT) {
+        if (bitArrayGet(&exSensorEnabled, currentSensor)) {
+            break;
+        }
+    }
+    if (currentSensor == JETI_EX_SENSOR_COUNT ) {
+        currentSensor = firstActiveSensor;
+    }
+    return currentSensor;
+}
+
+uint8_t createExTelemetryValueMessage(uint8_t *exMessage, uint8_t item)
+{
+    uint8_t startItem = item;
+    uint8_t sensorItemMaxGroup = (item & 0xF0) + 0x10;
+    uint8_t iCount;
+    uint8_t messageSize;
+    uint32_t sensorValue;
+
+    exMessage[EXTEL_HEADER_LSN_LB] = item & 0xF0;                       // Device ID
+    uint8_t *p = &exMessage[EXTEL_HEADER_ID];
+
+    while (item < sensorItemMaxGroup) {
+        *p++ = ((item & 0x0F) << 4) | jetiExSensors[item].exDataType;   // Sensor ID (%16) | EX Data Type
+
+        sensorValue = getSensorValue(item);
+        iCount = exDataTypeLen[jetiExSensors[item].exDataType];
+
+        while (iCount > 1) {
+            *p++ = sensorValue;
+            sensorValue = sensorValue >> 8;
+            iCount--;
+        }
+        if (jetiExSensors[item].exDataType != EX_TYPE_GPS) {
+            *p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals;
+        } else {
+            *p++ = sensorValue;
+        }
+
+        item = getNextActiveSensor(item);
+
+        if (startItem >= item) {
+            break;
+        }
+
+        if ((p - &exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType] + 1 >= EXTEL_MAX_PAYLOAD) {
+            break;
+        }
+    }
+    messageSize = (EXTEL_HEADER_LEN + (p-&exMessage[EXTEL_HEADER_ID]));
+    exMessage[EXTEL_HEADER_TYPE_LEN] = EXTEL_DATA_MSG | messageSize;
+    exMessage[messageSize + EXTEL_CRC_LEN] = calcCRC8(&exMessage[EXTEL_HEADER_TYPE_LEN], messageSize);
+
+    return item;        // return the next item
+}
+
+void createExBusMessage(uint8_t *exBusMessage, uint8_t *exMessage, uint8_t packetID)
+{
+    uint16_t crc16;
+
+    exBusMessage[EXBUS_HEADER_PACKET_ID] = packetID;
+    exBusMessage[EXBUS_HEADER_SUBLEN] = (exMessage[EXTEL_HEADER_TYPE_LEN] & EXTEL_UNMASK_TYPE) + 2;    // +2: startbyte & CRC8
+    exBusMessage[EXBUS_HEADER_MSG_LEN] = EXBUS_OVERHEAD + exBusMessage[EXBUS_HEADER_SUBLEN];
+
+    crc16 = jetiExBusCalcCRC16(exBusMessage, exBusMessage[EXBUS_HEADER_MSG_LEN] - EXBUS_CRC_LEN);
+    exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 2] = crc16;
+    exBusMessage[exBusMessage[EXBUS_HEADER_MSG_LEN] - 1] = crc16 >> 8;
+}
+
+void checkJetiExBusTelemetryState(void)
+{
+    return;
+}
+
+void handleJetiExBusTelemetry(void)
+{
+    static uint16_t framesLost = 0; // only for debug
+    static uint8_t item = 0;
+    uint32_t timeDiff;
+
+    // Check if we shall reset frame position due to time
+    if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
+
+        // to prevent timing issues from request to answer - max. 4ms
+        timeDiff = micros() - jetiTimeStampRequest;
+
+        if (timeDiff > 3000) {   // include reserved time
+            jetiExBusRequestState = EXBUS_STATE_ZERO;
+            framesLost++;
+            return;
+        }
+
+        if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
+            if (serialRxBytesWaiting(jetiExBusPort) == 0) {
+                jetiExBusTransceiveState = EXBUS_TRANS_TX;
+                item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
+                jetiExBusRequestState = EXBUS_STATE_PROCESSED;
+                return;
+            }
+        } else {
+            jetiExBusRequestState = EXBUS_STATE_ZERO;
+            return;
+        }
+    }
+
+    // check the state if transmit is ready
+    if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
+        if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
+            jetiExBusTransceiveState = EXBUS_TRANS_RX;
+            jetiExBusRequestState = EXBUS_STATE_ZERO;
+        }
+    }
+}
+
+uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
+{
+    static uint8_t sensorDescriptionCounter = 0xFF;
+    static uint8_t requestLoop = 0xFF;
+    static bool allSensorsActive = true;
+    uint8_t *jetiExTelemetryFrame = &jetiExBusTelemetryFrame[EXBUS_HEADER_DATA];
+
+    if (requestLoop) {
+        while( ++sensorDescriptionCounter < JETI_EX_SENSOR_COUNT) {
+            if (bitArrayGet(&exSensorEnabled, sensorDescriptionCounter) || (jetiExSensors[sensorDescriptionCounter].exDataType == EX_TYPE_DES)) {
+                break;
+            }
+        }
+        if (sensorDescriptionCounter == JETI_EX_SENSOR_COUNT ) {
+            sensorDescriptionCounter = 0;
+        }
+
+        createExTelemetryTextMessage(jetiExTelemetryFrame, sensorDescriptionCounter, &jetiExSensors[sensorDescriptionCounter]);
+        createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
+        requestLoop--;
+        if (requestLoop == 0) {
+            item = firstActiveSensor;
+            if (feature(FEATURE_GPS)) {
+                enableGpsTelemetry(false);
+                allSensorsActive = false;
+            }
+        }
+    } else {
+        item = createExTelemetryValueMessage(jetiExTelemetryFrame, item);
+        createExBusMessage(jetiExBusTelemetryFrame, jetiExTelemetryFrame, packetID);
+
+        if (!allSensorsActive) {
+            if (sensors(SENSOR_GPS)) {
+                enableGpsTelemetry(true);
+                allSensorsActive = true;
+            }
+        }
+    }
+
+    serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
+    jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
+
+    return item;
+}
+#endif
diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c
index add40a3b0f..00a5f182ae 100644
--- a/src/main/telemetry/telemetry.c
+++ b/src/main/telemetry/telemetry.c
@@ -117,7 +117,7 @@ void telemetryInit(void)
     initMAVLinkTelemetry();
 #endif
 
-#if defined(TELEMETRY_JETIEXBUS)
+#if defined(USE_TELEMETRY_JETIEXBUS)
     initJetiExBusTelemetry();
 #endif
 
@@ -187,7 +187,7 @@ void telemetryCheckState(void)
     checkMAVLinkTelemetryState();
 #endif
 
-#if defined(TELEMETRY_JETIEXBUS)
+#if defined(USE_TELEMETRY_JETIEXBUS)
     checkJetiExBusTelemetryState();
 #endif
 
@@ -235,7 +235,7 @@ void telemetryProcess(timeUs_t currentTimeUs)
     handleMAVLinkTelemetry(currentTimeUs);
 #endif
 
-#if defined(TELEMETRY_JETIEXBUS)
+#if defined(USE_TELEMETRY_JETIEXBUS)
     handleJetiExBusTelemetry();
 #endif
 

From 1261ee2bb07a848ecea6ce6b7bb3a176bae33ec6 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 15 Jul 2021 09:56:42 +0200
Subject: [PATCH 139/336] Fix g force reporting

---
 src/main/telemetry/jetiexbus.c | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index 7eaac9027d..51ef56e853 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -378,19 +378,17 @@ int32_t getSensorValue(uint8_t sensor)
     break;
 #endif
 
-#if defined(USE_ACC)
     case EX_GFORCE_X:
-       return (int16_t)(((float)acc.accADC[0] / acc.dev.acc_1G) * 1000);
+       return acc.accADCf[X] * 1000;
     break;
 
     case EX_GFORCE_Y:
-       return (int16_t)(((float)acc.accADC[1] / acc.dev.acc_1G) * 1000);
+       return acc.accADCf[Y] * 1000;
     break;
 
     case EX_GFORCE_Z:
-        return (int16_t)(((float)acc.accADC[2] / acc.dev.acc_1G) * 1000);
+        return acc.accADCf[Z] * 1000;
     break;
-#endif
 
     default:
         return -1;

From 2e1fd89f0b8b35197c5587d2c228b8698919a044 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 15 Jul 2021 15:38:28 +0200
Subject: [PATCH 140/336] SpeedyBeeF7V2 target

---
 src/main/target/SPEEDYBEEF7V2/CMakeLists.txt |   1 +
 src/main/target/SPEEDYBEEF7V2/config.c       |  35 ++++
 src/main/target/SPEEDYBEEF7V2/target.c       |  42 +++++
 src/main/target/SPEEDYBEEF7V2/target.h       | 163 +++++++++++++++++++
 4 files changed, 241 insertions(+)
 create mode 100644 src/main/target/SPEEDYBEEF7V2/CMakeLists.txt
 create mode 100644 src/main/target/SPEEDYBEEF7V2/config.c
 create mode 100644 src/main/target/SPEEDYBEEF7V2/target.c
 create mode 100644 src/main/target/SPEEDYBEEF7V2/target.h

diff --git a/src/main/target/SPEEDYBEEF7V2/CMakeLists.txt b/src/main/target/SPEEDYBEEF7V2/CMakeLists.txt
new file mode 100644
index 0000000000..f16c68178d
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V2/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(SPEEDYBEEF7V2)
diff --git a/src/main/target/SPEEDYBEEF7V2/config.c b/src/main/target/SPEEDYBEEF7V2/config.c
new file mode 100644
index 0000000000..dccd2e8a04
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V2/config.c
@@ -0,0 +1,35 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}
diff --git a/src/main/target/SPEEDYBEEF7V2/target.c b/src/main/target/SPEEDYBEEF7V2/target.c
new file mode 100644
index 0000000000..80fe33c94e
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V2/target.c
@@ -0,0 +1,42 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_PPM,   0, 0),  // PPM
+
+    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),  // S1
+    DEF_TIM(TIM1, CH2, PA9,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),  // S2
+    DEF_TIM(TIM1, CH3, PA10,    TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),  // S3
+    DEF_TIM(TIM3, CH4, PC9,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+
+    DEF_TIM(TIM8, CH2N, PB0,  TIM_USE_LED, 0, 0),    // LED
+
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_ANY, 0, 0), // Camera Control
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
\ No newline at end of file
diff --git a/src/main/target/SPEEDYBEEF7V2/target.h b/src/main/target/SPEEDYBEEF7V2/target.h
new file mode 100644
index 0000000000..0e5f5d190a
--- /dev/null
+++ b/src/main/target/SPEEDYBEEF7V2/target.h
@@ -0,0 +1,163 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "SB72"
+#define USBD_PRODUCT_STRING  "SpeedyBeeF7V2"
+#define USE_TARGET_CONFIG
+
+#define LED0                PC13
+
+// *************** UART *****************************
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_PIN          PC15
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN            PB7
+#define UART1_TX_PIN            PB6
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PC11
+#define UART3_TX_PIN            PC10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       7
+
+// *************** Gyro & ACC **********************
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define MPU6000_CS_PIN           PA4
+#define MPU6000_SPI_BUS     BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI         PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_BEEPER
+#define BEEPER              PB2
+#define BEEPER_INVERTED
+
+// *************** I2C(Baro & I2C) **************************
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8        
+#define I2C1_SDA                PB9        
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+// Baro
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define BARO_I2C_BUS          	BUS_I2C1	
+
+// Mag
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_LIS3MDL
+#define MAG_I2C_BUS             BUS_I2C2
+
+// *************** Flash **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN            PA14
+#define M25P16_SPI_BUS      BUS_SPI3
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+#define USE_OSD
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS    BUS_SPI2
+#define MAX7456_CS_PIN      PB12
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC3
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define USE_SERIALSHOT
+
+#define SERIALRX_UART           SERIAL_PORT_USART1
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define MAX_PWM_OUTPUT_PORTS        4
+
+#define CURRENT_METER_SCALE   102
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PA15
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))

From a7b2ef6ce673c46f1707c8afa39cfd2ffb8dfe96 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 18 Jul 2021 18:15:16 +0200
Subject: [PATCH 141/336] Add vario to Jeti telemetry

---
 src/main/telemetry/jetiexbus.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index 51ef56e853..4cd0b2e64e 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -249,12 +249,12 @@ void initJetiExBusTelemetry(void)
         bitArraySet(&exSensorEnabled, EX_POWER);
         bitArraySet(&exSensorEnabled, EX_CAPACITY);
     }
+#ifdef USE_NAV
     if (sensors(SENSOR_BARO)) {
         bitArraySet(&exSensorEnabled, EX_ALTITUDE);
-#ifdef USE_VARIO
         bitArraySet(&exSensorEnabled, EX_VARIO);
-#endif
     }
+#endif
     if (sensors(SENSOR_ACC)) {
         bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
         bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
@@ -338,9 +338,9 @@ int32_t getSensorValue(uint8_t sensor)
         return attitude.values.yaw;
         break;
 
-#ifdef USE_VARIO
+#ifdef USE_NAV
     case EX_VARIO:
-        return getEstimatedVario();
+        return getEstimatedActualVelocity(Z);
         break;
 #endif
 

From 33a76746f38004d28e7670c1e1a3f4eeb220656a Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 18 Jul 2021 18:35:48 +0200
Subject: [PATCH 142/336] Add RPM sensor

---
 src/main/telemetry/jetiexbus.c | 33 +++++++++++++++++++++++++++++++--
 1 file changed, 31 insertions(+), 2 deletions(-)

diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index 4cd0b2e64e..f4e79525bd 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -56,6 +56,11 @@
 
 #include "navigation/navigation.h"
 
+#ifdef USE_ESC_SENSOR
+#include "sensors/esc_sensor.h"
+#include "flight/mixer.h"
+#endif
+
 #define EXTEL_DATA_MSG      (0x40)
 #define EXTEL_UNMASK_TYPE   (0x3F)
 #define EXTEL_SYNC_LEN      1
@@ -138,7 +143,8 @@ const exBusSensor_t jetiExSensors[] = {
     {"GPS Altitude",    "m",        EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"G-Force X",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"G-Force Y",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
-    {"G-Force Z",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)}
+    {"G-Force Z",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
+    {"RPM",             "",         EX_TYPE_22b,   DECIMAL_MASK(0)}
 };
 
 // after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@@ -162,7 +168,8 @@ enum exSensors_e {
     EX_GPS_ALTITUDE,
     EX_GFORCE_X,
     EX_GFORCE_Y,
-    EX_GFORCE_Z
+    EX_GFORCE_Z,
+    EX_RPM,
 };
 
 union{
@@ -268,6 +275,12 @@ void initJetiExBusTelemetry(void)
 
     enableGpsTelemetry(feature(FEATURE_GPS));
 
+#ifdef USE_ESC_SENSOR
+    if (STATE(ESC_SENSOR_ENABLED) && getMotorCount() > 0) {
+        bitArraySet(&exSensorEnabled, EX_RPM);
+    }
+#endif
+
     firstActiveSensor = getNextActiveSensor(0);     // find the first active sensor
 }
 
@@ -305,6 +318,11 @@ uint32_t calcGpsDDMMmmm(int32_t value, bool isLong)
 
 int32_t getSensorValue(uint8_t sensor)
 {
+
+#ifdef USE_ESC_SENSOR
+    escSensorData_t * escSensor;
+#endif
+
     switch (sensor) {
     case EX_VOLTAGE:
         return telemetryConfig()->report_cell_voltage ? getBatteryAverageCellVoltage() : getBatteryVoltage();
@@ -390,6 +408,17 @@ int32_t getSensorValue(uint8_t sensor)
         return acc.accADCf[Z] * 1000;
     break;
 
+#ifdef USE_ESC_SENSOR
+    case EX_RPM:
+        escSensor = escSensorGetData();
+        if (escSensor && escSensor->dataAge <= ESC_DATA_MAX_AGE) {
+            return escSensor->rpm;
+        } else {
+            return 0;
+        }
+    break;
+#endif
+
     default:
         return -1;
     }

From e87860c34d2516d3f2a7d187305b8af77ca07c4d Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 18 Jul 2021 13:54:01 -0300
Subject: [PATCH 143/336] Add X,Y and Z to array

---
 src/main/sensors/acceleration.c | 18 +++++++++---------
 src/main/sensors/gyro.c         | 20 ++++++++++----------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 1f5d1de04d..b4adb111a2 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -438,9 +438,9 @@ static void performAcclerationCalibration(void)
     }
 
     if (!calibratedPosition[positionIndex]) {
-        v.v[0] = accADC[0];
-        v.v[1] = accADC[1];
-        v.v[2] = accADC[2];
+        v.v[X] = accADC[X];
+        v.v[Y] = accADC[Y];
+        v.v[Z] = accADC[Z];
 
         zeroCalibrationAddValueV(&zeroCalibration, &v);
 
@@ -475,9 +475,9 @@ static void performAcclerationCalibration(void)
         }
 
         if (!sensorCalibrationSolveForOffset(&calState, accTmp)) {
-            accTmp[0] = 0.0f;
-            accTmp[1] = 0.0f;
-            accTmp[2] = 0.0f;
+            accTmp[X] = 0.0f;
+            accTmp[Y] = 0.0f;
+            accTmp[Z] = 0.0f;
             calFailed = true;
         }
 
@@ -499,9 +499,9 @@ static void performAcclerationCalibration(void)
         }
 
         if (!sensorCalibrationSolveForScale(&calState, accTmp)) {
-            accTmp[0] = 1.0f;
-            accTmp[1] = 1.0f;
-            accTmp[2] = 1.0f;
+            accTmp[X] = 1.0f;
+            accTmp[Y] = 1.0f;
+            accTmp[Z] = 1.0f;
             calFailed = true;
         }
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index f70bdbcdf0..c38d0ef4f4 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -407,26 +407,26 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, zeroCalibrationVe
     fpVector3_t v;
 
     // Consume gyro reading
-    v.v[0] = dev->gyroADCRaw[0];
-    v.v[1] = dev->gyroADCRaw[1];
-    v.v[2] = dev->gyroADCRaw[2];
+    v.v[X] = dev->gyroADCRaw[X];
+    v.v[Y] = dev->gyroADCRaw[Y];
+    v.v[Z] = dev->gyroADCRaw[Z];
 
     zeroCalibrationAddValueV(gyroCalibration, &v);
 
     // Check if calibration is complete after this cycle
     if (zeroCalibrationIsCompleteV(gyroCalibration)) {
         zeroCalibrationGetZeroV(gyroCalibration, &v);
-        dev->gyroZero[0] = v.v[0];
-        dev->gyroZero[1] = v.v[1];
-        dev->gyroZero[2] = v.v[2];
+        dev->gyroZero[0] = v.v[X];
+        dev->gyroZero[1] = v.v[Y];
+        dev->gyroZero[2] = v.v[Z];
 
-        LOG_D(GYRO, "Gyro calibration complete (%d, %d, %d)", dev->gyroZero[0], dev->gyroZero[1], dev->gyroZero[2]);
+        LOG_D(GYRO, "Gyro calibration complete (%d, %d, %d)", dev->gyroZero[X], dev->gyroZero[Y], dev->gyroZero[Z]);
         schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
     }
     else {
-        dev->gyroZero[0] = 0;
-        dev->gyroZero[1] = 0;
-        dev->gyroZero[2] = 0;
+        dev->gyroZero[X] = 0;
+        dev->gyroZero[Y] = 0;
+        dev->gyroZero[Z] = 0;
     }
 }
 

From 803a50ff8d4d6f74e6ea9bceff07822e7b1b21ec Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 18 Jul 2021 13:57:17 -0300
Subject: [PATCH 144/336] +

---
 src/main/sensors/gyro.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index c38d0ef4f4..d2548cfe12 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -416,9 +416,9 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, zeroCalibrationVe
     // Check if calibration is complete after this cycle
     if (zeroCalibrationIsCompleteV(gyroCalibration)) {
         zeroCalibrationGetZeroV(gyroCalibration, &v);
-        dev->gyroZero[0] = v.v[X];
-        dev->gyroZero[1] = v.v[Y];
-        dev->gyroZero[2] = v.v[Z];
+        dev->gyroZero[X] = v.v[X];
+        dev->gyroZero[Y] = v.v[Y];
+        dev->gyroZero[Z] = v.v[Z];
 
         LOG_D(GYRO, "Gyro calibration complete (%d, %d, %d)", dev->gyroZero[X], dev->gyroZero[Y], dev->gyroZero[Z]);
         schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics

From c88088064583cf1afb1f1712d3ef49ebbd9e6f99 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 19 Jul 2021 08:50:31 +0200
Subject: [PATCH 145/336] Fix power units

---
 src/main/telemetry/jetiexbus.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index f4e79525bd..98b797bcb3 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -123,11 +123,11 @@ typedef struct exBusSensor_s {
 // after every 15 sensors a new header has to be inserted (e.g. "BF D2")
 const exBusSensor_t jetiExSensors[] = {
     {"INAV D1",         "",         EX_TYPE_DES,   0              },     // device descripton
-    {"Voltage",         "V",        EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Voltage",         "V",        EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"Current",         "A",        EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"Altitude",        "m",        EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"Capacity",        "mAh",      EX_TYPE_22b,   DECIMAL_MASK(0)},
-    {"Power",           "W",        EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"Power",           "W",        EX_TYPE_22b,   DECIMAL_MASK(0)},
     {"Roll angle",      "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
     {"Pitch angle",     "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
     {"Heading",         "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
@@ -341,7 +341,7 @@ int32_t getSensorValue(uint8_t sensor)
         break;
 
     case EX_POWER:
-        return (getBatteryVoltage() * getAmperage() / 1000);
+        return (getBatteryVoltage() * getAmperage() / 10000);
         break;
 
     case EX_ROLL_ANGLE:

From 155d53c4d1e79c4a3a25d5dfb72b1e28513de6c7 Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Mon, 19 Jul 2021 16:03:52 +0800
Subject: [PATCH 146/336] MatekF765SE: fix some definitions

---
 src/main/target/MATEKF765/config.c |  6 ++++-
 src/main/target/MATEKF765/target.c |  2 ++
 src/main/target/MATEKF765/target.h | 37 ++++++++++++++++++++++--------
 3 files changed, 34 insertions(+), 11 deletions(-)

diff --git a/src/main/target/MATEKF765/config.c b/src/main/target/MATEKF765/config.c
index 7e47e5bf6b..9ec186282f 100644
--- a/src/main/target/MATEKF765/config.c
+++ b/src/main/target/MATEKF765/config.c
@@ -20,11 +20,15 @@
 #include "platform.h"
 
 #include "fc/fc_msp_box.h"
-
+#include "fc/config.h"
 #include "io/piniobox.h"
 
 void targetConfiguration(void)
 {
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
     pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+
+    #if defined(MATEKF765SE)
+    beeperConfigMutable()->pwmMode = true;
+    #endif
 }
diff --git a/src/main/target/MATEKF765/target.c b/src/main/target/MATEKF765/target.c
index a1d8c151fa..e4728c42ca 100644
--- a/src/main/target/MATEKF765/target.c
+++ b/src/main/target/MATEKF765/target.c
@@ -54,6 +54,8 @@ const timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM8, CH2, PC7,   TIM_USE_PPM, 0, 0),        // RX6 PPM
     DEF_TIM(TIM8, CH1, PC6,   TIM_USE_ANY, 0, 0),        // TX6
+
+    DEF_TIM(TIM11, CH1, PB9,  TIM_USE_BEEPER, 0, 0),     // BEEPER PWM for MATEKF765SE
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 391e95e9e6..593cab78a4 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -21,8 +21,15 @@
 #define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
 #define USE_TARGET_CONFIG
 
-#define TARGET_BOARD_IDENTIFIER "M765"
-#define USBD_PRODUCT_STRING     "MATEKF765"
+#if defined(MATEKF765SE)
+  #define TARGET_BOARD_IDENTIFIER "M7SE"
+  #define USBD_PRODUCT_STRING     "MATEKF765SE"
+
+  #define BEEPER_PWM_FREQUENCY    2500
+#else
+  #define TARGET_BOARD_IDENTIFIER "M765"
+  #define USBD_PRODUCT_STRING     "MATEKF765"
+#endif
 
 #define LED0                    PD10
 #define LED1                    PD11
@@ -132,10 +139,6 @@
 #define UART3_TX_PIN            PD8
 #define UART3_RX_PIN            PD9
 
-#define USE_UART4
-#define UART4_TX_PIN            PD1
-#define UART4_RX_PIN            PD0
-
 #define USE_UART5
 #define UART5_TX_PIN            NONE
 #define UART5_RX_PIN            PB8
@@ -158,8 +161,15 @@
 #define SOFTSERIAL_1_TX_PIN      PC6  //TX6 pad
 #define SOFTSERIAL_1_RX_PIN      PC6  //TX6 pad
 
-
-#define SERIAL_PORT_COUNT       10
+#if defined(MATEKF765SE)
+  #define SERIAL_PORT_COUNT       9
+  // PD1 and PD0 are used for CAN
+#else
+  #define USE_UART4
+  #define UART4_TX_PIN            PD1
+  #define UART4_RX_PIN            PD0
+  #define SERIAL_PORT_COUNT       10
+#endif
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
@@ -199,7 +209,14 @@
 #define WS2811_PIN                  PA8
 
 #define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
-#define CURRENT_METER_SCALE         250
+
+#if defined(MATEKF765SE)
+  #define VBAT_SCALE_DEFAULT        2100
+  #define CURRENT_METER_SCALE       150
+#else
+  #define VBAT_SCALE_DEFAULT        1100
+  #define CURRENT_METER_SCALE       250
+#endif
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
@@ -209,7 +226,7 @@
 #define TARGET_IO_PORTD 0xffff
 #define TARGET_IO_PORTE 0xffff
 
-#define MAX_PWM_OUTPUT_PORTS        15
+#define MAX_PWM_OUTPUT_PORTS        16
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIALSHOT

From b99454b8566fc65ec33784d86832139d452ab655 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 19 Jul 2021 11:59:55 +0200
Subject: [PATCH 147/336] Enable fixed wing outputs

---
 src/main/target/SPEEDYBEEF7V2/target.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/target/SPEEDYBEEF7V2/target.c b/src/main/target/SPEEDYBEEF7V2/target.c
index 80fe33c94e..46bd5d8932 100644
--- a/src/main/target/SPEEDYBEEF7V2/target.c
+++ b/src/main/target/SPEEDYBEEF7V2/target.c
@@ -29,10 +29,10 @@
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH2, PB7,  TIM_USE_PPM,   0, 0),  // PPM
 
-    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),  // S1
-    DEF_TIM(TIM1, CH2, PA9,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),  // S2
+    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),  // S1
+    DEF_TIM(TIM1, CH2, PA9,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),  // S2
     DEF_TIM(TIM1, CH3, PA10,    TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),  // S3
-    DEF_TIM(TIM3, CH4, PC9,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+    DEF_TIM(TIM3, CH4, PC9,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S4
 
     DEF_TIM(TIM8, CH2N, PB0,  TIM_USE_LED, 0, 0),    // LED
 

From f77e14c0855b79e04b2bbdb86b04d62317fb9d52 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 20 Jul 2021 12:42:17 +0200
Subject: [PATCH 148/336] docs update

---
 docs/Settings.md | 30 ++++++++++++++++++++----------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index f61ca5ef51..91c27ab719 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -572,16 +572,6 @@ ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the
 
 ---
 
-### d_boost_factor
-
-_// TODO_
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 1.25 | 1 | 3 |
-
----
-
 ### d_boost_gyro_delta_lpf_hz
 
 _// TODO_
@@ -592,6 +582,16 @@ _// TODO_
 
 ---
 
+### d_boost_max
+
+_// TODO_
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1.25 | 1 | 3 |
+
+---
+
 ### d_boost_max_at_acceleration
 
 _// TODO_
@@ -602,6 +602,16 @@ _// TODO_
 
 ---
 
+### d_boost_min
+
+_// TODO_
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0.5 | 0 | 1 |
+
+---
+
 ### deadband
 
 These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.

From c15953e579716085e39cb20e016fe752eb4450d5 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Tue, 20 Jul 2021 23:48:34 +0200
Subject: [PATCH 149/336] add comment with original calculateK code

---
 src/main/flight/rate_dynamics.c | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/main/flight/rate_dynamics.c b/src/main/flight/rate_dynamics.c
index 7576787f21..f77fb03228 100644
--- a/src/main/flight/rate_dynamics.c
+++ b/src/main/flight/rate_dynamics.c
@@ -35,6 +35,16 @@ FAST_CODE static float calculateK(const float k, const float dT) {
         return 0;
     }
     // scale so it feels like running at 62.5hz (16ms) regardless of the current rx rate
+
+    // The original code is:
+    // const float rxRate = 1.0f / dT;
+    // const float rxRateFactor = (rxRate / 62.5f) * rxRate;
+    // const float freq = k / ((1.0f / rxRateFactor) * (1.0f - k));
+    // const float RC = 1.0f / freq;
+    // return dT / (RC + dT);
+
+    // This can be simplified to (while saving 128B of flash on F722):
+
     return k / (62.5f * dT * (1 - k) + k);
 }
 

From 9f0cfc41ca3bb91864a0f0473eea0b30c22eb228 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 21 Jul 2021 21:43:46 +0100
Subject: [PATCH 150/336] Updated after initial tests

I performed some initial testing of the GA units today. The distances in NM are correct, as is the speed in Knots. The knots symbol needs to be changed though. The numeric vario was not working, but this should now be correct. I will test again soon.

However, during testing I noticed that the conversion to feet was incorrect. At 200 metres, it was out by 3 feet. So this is not an insignificant error. This should now be fixed.
---
 src/main/common/maths.h |  4 ++--
 src/main/io/osd.c       | 10 +++++-----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index d84fc25751..9f21aef901 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -56,8 +56,8 @@
 #define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
 #define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * RAD)
 
-#define CENTIMETERS_TO_CENTIFEET(cm)            (cm * (328 / 100.0))
-#define CENTIMETERS_TO_FEET(cm)                 (cm * (328 / 10000.0))
+#define CENTIMETERS_TO_CENTIFEET(cm)            (cm / 0.3048)
+#define CENTIMETERS_TO_FEET(cm)                 (cm / 30.48)
 #define CENTIMETERS_TO_METERS(cm)               (cm / 100)
 
 #define METERS_TO_CENTIMETERS(m)                (m * 100)
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f0d2952c4e..6051a8ba1d 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -383,11 +383,11 @@ static void osdFormatDistanceStr(char *buff, int32_t dist)
         break;
     case OSD_UNIT_GA:
          centifeet = CENTIMETERS_TO_CENTIFEET(dist);
-        if (abs(centifeet) < FEET_PER_NAUTICALMILE * 100 / 2) {
-            // Show feet when dist < 0.5NM
+        if (abs(centifeet) < 100000) {
+            // Show feet when dist < 1000ft
             tfp_sprintf(buff, "%d%c", (int)(centifeet / 100), SYM_FT);
         } else {
-            // Show nautical miles when dist >= 0.5NM
+            // Show nautical miles when dist >= 1000ft
             tfp_sprintf(buff, "%d.%02d%c", (int)(centifeet / (100 * FEET_PER_NAUTICALMILE)),
                 (int)((abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE), SYM_NM);
         }
@@ -2195,8 +2195,8 @@ static bool osdDrawSingleElement(uint8_t item)
                     sym = SYM_FTS;
                     break;
                 case OSD_UNIT_GA:
-                    //Convert to centi-100feet/min
-                    value = (CENTIMETERS_TO_CENTIFEET(value / 60) / 100);
+                    // Convert to centi-100feet/min
+                    value = CENTIMETERS_TO_FEET(value * 60);
                     sym = SYM_100FTM;
                     break;
                 default:

From 7634004007d66f74859beba47fc593ae71e9f61a Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 22 Jul 2021 09:34:56 +0100
Subject: [PATCH 151/336] initial build

---
 docs/Settings.md                   | 14 ++++++++++++--
 src/main/cms/cms_menu_navigation.c |  3 ++-
 src/main/fc/fc_msp.c               |  3 ++-
 src/main/fc/settings.yaml          | 10 ++++++++--
 src/main/navigation/navigation.c   |  9 ++++++---
 src/main/navigation/navigation.h   |  3 ++-
 6 files changed, 32 insertions(+), 10 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index b11f3f6c8a..422e4cf553 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2944,7 +2944,7 @@ Maximum climb/descent rate that UAV is allowed to reach during navigation modes.
 
 ### nav_auto_speed
 
-Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only]
+Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -3444,7 +3444,7 @@ Maximum climb/descent rate firmware is allowed when processing pilot input for A
 
 ### nav_manual_speed
 
-Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
+Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -3462,6 +3462,16 @@ Max allowed altitude (above Home Point) that applies to all NAV modes (including
 
 ---
 
+### nav_max_auto_speed
+
+Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1000 | 10 | 2000 |
+
+---
+
 ### nav_max_terrain_follow_alt
 
 Max allowed above the ground altitude for terrain following mode
diff --git a/src/main/cms/cms_menu_navigation.c b/src/main/cms/cms_menu_navigation.c
index 6060ba40d7..d37e80af2e 100644
--- a/src/main/cms/cms_menu_navigation.c
+++ b/src/main/cms/cms_menu_navigation.c
@@ -44,7 +44,8 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_LABEL_ENTRY("-- BASIC SETTINGS --"),
 
     OSD_SETTING_ENTRY("CONTROL MODE", SETTING_NAV_USER_CONTROL_MODE),
-    OSD_SETTING_ENTRY("MAX NAV SPEED", SETTING_NAV_AUTO_SPEED),
+    OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
+    OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
     OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
     OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
     OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 10501ddb3f..32681db718 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -2284,8 +2284,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
 #ifdef USE_NAV
     case MSP_SET_NAV_POSHOLD:
-        if (dataSize >= 13) {
+        if (dataSize >= 15) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
+            navConfigMutable()->general.auto_speed = sbufReadU16(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
             navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5001e3e20b..4d7adf5d37 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2483,8 +2483,14 @@ groups:
         field: general.waypoint_safe_distance
         max: 65000
       - name: nav_auto_speed
-        description: "Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only]"
+        description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
         default_value: 300
+        field: general.auto_speed
+        min: 10
+        max: 2000
+      - name: nav_max_auto_speed
+        description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
+        default_value: 1000
         field: general.max_auto_speed
         min: 10
         max: 2000
@@ -2495,7 +2501,7 @@ groups:
         min: 10
         max: 2000
       - name: nav_manual_speed
-        description: "Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
+        description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
         default_value: 500
         field: general.max_manual_speed
         min: 10
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d5694cfaf4..22361450ea 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -96,7 +96,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 13);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 14);
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
     .general = {
@@ -121,7 +121,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT,                             // 2m diameter
         .waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT,               // centimeters - first waypoint should be closer than this
         .waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT,               // load waypoints automatically during boot
-        .max_auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT,                             // 3 m/s = 10.8 km/h
+        .auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT,                                 // speed in autonomous modes (3 m/s = 10.8 km/h)
+        .max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT,                         // max allowed speed autonomous modes
         .max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT,                   // 5 m/s
         .max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,
         .max_manual_climb_rate = SETTING_NAV_MANUAL_CLIMB_RATE_DEFAULT,
@@ -3003,7 +3004,7 @@ float getActiveWaypointSpeed(void)
         return navConfig()->general.max_manual_speed;
     }
     else {
-        uint16_t waypointSpeed = navConfig()->general.max_auto_speed;
+        uint16_t waypointSpeed = navConfig()->general.auto_speed;
 
         if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
             if (posControl.waypointCount > 0 && (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)) {
@@ -3015,6 +3016,8 @@ float getActiveWaypointSpeed(void)
 
                 if (wpSpecificSpeed >= 50.0f && wpSpecificSpeed <= navConfig()->general.max_auto_speed) {
                     waypointSpeed = wpSpecificSpeed;
+                } else if (wpSpecificSpeed > navConfig()->general.max_auto_speed) {
+                    waypointSpeed = navConfig()->general.max_auto_speed;
                 }
             }
         }
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 3ca1b1a4e7..a9f00226df 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -205,7 +205,8 @@ typedef struct navConfig_s {
         uint16_t waypoint_radius;               // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
         uint16_t waypoint_safe_distance;        // Waypoint mission sanity check distance
         bool     waypoint_load_on_boot;         // load waypoints automatically during boot
-        uint16_t max_auto_speed;                // autonomous navigation speed cm/sec
+        uint16_t auto_speed;                    // autonomous navigation speed cm/sec
+        uint16_t max_auto_speed;                // maximum allowed autonomous navigation speed cm/sec
         uint16_t max_auto_climb_rate;           // max vertical speed limitation cm/sec
         uint16_t max_manual_speed;              // manual velocity control max horizontal speed
         uint16_t max_manual_climb_rate;         // manual velocity control max vertical speed

From a2330168b5cd55a976a9ea25709d54d0fb8ea55b Mon Sep 17 00:00:00 2001
From: Artem Korneenkov <artem.korneenkov@gmail.com>
Date: Thu, 22 Jul 2021 18:34:31 +0300
Subject: [PATCH 152/336] Add support for TOF10120 rangefinder

---
 docs/Rangefinder.md                           |   1 +
 src/main/CMakeLists.txt                       |   2 +
 src/main/drivers/bus.h                        |   1 +
 .../rangefinder/rangefinder_tof10120_i2c.c    | 124 ++++++++++++++++++
 .../rangefinder/rangefinder_tof10120_i2c.h    |  22 ++++
 src/main/fc/settings.yaml                     |   4 +-
 src/main/sensors/rangefinder.c                |  10 ++
 src/main/sensors/rangefinder.h                |   1 +
 src/main/target/common.h                      |   1 +
 src/main/target/common_hardware.c             |   9 ++
 10 files changed, 173 insertions(+), 2 deletions(-)
 create mode 100644 src/main/drivers/rangefinder/rangefinder_tof10120_i2c.c
 create mode 100644 src/main/drivers/rangefinder/rangefinder_tof10120_i2c.h

diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md
index 620430a6ab..662d1819f7 100644
--- a/docs/Rangefinder.md
+++ b/docs/Rangefinder.md
@@ -21,6 +21,7 @@ Following rangefinders are supported:
 * VL53L0X - simple laser rangefinder usable up to 75cm
 * UIB - experimental
 * MSP - experimental
+* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
 
 ## Connections
 
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index d20471724b..9cabb11044 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -244,6 +244,8 @@ main_sources(COMMON_SRC
     drivers/rangefinder/rangefinder_virtual.h
     drivers/rangefinder/rangefinder_us42.c
     drivers/rangefinder/rangefinder_us42.h
+    drivers/rangefinder/rangefinder_tof10120_i2c.c
+    drivers/rangefinder/rangefinder_tof10120_i2c.h
 
     drivers/resource.c
     drivers/resource.h
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index 7b9282ae99..ac8ef07a43 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -143,6 +143,7 @@ typedef enum {
     DEVHW_VL53L0X,
     DEVHW_VL53L1X,
     DEVHW_US42,
+    DEVHW_TOF10120_I2C,
 
     /* Other hardware */
     DEVHW_MS4525,       // Pitot meter
diff --git a/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.c b/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.c
new file mode 100644
index 0000000000..5c47cefe7f
--- /dev/null
+++ b/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.c
@@ -0,0 +1,124 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "platform.h"
+
+#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_TOF10120_I2C)
+
+#include "drivers/time.h"
+#include "drivers/rangefinder/rangefinder.h"
+#include "drivers/rangefinder/rangefinder_tof10120_i2c.h"
+
+#define TOF10120_I2C_MAX_RANGE_CM 200
+#define TOF10120_I2C_MAX_RANGE_MM TOF10120_I2C_MAX_RANGE_CM * 10
+#define TOF10120_I2C_DETECTION_CONE_DECIDEGREES 300
+#define TOF10120_I2C_DETECTION_CONE_EXTENDED_DECIDEGREES 450
+
+#define TOF10120_I2C_ADDRESS 0x52
+
+#define TOF10120_I2C_REGISTRY_DISTANCE 0x04    // address of first byte for reading filtered distance
+#define TOF10120_I2C_REGISTRY_RT_DISTANCE 0x00 // address of first byte for reading real-time raw distance
+
+#define TOF10120_I2C_REGISTRY_BUS_ADDR_CONFIG 0x0f
+#define TOF10120_I2C_REGISTRY_SENDING_METHOD_CONFIG 0x09
+
+volatile int32_t tof10120MeasurementCm = RANGEFINDER_OUT_OF_RANGE;
+static bool isTof10120Responding = false;
+
+static void tof10120i2cInit(rangefinderDev_t *rangefinder)
+{
+    busWrite(rangefinder->busDev, TOF10120_I2C_REGISTRY_SENDING_METHOD_CONFIG, 0x01);
+    delay(100);
+}
+
+void tof10120i2cUpdate(rangefinderDev_t *rangefinder)
+{
+    uint8_t buffer[2];
+    uint16_t distance_mm;
+
+    isTof10120Responding = busReadBuf(rangefinder->busDev, TOF10120_I2C_REGISTRY_RT_DISTANCE, buffer, sizeof(buffer));
+
+    if (!isTof10120Responding) {
+        return;
+    }
+
+    distance_mm = (buffer[0] << 8) | buffer[1];
+
+    if (distance_mm >= TOF10120_I2C_MAX_RANGE_MM) {
+        tof10120MeasurementCm = RANGEFINDER_OUT_OF_RANGE;
+        return;
+    }
+
+    tof10120MeasurementCm = (int32_t)roundf(distance_mm / 10);
+}
+
+/**
+ * Get the distance that was measured by the last pulse, in centimeters.
+ */
+int32_t tof10120i2cGetDistance(rangefinderDev_t *rangefinder)
+{
+    UNUSED(rangefinder);
+
+    if (isTof10120Responding) {
+        return tof10120MeasurementCm;
+    } else {
+        return RANGEFINDER_HARDWARE_FAILURE;
+    }
+}
+
+static bool deviceDetect(rangefinderDev_t *rangefinder)
+{
+    busWrite(rangefinder->busDev, TOF10120_I2C_REGISTRY_SENDING_METHOD_CONFIG, 0x01);
+    delay(100);
+
+    uint8_t response = 0;
+
+    if (!busRead(rangefinder->busDev, TOF10120_I2C_REGISTRY_BUS_ADDR_CONFIG, &response) || !response) {
+        return false;
+    }
+
+    return true;
+}
+
+bool tof10120Detect(rangefinderDev_t *rangefinder)
+{
+    rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_TOF10120_I2C, 0, OWNER_RANGEFINDER);
+    if (rangefinder->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(rangefinder)) {
+        busDeviceDeInit(rangefinder->busDev);
+        return false;
+    }
+
+    rangefinder->delayMs = RANGEFINDER_TOF10120_I2C_TASK_PERIOD_MS;
+    rangefinder->maxRangeCm = TOF10120_I2C_MAX_RANGE_CM;
+    rangefinder->detectionConeDeciDegrees = TOF10120_I2C_DETECTION_CONE_DECIDEGREES;
+    rangefinder->detectionConeExtendedDeciDegrees = TOF10120_I2C_DETECTION_CONE_EXTENDED_DECIDEGREES;
+
+    rangefinder->init = &tof10120i2cInit;
+    rangefinder->update = &tof10120i2cUpdate;
+    rangefinder->read = &tof10120i2cGetDistance;
+
+    return true;
+}
+#endif
diff --git a/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.h b/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.h
new file mode 100644
index 0000000000..08c96ca34a
--- /dev/null
+++ b/src/main/drivers/rangefinder/rangefinder_tof10120_i2c.h
@@ -0,0 +1,22 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define RANGEFINDER_TOF10120_I2C_TASK_PERIOD_MS 100
+
+bool tof10120Detect(rangefinderDev_t *rangefinder);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5001e3e20b..4f3fd5dec8 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -7,13 +7,13 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42"]
+    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index 8b26c586d8..b4394f5a5c 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -43,6 +43,7 @@
 #include "drivers/rangefinder/rangefinder_vl53l1x.h"
 #include "drivers/rangefinder/rangefinder_virtual.h"
 #include "drivers/rangefinder/rangefinder_us42.h"
+#include "drivers/rangefinder/rangefinder_tof10120_i2c.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
@@ -170,6 +171,15 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+            case RANGEFINDER_TOF10102I2C:
+#ifdef USE_RANGEFINDER_TOF10120_I2C
+            if (tof10120Detect(dev)) {
+                rangefinderHardware = RANGEFINDER_TOF10102I2C;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TOF10120_I2C_TASK_PERIOD_MS));
+            }
+#endif
+            break;
+
             case RANGEFINDER_NONE:
             rangefinderHardware = RANGEFINDER_NONE;
             break;
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index 568c01ae12..491a6a4a8c 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -32,6 +32,7 @@ typedef enum {
     RANGEFINDER_BENEWAKE    = 7,
     RANGEFINDER_VL53L1X     = 8,
     RANGEFINDER_US42        = 9,
+    RANGEFINDER_TOF10102I2C = 10,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
diff --git a/src/main/target/common.h b/src/main/target/common.h
index b792e8311a..07bb45a0d1 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -103,6 +103,7 @@
 #define USE_RANGEFINDER_VL53L1X
 #define USE_RANGEFINDER_HCSR04_I2C
 #define USE_RANGEFINDER_US42
+#define USE_RANGEFINDER_TOF10120_I2C
 
 // Allow default optic flow boards
 #define USE_OPFLOW
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index d9b803e143..3f4db095c3 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -333,6 +333,15 @@
     #endif
 #endif
 
+#if defined(USE_RANGEFINDER_TOF10120_I2C) && (defined(TOF10120_I2C_BUS) || defined(RANGEFINDER_I2C_BUS))
+    #if !defined(TOF10120_I2C_BUS)
+        #define TOF10120_I2C_BUS RANGEFINDER_I2C_BUS
+    #endif
+    #if defined(TOF10120_I2C_BUS)
+    BUSDEV_REGISTER_I2C(busdev_tof10120,      DEVHW_TOF10120_I2C,   TOF10120_I2C_BUS,     0x52,               NONE,           DEVFLAGS_USE_RAW_REGISTERS,  0);
+    #endif
+#endif
+
 /** AIRSPEED SENSORS **/
 
 #if defined(PITOT_I2C_BUS) && !defined(MS4525_I2C_BUS)

From 5fba1031e5053ee566c20905b37c85fd8e314072 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 22 Jul 2021 16:56:39 +0100
Subject: [PATCH 153/336] Fixed OSD menu font issue

It appears that the OSD menu has always had a bug. From the old fonts, I can see that the ampersand symbol was never present. It is used in the OSD menu. This is now fixed. I have created a temporary & symbol on index 038. This will be replaced with the correct symbol for each font.
---
 src/main/drivers/osd_symbols.h | 5 +++--
 src/main/io/osd.c              | 4 ++--
 src/main/io/osd_dji_hd.c       | 2 +-
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 03f201e187..e7a4551f55 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -55,8 +55,7 @@
 //                                  0x23  // 035 ASCII #
 #define SYM_AH_MI                   0x24  // 036 Ah/mi
 //                                  0x25  // 037 ASCII %
-#define SYM_MAH_MI_0                0x26  // 038 mAh/mi left
-#define SYM_MAH_MI_1                0x27  // 039 mAh/mi right
+//                                  0x26  // 038 ASCII &
 //                                  0x28  // 040 to 062 ASCII
 #define SYM_AH_NM       		    0x3F  // 063 Ah/NM
 //                                  0x40  // 064 to 095 ASCII
@@ -115,6 +114,8 @@
 #define SYM_MPH                     0x91  // 145 MPH
 #define SYM_KT                      0x92  // 146 Knots
 
+#define SYM_MAH_MI_0                0x93  // 147 mAh/mi left
+#define SYM_MAH_MI_1                0x94  // 148 mAh/mi right
 #define SYM_THR                     0x95  // 149 Throttle
 #define SYM_TEMP_F                  0x96  // 150 °F
 #define SYM_TEMP_C                  0x97  // 151 °C
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 6051a8ba1d..e80c6ab909 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -407,7 +407,7 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
     case OSD_UNIT_METRIC_MPH:
         FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
-        return (vel * 224) / 10000; // Convert to mph
+        return (vel * 223.6936) / 10000; // Convert to mph
     case OSD_UNIT_METRIC:
         return (vel * 36) / 1000;   // Convert to kmh
     case OSD_UNIT_GA:
@@ -457,7 +457,7 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
-            centivalue = (ws * 224) / 100;
+            centivalue = (ws * 223.6936) / 100;
             suffix = SYM_MPH;
             break;
         case OSD_UNIT_GA:
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 6adb175fa6..41e8d73d58 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -655,7 +655,7 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
-            return (vel * 224) / 10000; // Convert to mph
+            return (vel * 223.6936) / 10000; // Convert to mph
         case OSD_UNIT_GA:
             return (vel * 0.019438444924406); // Convert to Knots
         case OSD_UNIT_METRIC:

From ad8f33b703edcbe1a86855365f59b5609d350e4b Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 22 Jul 2021 18:10:54 +0100
Subject: [PATCH 154/336] Freed up 160 bytes. Bloody F411s!

---
 src/main/common/maths.h  |  4 ++++
 src/main/io/osd.c        | 12 ++++++------
 src/main/io/osd_dji_hd.c |  6 +++---
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index 9f21aef901..cc442d1412 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -62,6 +62,10 @@
 
 #define METERS_TO_CENTIMETERS(m)                (m * 100)
 
+#define CMSEC_TO_CENTIMPH(cms)      (cms * 2.236936)
+#define CMSEC_TO_CENTIKPH(cms)      (cms * 3.6)
+#define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.94384)
+
 // copied from https://code.google.com/p/cxutil/source/browse/include/cxutil/utility.h#70
 #define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar)         \
     ( __extension__ ({                                      \
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index e80c6ab909..01a15a91c3 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -407,11 +407,11 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
     case OSD_UNIT_METRIC_MPH:
         FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
-        return (vel * 223.6936) / 10000; // Convert to mph
+        return CMSEC_TO_CENTIMPH(vel) / 100; // Convert to mph
     case OSD_UNIT_METRIC:
-        return (vel * 36) / 1000;   // Convert to kmh
+        return CMSEC_TO_CENTIKPH(vel) / 100;   // Convert to kmh
     case OSD_UNIT_GA:
-        return (vel * 0.019438444924406); // Convert to Knots
+        return CMSEC_TO_CENTIKNOTS(vel) / 100; // Convert to Knots
     }
     // Unreachable
     return -1;
@@ -457,16 +457,16 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
-            centivalue = (ws * 223.6936) / 100;
+            centivalue = CMSEC_TO_CENTIMPH(ws);
             suffix = SYM_MPH;
             break;
         case OSD_UNIT_GA:
-            centivalue = (ws * 0.019438444924406) * 100;
+            centivalue = CMSEC_TO_CENTIKNOTS(ws);
             suffix = SYM_KT;
             break;
         default:
         case OSD_UNIT_METRIC:
-            centivalue = (ws * 36) / 10;
+            centivalue = CMSEC_TO_CENTIKPH(ws);
             suffix = SYM_KMH;
             break;
     }
diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 41e8d73d58..89cd15cac2 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -655,11 +655,11 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
         case OSD_UNIT_METRIC_MPH:
             FALLTHROUGH;
         case OSD_UNIT_IMPERIAL:
-            return (vel * 223.6936) / 10000; // Convert to mph
+            return CMSEC_TO_CENTIMPH(vel) / 100; // Convert to mph
         case OSD_UNIT_GA:
-            return (vel * 0.019438444924406); // Convert to Knots
+            return CMSEC_TO_CENTIKNOTS(vel) / 100; // Convert to Knots
         case OSD_UNIT_METRIC:
-            return (vel * 36) / 1000;   // Convert to kmh
+            return CMSEC_TO_CENTIKPH(vel) / 100;   // Convert to kmh
     }
 
     // Unreachable

From 4713d5861bfdd65352d018bda74ab1701b06eeff Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 07:11:56 +0200
Subject: [PATCH 155/336] Drop OneShot42

---
 src/main/drivers/pwm_mapping.c | 1 -
 src/main/drivers/pwm_mapping.h | 1 -
 src/main/drivers/pwm_output.c  | 5 -----
 src/main/fc/config.c           | 3 ---
 src/main/fc/settings.yaml      | 2 +-
 5 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index a7a27b4ede..15ab33949c 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -69,7 +69,6 @@ static const char * pwmInitErrorMsg[] = {
 static const motorProtocolProperties_t motorProtocolProperties[] = {
     [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
     [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_ONESHOT42]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
     [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
     [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
     [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 7efbf39431..242d13a997 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -39,7 +39,6 @@
 typedef enum {
     PWM_TYPE_STANDARD = 0,
     PWM_TYPE_ONESHOT125,
-    PWM_TYPE_ONESHOT42,
     PWM_TYPE_MULTISHOT,
     PWM_TYPE_BRUSHED,
     PWM_TYPE_DSHOT150,
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 20429e07cb..945f36a1ef 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -481,7 +481,6 @@ void pwmMotorPreconfigure(void)
         case PWM_TYPE_STANDARD:
         case PWM_TYPE_BRUSHED:
         case PWM_TYPE_ONESHOT125:
-        case PWM_TYPE_ONESHOT42:
         case PWM_TYPE_MULTISHOT:
             motorWritePtr = pwmWriteStandard;
             break;
@@ -518,10 +517,6 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
 
-    case PWM_TYPE_ONESHOT42:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 42e-6f, 42e-6f, motorConfig()->motorPwmRate, enableOutput);
-        break;
-
     case PWM_TYPE_MULTISHOT:
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 1fbafc3165..da4596e8fb 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -265,9 +265,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_ONESHOT125:   // Limited to 3900 Hz
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
         break;
-    case PWM_TYPE_ONESHOT42:    // 2-8 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000);
-        break;
     case PWM_TYPE_MULTISHOT:    // 2-16 kHz
         motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
         break;
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5001e3e20b..c1a3f001d5 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -35,7 +35,7 @@ tables:
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol
-    values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
+    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure

From d42e5ad75cf725a3d6481023a6a80ba55d27dcd8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 07:13:16 +0200
Subject: [PATCH 156/336] Drop DSHOT1200

---
 src/main/drivers/pwm_mapping.c | 1 -
 src/main/drivers/pwm_mapping.h | 1 -
 src/main/drivers/pwm_output.c  | 5 -----
 src/main/fc/config.c           | 3 ---
 src/main/fc/settings.yaml      | 2 +-
 5 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 15ab33949c..717fd6586b 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -74,7 +74,6 @@ static const motorProtocolProperties_t motorProtocolProperties[] = {
     [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
     [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
     [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT1200]    = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
     [PWM_TYPE_SERIALSHOT]   = { .usesHwTimer = false,   .isDSHOT = false,   .isSerialShot = true  },
 };
 
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 242d13a997..fdd0ebd5db 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -44,7 +44,6 @@ typedef enum {
     PWM_TYPE_DSHOT150,
     PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT600,
-    PWM_TYPE_DSHOT1200,
     PWM_TYPE_SERIALSHOT,
 } motorPwmProtocolTypes_e;
 
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 945f36a1ef..ff0e81aa17 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -50,7 +50,6 @@ FILE_COMPILE_FOR_SPEED
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_HZ * 20 / 1000000.0f / 1000.0f)
 
 #ifdef USE_DSHOT
-#define MOTOR_DSHOT1200_HZ    24000000
 #define MOTOR_DSHOT600_HZ     12000000
 #define MOTOR_DSHOT300_HZ     6000000
 #define MOTOR_DSHOT150_HZ     3000000
@@ -245,8 +244,6 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
     switch (pwmProtocolType) {
-        case(PWM_TYPE_DSHOT1200):
-            return MOTOR_DSHOT1200_HZ;
         case(PWM_TYPE_DSHOT600):
             return MOTOR_DSHOT600_HZ;
         case(PWM_TYPE_DSHOT300):
@@ -486,7 +483,6 @@ void pwmMotorPreconfigure(void)
             break;
 
 #ifdef USE_DSHOT
-        case PWM_TYPE_DSHOT1200:
         case PWM_TYPE_DSHOT600:
         case PWM_TYPE_DSHOT300:
         case PWM_TYPE_DSHOT150:
@@ -522,7 +518,6 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
         break;
 
 #ifdef USE_DSHOT
-    case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index da4596e8fb..ede6547663 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -284,9 +284,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_DSHOT600:
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
         break;
-    case PWM_TYPE_DSHOT1200:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 32000);
-        break;
 #endif
 #ifdef USE_SERIALSHOT
     case PWM_TYPE_SERIALSHOT:   // 2-4 kHz
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index c1a3f001d5..34cee078dd 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -35,7 +35,7 @@ tables:
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol
-    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
+    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "SERIALSHOT"]
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure

From eec8cde8daba78645b6079daac88f127fe1aabeb Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 07:23:40 +0200
Subject: [PATCH 157/336] Disable serial shot

---
 src/main/fc/settings.yaml               | 2 +-
 src/main/target/BETAFPVF722/target.h    | 1 -
 src/main/target/DALRCF722DUAL/target.h  | 1 -
 src/main/target/FLYWOOF411/target.h     | 1 -
 src/main/target/FRSKY_ROVERF7/target.h  | 1 -
 src/main/target/HGLRCF722/target.h      | 1 -
 src/main/target/KAKUTEF4/target.h       | 1 -
 src/main/target/KAKUTEF7MINIV3/target.h | 1 -
 src/main/target/MAMBAF405US/target.h    | 1 -
 src/main/target/MAMBAF722/target.h      | 1 -
 src/main/target/MATEKF405/target.h      | 1 -
 src/main/target/MATEKF411/target.h      | 1 -
 src/main/target/MATEKF411SE/target.h    | 1 -
 src/main/target/MATEKF722/target.h      | 1 -
 src/main/target/MATEKF722PX/target.h    | 1 -
 src/main/target/MATEKF722SE/target.h    | 1 -
 src/main/target/MATEKF765/target.h      | 1 -
 src/main/target/MATEKH743/target.h      | 1 -
 src/main/target/OMNIBUSF7NXT/target.h   | 1 -
 src/main/target/REVO/target.h           | 1 -
 src/main/target/RUSH_BLADE_F7/target.h  | 1 -
 src/main/target/SKYSTARSF405HD/target.h | 1 -
 src/main/target/ZEEZF7/target.h         | 1 -
 23 files changed, 1 insertion(+), 23 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 34cee078dd..bd3bb83154 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -35,7 +35,7 @@ tables:
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol
-    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "SERIALSHOT"]
+    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index 4342800797..85c709edab 100755
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -163,4 +163,3 @@
 // ESC-related features
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h
index 2ff18eeccb..ad863e2e0a 100644
--- a/src/main/target/DALRCF722DUAL/target.h
+++ b/src/main/target/DALRCF722DUAL/target.h
@@ -138,7 +138,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS    6
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/FLYWOOF411/target.h b/src/main/target/FLYWOOF411/target.h
index f949cbf4f6..22229390b0 100644
--- a/src/main/target/FLYWOOF411/target.h
+++ b/src/main/target/FLYWOOF411/target.h
@@ -165,7 +165,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/FRSKY_ROVERF7/target.h b/src/main/target/FRSKY_ROVERF7/target.h
index f729d2bd60..ef6334ca60 100755
--- a/src/main/target/FRSKY_ROVERF7/target.h
+++ b/src/main/target/FRSKY_ROVERF7/target.h
@@ -150,4 +150,3 @@
 #define MAX_PWM_OUTPUT_PORTS        5
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index a2453b1e61..456c68cb2e 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -175,6 +175,5 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 28e94d1e7f..7c3843b047 100755
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -171,7 +171,6 @@
 #define TARGET_IO_PORTD        (BIT(2))
 
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #ifdef KAKUTEF4V2
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 6e7188f9f7..8914f81af1 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -160,7 +160,6 @@
 #define MAX_PWM_OUTPUT_PORTS            6
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS         BUS_I2C1
diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index ae1eb7bb33..d0cbc97389 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -191,7 +191,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 3efdde2835..5f4b9035ae 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -193,7 +193,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index c3dd007b4d..1f14337212 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -199,7 +199,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS       6
 
diff --git a/src/main/target/MATEKF411/target.h b/src/main/target/MATEKF411/target.h
index b73c6013c7..124dcbd0a2 100755
--- a/src/main/target/MATEKF411/target.h
+++ b/src/main/target/MATEKF411/target.h
@@ -160,7 +160,6 @@
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 8bb3e933ef..0cb067d99e 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -163,7 +163,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index b1b657e424..47f0d3508c 100755
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -157,6 +157,5 @@
 #define MAX_PWM_OUTPUT_PORTS        7
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define BNO055_I2C_BUS          BUS_I2C1
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index 83d7d669cb..8edf1e7755 100755
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -170,5 +170,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index 6f62d53406..e55e379131 100644
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -191,7 +191,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define BNO055_I2C_BUS          BUS_I2C1
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 593cab78a4..ea3414f2c6 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -229,4 +229,3 @@
 #define MAX_PWM_OUTPUT_PORTS        16
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 84449f9f33..126ce22d18 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -205,5 +205,4 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
diff --git a/src/main/target/OMNIBUSF7NXT/target.h b/src/main/target/OMNIBUSF7NXT/target.h
index de7da72927..4396302717 100644
--- a/src/main/target/OMNIBUSF7NXT/target.h
+++ b/src/main/target/OMNIBUSF7NXT/target.h
@@ -169,7 +169,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    6
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index f8a3c7264c..4f4befce66 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -31,7 +31,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // MPU6000 interrupts
 #define USE_EXTI
diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h
index 1a701ed987..fb9c522642 100644
--- a/src/main/target/RUSH_BLADE_F7/target.h
+++ b/src/main/target/RUSH_BLADE_F7/target.h
@@ -142,5 +142,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index d6c562aa0b..a23dc48e89 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -161,6 +161,5 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS    4
diff --git a/src/main/target/ZEEZF7/target.h b/src/main/target/ZEEZF7/target.h
index 5ad4f85e6e..c01f4ede4d 100755
--- a/src/main/target/ZEEZF7/target.h
+++ b/src/main/target/ZEEZF7/target.h
@@ -231,4 +231,3 @@
 #endif
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT

From 47c2c593a442d76693117f0a5975c45239b2ca43 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 07:24:23 +0200
Subject: [PATCH 158/336] Bump motor config version

---
 src/main/flight/mixer.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b92c999e3b..addf120a2e 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -102,7 +102,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
 
 #define DEFAULT_MAX_THROTTLE    1850
 
-PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 8);
+PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,

From 3ec113a1328a90672b67cfc725a453f481cdcfb2 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 07:51:44 +0200
Subject: [PATCH 159/336] Remove SerialShot

---
 src/main/CMakeLists.txt        |   2 -
 src/main/drivers/pwm_mapping.c |  15 ++---
 src/main/drivers/pwm_mapping.h |   2 -
 src/main/drivers/pwm_output.c  |  31 +--------
 src/main/fc/config.c           |   5 --
 src/main/io/esc_serialshot.c   | 116 ---------------------------------
 src/main/io/esc_serialshot.h   |  29 ---------
 7 files changed, 10 insertions(+), 190 deletions(-)
 delete mode 100644 src/main/io/esc_serialshot.c
 delete mode 100644 src/main/io/esc_serialshot.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index d20471724b..dc5a0c66a1 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -353,8 +353,6 @@ main_sources(COMMON_SRC
 
     io/beeper.c
     io/beeper.h
-    io/esc_serialshot.c
-    io/esc_serialshot.h
     io/servo_sbus.c
     io/servo_sbus.h
     io/frsky_osd.c
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 717fd6586b..dafb7cdd58 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -67,14 +67,13 @@ static const char * pwmInitErrorMsg[] = {
 };
 
 static const motorProtocolProperties_t motorProtocolProperties[] = {
-    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_SERIALSHOT]   = { .usesHwTimer = false,   .isDSHOT = false,   .isSerialShot = true  },
+    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true },
+    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true },
+    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true },
 };
 
 pwmInitError_e getPwmInitError(void)
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index fdd0ebd5db..51ec456a77 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -44,7 +44,6 @@ typedef enum {
     PWM_TYPE_DSHOT150,
     PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT600,
-    PWM_TYPE_SERIALSHOT,
 } motorPwmProtocolTypes_e;
 
 typedef enum {
@@ -71,7 +70,6 @@ typedef struct rangefinderIOConfig_s {
 typedef struct {
     bool usesHwTimer;
     bool isDSHOT;
-    bool isSerialShot;
 } motorProtocolProperties_t;
 
 bool pwmMotorAndServoInit(void);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index ff0e81aa17..37f0bda43f 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -37,7 +37,6 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/io_pca9685.h"
 
 #include "io/pwmdriver_i2c.h"
-#include "io/esc_serialshot.h"
 #include "io/servo_sbus.h"
 #include "sensors/esc_sensor.h"
 
@@ -99,7 +98,7 @@ static pwmWriteFuncPtr         motorWritePtr = NULL;    // Function to write val
 static pwmOutputPort_t *       servos[MAX_SERVOS];
 static pwmWriteFuncPtr         servoWritePtr = NULL;    // Function to write value to motors
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static timeUs_t digitalMotorUpdateIntervalUs = 0;
 static timeUs_t digitalMotorLastUpdateUs;
 #endif
@@ -301,7 +300,7 @@ static uint16_t prepareDshotPacket(const uint16_t value, bool requestTelemetry)
 }
 #endif
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static void motorConfigDigitalUpdateInterval(uint16_t motorPwmRateHz)
 {
     digitalMotorUpdateIntervalUs = 1000000 / motorPwmRateHz;
@@ -322,14 +321,9 @@ bool isMotorProtocolDshot(void)
     return getMotorProtocolProperties(initMotorProtocol)->isDSHOT;
 }
 
-bool isMotorProtocolSerialShot(void)
-{
-    return getMotorProtocolProperties(initMotorProtocol)->isSerialShot;
-}
-
 bool isMotorProtocolDigital(void)
 {
-    return isMotorProtocolDshot() || isMotorProtocolSerialShot();
+    return isMotorProtocolDshot();
 }
 
 void pwmRequestMotorTelemetry(int motorIndex)
@@ -438,16 +432,6 @@ void pwmCompleteMotorUpdate(void) {
         }
     }
 #endif
-
-#ifdef USE_SERIALSHOT
-    if (isMotorProtocolSerialShot()) {
-        for (int index = 0; index < motorCount; index++) {
-            serialshotUpdateMotor(index, motors[index].value);
-        }
-
-        serialshotSendUpdate();
-    }
-#endif
 }
 
 #else // digital motor protocol
@@ -490,15 +474,6 @@ void pwmMotorPreconfigure(void)
             motorWritePtr = pwmWriteDigital;
             break;
 #endif
-
-#ifdef USE_SERIALSHOT
-        case PWM_TYPE_SERIALSHOT:
-            // Kick off SerialShot driver initalization
-            serialshotInitialize();
-            motorConfigDigitalUpdateInterval(motorConfig()->motorPwmRate);
-            motorWritePtr = pwmWriteDigital;
-            break;
-#endif
     }
 }
 
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index ede6547663..2bea10ec0f 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -284,11 +284,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_DSHOT600:
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
         break;
-#endif
-#ifdef USE_SERIALSHOT
-    case PWM_TYPE_SERIALSHOT:   // 2-4 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 4000);
-        break;
 #endif
     }
 #endif
diff --git a/src/main/io/esc_serialshot.c b/src/main/io/esc_serialshot.c
deleted file mode 100644
index 29fe5d5232..0000000000
--- a/src/main/io/esc_serialshot.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * This file is part of INAV Project.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this file,
- * You can obtain one at http://mozilla.org/MPL/2.0/.
- *
- * Alternatively, the contents of this file may be used under the terms
- * of the GNU General Public License Version 3, as described below:
- *
- * This file is free software: you may copy, redistribute and/or modify
- * it under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or (at your
- * option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see http://www.gnu.org/licenses/.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <ctype.h>
-#include <math.h>
-
-#include "platform.h"
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "common/maths.h"
-#include "common/crc.h"
-
-#include "io/serial.h"
-#include "io/esc_serialshot.h"
-
-#if defined(USE_SERIALSHOT)
-
-#define SERIALSHOT_UART_BAUD            921600
-#define SERIALSHOT_PKT_DEFAULT_HEADER   (0x00)  // Default header (motors 1-4, regular 4-in-1 ESC)
-
-
-typedef struct __attribute__((packed)) {
-    uint8_t hdr;            // Header/version marker
-    uint8_t motorData[6];   // 12 bit per motor
-    uint8_t crc;            // CRC8/DVB-T of hdr & motorData
-} serialShortPacket_t;
-
-
-static serialShortPacket_t txPkt;
-static uint16_t motorValues[4];
-static serialPort_t * escPort = NULL;
-static serialPortConfig_t * portConfig;
-
-bool serialshotInitialize(void)
-{
-    // Avoid double initialization
-    if (escPort) {
-        return true;
-    }
-
-    portConfig = findSerialPortConfig(FUNCTION_ESCSERIAL);
-    if (!portConfig) {
-        return false;
-    }
-
-    escPort = openSerialPort(portConfig->identifier, FUNCTION_ESCSERIAL, NULL, NULL, SERIALSHOT_UART_BAUD, MODE_RXTX, SERIAL_NOT_INVERTED | SERIAL_UNIDIR);
-    if (!escPort) {
-        return false;
-    }
-
-    return true;
-}
-
-void serialshotUpdateMotor(int index, uint16_t value)
-{
-    if (index < 0 || index > 3) {
-        return;
-    }
-
-    motorValues[index] = value;
-}
-
-void serialshotSendUpdate(void)
-{
-    // Check if the port is initialized
-    if (!escPort) {
-        return;
-    }
-
-    // Skip update if previous one is not yet fully sent
-    // This helps to avoid buffer overflow and evenyually the data corruption
-    if (!isSerialTransmitBufferEmpty(escPort)) {
-        return;
-    }
-
-    txPkt.hdr = SERIALSHOT_PKT_DEFAULT_HEADER;
-
-    txPkt.motorData[0] = motorValues[0] & 0x00FF;
-    txPkt.motorData[1] = motorValues[1] & 0x00FF;
-    txPkt.motorData[2] = motorValues[2] & 0x00FF;
-    txPkt.motorData[3] = motorValues[3] & 0x00FF;
-    txPkt.motorData[4] = (((motorValues[0] & 0xF00) >> 8) << 0) | (((motorValues[1] & 0xF00) >> 8) << 4);
-    txPkt.motorData[5] = (((motorValues[2] & 0xF00) >> 8) << 0) | (((motorValues[3] & 0xF00) >> 8) << 4);
-
-    txPkt.crc = crc8_dvb_s2(0x00, txPkt.hdr);
-    txPkt.crc = crc8_dvb_s2_update(txPkt.crc, txPkt.motorData, sizeof(txPkt.motorData));
-
-    serialWriteBuf(escPort, (const uint8_t *)&txPkt, sizeof(txPkt));
-}
-
-#endif
diff --git a/src/main/io/esc_serialshot.h b/src/main/io/esc_serialshot.h
deleted file mode 100644
index c915cc9f4f..0000000000
--- a/src/main/io/esc_serialshot.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * This file is part of INAV Project.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this file,
- * You can obtain one at http://mozilla.org/MPL/2.0/.
- *
- * Alternatively, the contents of this file may be used under the terms
- * of the GNU General Public License Version 3, as described below:
- *
- * This file is free software: you may copy, redistribute and/or modify
- * it under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or (at your
- * option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see http://www.gnu.org/licenses/.
- */
-
-#pragma once
-
-bool serialshotInitialize(void);
-void serialshotUpdateMotor(int index, uint16_t value);
-void serialshotSendUpdate(void);

From 77d888ce1275f6f811d2b1c95e24d37e636e0dd2 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 08:01:20 +0200
Subject: [PATCH 160/336] Remove motor rate limiting

---
 src/main/fc/fc_core.c     |  2 +-
 src/main/fc/settings.yaml | 12 ---------
 src/main/flight/mixer.c   | 56 ++-------------------------------------
 src/main/flight/mixer.h   |  4 +--
 4 files changed, 4 insertions(+), 70 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 310dffdb3f..fba1c08894 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -929,7 +929,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 #endif
 
-    mixTable(dT);
+    mixTable();
 
     if (isMixerUsingServos()) {
         servoMixer(dT);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5001e3e20b..6e8fafd052 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -861,18 +861,6 @@ groups:
         field: motorPwmRate
         min: 50
         max: 32000
-      - name: motor_accel_time
-        description: "Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorAccelTimeMs
-        min: 0
-        max: 1000
-      - name: motor_decel_time
-        description: "Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorDecelTimeMs
-        min: 0
-        max: 1000
       - name: motor_pwm_protocol
         description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
         default_value: "ONESHOT125"
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b92c999e3b..43d399a13f 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -102,15 +102,13 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
 
 #define DEFAULT_MAX_THROTTLE    1850
 
-PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 8);
+PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
     .motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
     .maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
     .mincommand = SETTING_MIN_COMMAND_DEFAULT,
-    .motorAccelTimeMs = SETTING_MOTOR_ACCEL_TIME_DEFAULT,
-    .motorDecelTimeMs = SETTING_MOTOR_DECEL_TIME_DEFAULT,
     .motorPoleCount = SETTING_MOTOR_POLES_DEFAULT,            // Most brushless motors that we use are 14 poles
 );
 
@@ -118,9 +116,6 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTO
 
 #define CRASH_OVER_AFTER_CRASH_FLIP_STICK_MIN 0.15f
 
-typedef void (*motorRateLimitingApplyFnPtr)(const float dT);
-static EXTENDED_FASTRAM motorRateLimitingApplyFnPtr motorRateLimitingApplyFn;
-
 int getThrottleIdleValue(void)
 {
     if (!throttleIdleValue) {
@@ -201,44 +196,6 @@ void nullMotorRateLimiting(const float dT)
     UNUSED(dT);
 }
 
-void applyMotorRateLimiting(const float dT)
-{
-    static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
-
-    if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-        // FIXME: Don't apply rate limiting in 3D mode
-        for (int i = 0; i < motorCount; i++) {
-            motorPrevious[i] = motor[i];
-        }
-    }
-    else {
-        // Calculate max motor step
-        const uint16_t motorRange = motorConfig()->maxthrottle - throttleIdleValue;
-        const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
-        const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
-
-        for (int i = 0; i < motorCount; i++) {
-            // Apply motor rate limiting
-            motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
-
-            // Handle throttle below min_throttle (motor start/stop)
-            if (motorPrevious[i] < throttleIdleValue) {
-                if (motor[i] < throttleIdleValue) {
-                    motorPrevious[i] = motor[i];
-                }
-                else {
-                    motorPrevious[i] = throttleIdleValue;
-                }
-            }
-        }
-    }
-
-    // Update motor values
-    for (int i = 0; i < motorCount; i++) {
-        motor[i] = motorPrevious[i];
-    }
-}
-
 void mixerInit(void)
 {
     computeMotorCount();
@@ -253,12 +210,6 @@ void mixerInit(void)
 
     mixerResetDisarmedMotors();
 
-    if (motorConfig()->motorAccelTimeMs || motorConfig()->motorDecelTimeMs) {
-        motorRateLimitingApplyFn = applyMotorRateLimiting;
-    } else {
-        motorRateLimitingApplyFn = nullMotorRateLimiting;
-    }
-
     if (mixerConfig()->motorDirectionInverted) {
         motorYawMultiplier = -1;
     } else {
@@ -516,7 +467,7 @@ static int getReversibleMotorsThrottleDeadband(void)
     return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue;
 }
 
-void FAST_CODE mixTable(const float dT)
+void FAST_CODE mixTable()
 {
 #ifdef USE_DSHOT
     if (FLIGHT_MODE(TURTLE_MODE)) {
@@ -649,9 +600,6 @@ void FAST_CODE mixTable(const float dT)
             motor[i] = motor_disarmed[i];
         }
     }
-
-    /* Apply motor acceleration/deceleration limit */
-    motorRateLimitingApplyFn(dT);
 }
 
 int16_t getThrottlePercent(void)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index e40842cb81..211923aa0e 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -80,8 +80,6 @@ typedef struct motorConfig_s {
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;
-    uint16_t motorAccelTimeMs;              // Time limit for motor to accelerate from 0 to 100% throttle [ms]
-    uint16_t motorDecelTimeMs;              // Time limit for motor to decelerate from 0 to 100% throttle [ms]
     uint16_t digitalIdleOffsetValue;
     uint8_t motorPoleCount;                 // Magnetic poles in the motors for calculating actual RPM from eRPM provided by ESC telemetry
 } motorConfig_t;
@@ -115,7 +113,7 @@ void writeAllMotors(int16_t mc);
 void mixerInit(void);
 void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
-void mixTable(const float dT);
+void mixTable(void);
 void writeMotors(void);
 void processServoAutotrim(const float dT);
 void processServoAutotrimMode(void);

From f9e22a0f109df88fda4f584985ff3f87d78725f1 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 08:03:20 +0200
Subject: [PATCH 161/336] Docs update

---
 docs/Settings.md | 20 --------------------
 1 file changed, 20 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index b11f3f6c8a..019593b3ec 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2852,26 +2852,6 @@ When powering up, gyro bias is calculated. If the model is shaking/moving during
 
 ---
 
-### motor_accel_time
-
-Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
-### motor_decel_time
-
-Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
 ### motor_direction_inverted
 
 Use if you need to inverse yaw motor direction.

From 52fa6389fdd9f0da5c916b88eb02bdfe0d094323 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 08:40:09 +0200
Subject: [PATCH 162/336] Feature cut for F411 and F722 boards

---
 src/main/drivers/io_pca9685.c |  4 ++++
 src/main/io/pwmdriver_i2c.c   |  5 +++++
 src/main/target/common.h      | 26 ++++++++++++++++----------
 src/main/target/common_post.h |  1 -
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/src/main/drivers/io_pca9685.c b/src/main/drivers/io_pca9685.c
index 12803c0176..1038496228 100644
--- a/src/main/drivers/io_pca9685.c
+++ b/src/main/drivers/io_pca9685.c
@@ -5,6 +5,8 @@
 
 #include "build/build_config.h"
 
+#ifdef USE_PWM_DRIVER_PCA9685
+
 #include "common/time.h"
 #include "common/maths.h"
 
@@ -141,3 +143,5 @@ bool pca9685Initialize(void)
 
     return true;
 }
+
+#endif
diff --git a/src/main/io/pwmdriver_i2c.c b/src/main/io/pwmdriver_i2c.c
index dc5e930457..0103a29102 100644
--- a/src/main/io/pwmdriver_i2c.c
+++ b/src/main/io/pwmdriver_i2c.c
@@ -7,6 +7,9 @@
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"
+#include "platform.h"
+
+#ifdef USE_PWM_SERVO_DRIVER
 
 #define PWM_DRIVER_IMPLEMENTATION_COUNT 1
 #define PWM_DRIVER_MAX_CYCLE 4
@@ -63,3 +66,5 @@ void pwmDriverSync(void) {
         cycle = 0;
     }
 }
+
+#endif
\ No newline at end of file
diff --git a/src/main/target/common.h b/src/main/target/common.h
index b792e8311a..eedb44bbe1 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -82,7 +82,6 @@
 #define USE_MR_BRAKING_MODE
 #define USE_PITOT
 #define USE_PITOT_ADC
-#define USE_PITOT_VIRTUAL
 
 #define USE_ALPHA_BETA_GAMMA_FILTER
 #define USE_DYNAMIC_FILTERS
@@ -90,7 +89,6 @@
 #define USE_SMITH_PREDICTOR
 #define USE_RATE_DYNAMICS
 #define USE_EXTENDED_CMS_MENUS
-#define USE_HOTT_TEXTMODE
 
 // NAZA GPS support for F4+ only
 #define USE_GPS_PROTO_NAZA
@@ -126,8 +124,6 @@
 #define DASHBOARD_ARMED_BITMAP
 #define USE_OLED_UG2864
 
-#define USE_PWM_DRIVER_PCA9685
-
 #define USE_OSD
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
@@ -146,14 +142,10 @@
 #define USE_GPS_PROTO_MTK
 
 #define USE_TELEMETRY_SIM
-#define USE_TELEMETRY_HOTT
 #define USE_TELEMETRY_MAVLINK
 #define USE_MSP_OVER_TELEMETRY
 
 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
-#define USE_SERIALRX_SUMD
-#define USE_SERIALRX_SUMH
-#define USE_SERIALRX_XBUS
 #define USE_SERIALRX_JETIEXBUS
 #define USE_SERIALRX_MAVLINK
 #define USE_TELEMETRY_SRXL
@@ -193,7 +185,6 @@
 #define USE_RX_MSP
 //#define USE_MSP_RC_OVERRIDE
 #define USE_SERIALRX_CRSF
-#define USE_PWM_SERVO_DRIVER
 #define USE_SERIAL_PASSTHROUGH
 #define NAV_MAX_WAYPOINTS       60
 #define USE_RCDEVICE
@@ -202,7 +193,6 @@
 #define USE_VTX_CONTROL
 #define USE_VTX_SMARTAUDIO
 #define USE_VTX_TRAMP
-#define USE_VTX_FFPV
 
 #ifndef STM32F3 //F3 series does not have enoug RAM to support logic conditions
 #define USE_PROGRAMMING_FRAMEWORK
@@ -219,3 +209,19 @@
 #define SKIP_TASK_STATISTICS
 
 #endif
+
+//Designed to free space of F722 and F411 MCUs
+#if (MCU_FLASH_SIZE > 512)
+
+#define USE_VTX_FFPV
+#define USE_PITOT_VIRTUAL
+#define USE_PWM_DRIVER_PCA9685
+#define USE_PWM_SERVO_DRIVER
+
+#define USE_SERIALRX_SUMD
+#define USE_SERIALRX_SUMH
+#define USE_SERIALRX_XBUS
+#define USE_TELEMETRY_HOTT
+#define USE_HOTT_TEXTMODE
+
+#endif
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index d7603c9e6f..1fd40fcb44 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -58,7 +58,6 @@ extern uint8_t __config_end;
 #undef USE_SERIALRX_SUMH
 #undef USE_SERIALRX_XBUS
 #undef USE_SERIALRX_JETIEXBUS
-#undef USE_PWM_SERVO_DRIVER
 #endif
 
 #ifndef BEEPER_PWM_FREQUENCY

From 64c98874dbda48e087e9b4f22d5a63985d5b3372 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 09:27:07 +0200
Subject: [PATCH 163/336] Drop HCSR04

---
 src/main/CMakeLists.txt                       |   2 -
 src/main/drivers/pwm_mapping.c                |  11 -
 src/main/drivers/rangefinder/rangefinder.h    |   7 -
 .../drivers/rangefinder/rangefinder_hcsr04.c  | 221 ------------------
 .../drivers/rangefinder/rangefinder_hcsr04.h  |  24 --
 src/main/fc/fc_init.c                         |  14 --
 src/main/fc/settings.yaml                     |   2 +-
 src/main/sensors/rangefinder.c                |  30 +--
 src/main/sensors/rangefinder.h                |  18 +-
 src/main/target/COLIBRI/target.h              |   3 -
 src/main/target/FALCORE/target.h              |   3 -
 src/main/target/FISHDRONEF4/target.h          |   3 -
 src/main/target/FURYF3/target.h               |   3 -
 src/main/target/RCEXPLORERF3/target.h         |   3 -
 src/main/target/SPARKY/target.h               |   4 +-
 src/main/target/SPRACINGF3/target.h           |   3 -
 src/test/unit/sonar_unittest.cc.txt           | 107 ---------
 17 files changed, 10 insertions(+), 448 deletions(-)
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04.c
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04.h
 delete mode 100644 src/test/unit/sonar_unittest.cc.txt

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index d20471724b..4eead02a73 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -230,8 +230,6 @@ main_sources(COMMON_SRC
     drivers/pinio.c
     drivers/pinio.h
 
-    drivers/rangefinder/rangefinder_hcsr04.c
-    drivers/rangefinder/rangefinder_hcsr04.h
     drivers/rangefinder/rangefinder_hcsr04_i2c.c
     drivers/rangefinder/rangefinder_hcsr04_i2c.h
     drivers/rangefinder/rangefinder_srf10.c
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index a7a27b4ede..aa2619b104 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -199,17 +199,6 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 #endif
 #endif
 
-
-#ifdef USE_RANGEFINDER_HCSR04
-    // HC-SR04 has a dedicated connection to FC and require two pins
-    if (rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) {
-        const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-        if (rangefinderHardwarePins && (timHw->tag == rangefinderHardwarePins->triggerTag || timHw->tag == rangefinderHardwarePins->echoTag)) {
-            return true;
-        }
-    }
-#endif
-
     return false;
 }
 
diff --git a/src/main/drivers/rangefinder/rangefinder.h b/src/main/drivers/rangefinder/rangefinder.h
index 9efcf0dad0..797a29a6c0 100644
--- a/src/main/drivers/rangefinder/rangefinder.h
+++ b/src/main/drivers/rangefinder/rangefinder.h
@@ -27,13 +27,6 @@
 
 struct rangefinderDev_s;
 
-typedef struct rangefinderHardwarePins_s {
-    ioTag_t triggerTag;
-    ioTag_t echoTag;
-} rangefinderHardwarePins_t;
-
-struct rangefinderDev_s;
-
 typedef void (*rangefinderOpInitFuncPtr)(struct rangefinderDev_s * dev);
 typedef void (*rangefinderOpStartFuncPtr)(struct rangefinderDev_s * dev);
 typedef int32_t (*rangefinderOpReadFuncPtr)(struct rangefinderDev_s * dev);
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04.c b/src/main/drivers/rangefinder/rangefinder_hcsr04.c
deleted file mode 100644
index fe935473bf..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04.c
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#if defined(USE_RANGEFINDER_HCSR04)
-
-#include "build/build_config.h"
-
-#include "common/time.h"
-
-#include "drivers/time.h"
-#include "drivers/exti.h"
-#include "drivers/io.h"
-#include "drivers/nvic.h"
-#include "drivers/rcc.h"
-
-#include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
-
-#define HCSR04_MAX_RANGE_CM 400 // 4m, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_DECIDEGREES 300 // recommended cone angle30 degrees, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES 450 // in practice 45 degrees seems to work well
-
-
-/* HC-SR04 consists of ultrasonic transmitter, receiver, and control circuits.
- * When triggered it sends out a series of 40KHz ultrasonic pulses and receives
- * echo from an object. The distance between the unit and the object is calculated
- * by measuring the traveling time of sound and output it as the width of a TTL pulse.
- *
- * *** Warning: HC-SR04 operates at +5V ***
- *
- */
-
-static volatile timeDelta_t hcsr04SonarPulseTravelTime = 0;
-static volatile timeMs_t lastMeasurementReceivedAt;
-static volatile int32_t lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-static timeMs_t lastMeasurementStartedAt = 0;
-
-#ifdef USE_EXTI
-static extiCallbackRec_t hcsr04_extiCallbackRec;
-#endif
-
-static IO_t echoIO;
-static IO_t triggerIO;
-
-#if !defined(UNIT_TEST)
-void hcsr04_extiHandler(extiCallbackRec_t* cb)
-{
-    static timeUs_t timing_start;
-    UNUSED(cb);
-
-    if (IORead(echoIO) != 0) {
-        timing_start = micros();
-    } else {
-        const timeUs_t timing_stop = micros();
-        if (timing_stop > timing_start) {
-            lastMeasurementReceivedAt = millis();
-            hcsr04SonarPulseTravelTime = timing_stop - timing_start;
-        }
-    }
-}
-#endif
-
-void hcsr04_init(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-}
-
-#define HCSR04_MinimumFiringIntervalMs 60
-
-/*
- * Start a range reading
- * Called periodically by the scheduler
- * Measurement reading is done asynchronously, using interrupt
- */
-void hcsr04_start_reading(void)
-{
-#if !defined(UNIT_TEST)
-#ifdef RANGEFINDER_HCSR04_TRIG_INVERTED
-    IOLo(triggerIO);
-    delayMicroseconds(11);
-    IOHi(triggerIO);
-#else
-    IOHi(triggerIO);
-    delayMicroseconds(11);
-    IOLo(triggerIO);
-#endif
-#endif
-}
-
-void hcsr04_update(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    const timeMs_t timeNowMs = millis();
-
-    // the firing interval of the trigger signal should be greater than 60ms
-    // to avoid interference between consecutive measurements
-    if (timeNowMs > lastMeasurementStartedAt + HCSR04_MinimumFiringIntervalMs) {
-        // We should have a valid measurement within 60ms of trigger
-        if ((lastMeasurementReceivedAt - lastMeasurementStartedAt) <= HCSR04_MinimumFiringIntervalMs) {
-            // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
-            // The ping travels out and back, so to find the distance of the
-            // object we take half of the distance traveled.
-            // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
-
-            lastCalculatedDistance = hcsr04SonarPulseTravelTime / 59;
-            if (lastCalculatedDistance > HCSR04_MAX_RANGE_CM) {
-                lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-            }
-        }
-        else {
-            // No measurement within reasonable time - indicate failure
-            lastCalculatedDistance = RANGEFINDER_HARDWARE_FAILURE;
-        }
-
-        // Trigger a new measurement
-        lastMeasurementStartedAt = timeNowMs;
-        hcsr04_start_reading();
-    }
-
-}
-
-/**
- * Get the distance that was measured by the last pulse, in centimeters.
- */
-int32_t hcsr04_get_distance(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    return lastCalculatedDistance;
-}
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins)
-{
-    bool detected = false;
-
-#if defined(STM32F3) || defined(STM32F4)
-    RCC_ClockCmd(RCC_APB2(SYSCFG), ENABLE);
-#endif
-
-    triggerIO = IOGetByTag(rangefinderHardwarePins->triggerTag);
-    echoIO = IOGetByTag(rangefinderHardwarePins->echoTag);
-
-    if (IOGetOwner(triggerIO) != OWNER_FREE) {
-        return false;
-    }
-
-    if (IOGetOwner(echoIO) != OWNER_FREE) {
-        return false;
-    }
-
-    // trigger pin
-    IOInit(triggerIO, OWNER_RANGEFINDER, RESOURCE_OUTPUT, 0);
-    IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
-    IOLo(triggerIO);
-    delay(100);
-
-    // echo pin
-    IOInit(echoIO, OWNER_RANGEFINDER, RESOURCE_INPUT, 0);
-    IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
-
-    // HC-SR04 echo line should be low by default and should return a response pulse when triggered
-    if (IORead(echoIO) == false) {
-        for (int i = 0; i < 5 && !detected; i++) {
-            timeMs_t requestTime = millis();
-            hcsr04_start_reading();
-
-            while ((millis() - requestTime) < HCSR04_MinimumFiringIntervalMs) {
-                if (IORead(echoIO) == true) {
-                    detected = true;
-                    break;
-                }
-            }
-        }
-    }
-
-    if (detected) {
-        // Hardware detected - configure the driver
-#ifdef USE_EXTI
-        EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
-        EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
-        EXTIEnable(echoIO, true);
-#endif
-
-        dev->delayMs = 100;
-        dev->maxRangeCm = HCSR04_MAX_RANGE_CM;
-        dev->detectionConeDeciDegrees = HCSR04_DETECTION_CONE_DECIDEGREES;
-        dev->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
-
-        dev->init = &hcsr04_init;
-        dev->update = &hcsr04_update;
-        dev->read = &hcsr04_get_distance;
-
-        return true;
-    }
-    else {
-        // Not detected - free resources
-        IORelease(triggerIO);
-        IORelease(echoIO);
-        return false;
-    }
-}
-
-#endif
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04.h b/src/main/drivers/rangefinder/rangefinder_hcsr04.h
deleted file mode 100644
index a5647d81fd..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include "drivers/rangefinder/rangefinder.h"
-
-#define RANGEFINDER_HCSR04_TASK_PERIOD_MS 70
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins);
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 20b754d626..1250872995 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -364,20 +364,6 @@ void init(void)
     updateHardwareRevision();
 #endif
 
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
-#if defined(FURYF3) || defined(OMNIBUS) || defined(SPRACINGF3MINI)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
-    }
-#endif
-#endif
-
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2) && defined(SPRACINGF3)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
-    }
-#endif
-
 #ifdef USE_USB_MSC
     /* MSC mode will start after init, but will not allow scheduler to run,
      * so there is no bottleneck in reading and writing data
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5001e3e20b..cff1a9b98a 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -7,7 +7,7 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42"]
+    values: ["NONE", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index 8b26c586d8..fc6951f3d1 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -36,7 +36,6 @@
 #include "drivers/io.h"
 #include "drivers/time.h"
 #include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
 #include "drivers/rangefinder/rangefinder_srf10.h"
 #include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
 #include "drivers/rangefinder/rangefinder_vl53l0x.h"
@@ -64,28 +63,13 @@ rangefinder_t rangefinder;
 #define RANGEFINDER_DYNAMIC_FACTOR              75
 
 #ifdef USE_RANGEFINDER
-PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 2);
 
 PG_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig,
     .rangefinder_hardware = SETTING_RANGEFINDER_HARDWARE_DEFAULT,
     .use_median_filtering = SETTING_RANGEFINDER_MEDIAN_FILTER_DEFAULT,
 );
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void)
-{
-    static rangefinderHardwarePins_t rangefinderHardwarePins;
-
-#if defined(RANGEFINDER_HCSR04_TRIGGER_PIN)
-    rangefinderHardwarePins.triggerTag = IO_TAG(RANGEFINDER_HCSR04_TRIGGER_PIN);
-    rangefinderHardwarePins.echoTag = IO_TAG(RANGEFINDER_HCSR04_ECHO_PIN);
-#else
-    // No Trig/Echo hardware rangefinder
-    rangefinderHardwarePins.triggerTag = IO_TAG(NONE);
-    rangefinderHardwarePins.echoTag = IO_TAG(NONE);
-#endif
-    return &rangefinderHardwarePins;
-}
-
 /*
  * Detect which rangefinder is present
  */
@@ -95,18 +79,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
     requestedSensors[SENSOR_INDEX_RANGEFINDER] = rangefinderHardwareToUse;
 
     switch (rangefinderHardwareToUse) {
-        case RANGEFINDER_HCSR04:
-#ifdef USE_RANGEFINDER_HCSR04
-            {
-                const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-                if (hcsr04Detect(dev, rangefinderHardwarePins)) {   // FIXME: Do actual detection if HC-SR04 is plugged in
-                    rangefinderHardware = RANGEFINDER_HCSR04;
-                    rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_TASK_PERIOD_MS));
-                }
-            }
-#endif
-            break;
-
         case RANGEFINDER_SRF10:
 #ifdef USE_RANGEFINDER_SRF10
             if (srf10Detect(dev)) {
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index 568c01ae12..f09ca8e225 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -23,15 +23,13 @@
 
 typedef enum {
     RANGEFINDER_NONE        = 0,
-    RANGEFINDER_HCSR04      = 1,
-    RANGEFINDER_SRF10       = 2,
-    RANGEFINDER_HCSR04I2C   = 3,
-    RANGEFINDER_VL53L0X     = 4,
-    RANGEFINDER_MSP         = 5,
-    RANGEFINDER_UNUSED      = 6,    // Was UIB
-    RANGEFINDER_BENEWAKE    = 7,
-    RANGEFINDER_VL53L1X     = 8,
-    RANGEFINDER_US42        = 9,
+    RANGEFINDER_SRF10       = 1,
+    RANGEFINDER_HCSR04I2C   = 2,
+    RANGEFINDER_VL53L0X     = 3,
+    RANGEFINDER_MSP         = 4,
+    RANGEFINDER_BENEWAKE    = 5,
+    RANGEFINDER_VL53L1X     = 6,
+    RANGEFINDER_US42        = 7,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
@@ -51,8 +49,6 @@ typedef struct rangefinder_s {
 
 extern rangefinder_t rangefinder;
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void);
-
 bool rangefinderInit(void);
 
 int32_t rangefinderGetLatestAltitude(void);
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
index c111bcb378..a99cf0cbcd 100755
--- a/src/main/target/COLIBRI/target.h
+++ b/src/main/target/COLIBRI/target.h
@@ -124,9 +124,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C3
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN      PB8
-#define RANGEFINDER_HCSR04_ECHO_PIN         PB9
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
diff --git a/src/main/target/FALCORE/target.h b/src/main/target/FALCORE/target.h
index 5d02d9c744..502dfee9ed 100755
--- a/src/main/target/FALCORE/target.h
+++ b/src/main/target/FALCORE/target.h
@@ -117,9 +117,6 @@
 #define BIND_PIN                PA3
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA7
-#define RANGEFINDER_HCSR04_ECHO_PIN          PA2
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_GPS | FEATURE_TELEMETRY | FEATURE_LED_STRIP)
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 331de0d918..2b150d3f02 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -147,9 +147,6 @@
 
 // *************** RANGEFINDER *****************************
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PB10
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB11
 // #define USE_RANGEFINDER_SRF10
 
 // *************** NAV *****************************
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 9091457131..cba4eca303 100755
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -128,9 +128,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h
index 738ed44638..18e6719435 100644
--- a/src/main/target/RCEXPLORERF3/target.h
+++ b/src/main/target/RCEXPLORERF3/target.h
@@ -90,9 +90,6 @@
 #define WS2811_PIN                      PB8 // TIM16_CH1
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA6   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
 
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index 5052027dc4..f8e60a84ea 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -92,9 +92,7 @@
 #define BIND_PIN                PA3
 
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PA2   // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
+
 
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
 
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index bab9f28842..23d076e466 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -96,9 +96,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
 #define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS             BUS_I2C1
 
diff --git a/src/test/unit/sonar_unittest.cc.txt b/src/test/unit/sonar_unittest.cc.txt
deleted file mode 100644
index dc60b0949b..0000000000
--- a/src/test/unit/sonar_unittest.cc.txt
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-#include <math.h>
-
-extern "C" {
-    #include "build_config.h"
-    #include "drivers/rangefinder_hcsr04.h"
-    #include "sensors/sonar.h"
-    extern int32_t measurement;
-    extern int16_t sonarMaxTiltDeciDegrees;
-    void sonarInit(const sonarHardware_t *sonarHardware);
-}
-
-#include "unittest_macros.h"
-#include "gtest/gtest.h"
-
-#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
-
-TEST(SonarUnittest, TestConstants)
-{
-    sonarInit(0);
-    // SONAR_OUT_OF_RANGE must be negative
-    EXPECT_LE(SONAR_OUT_OF_RANGE, 0);
-    // Check against gross errors in max range constants
-    EXPECT_GT(HCSR04_MAX_RANGE_CM, 100);
-}
-
-TEST(SonarUnittest, TestSonarInit)
-{
-    sonarInit(0);
-    // Check against gross errors in max range values
-    EXPECT_GE(sonarCfAltCm, 100);
-    EXPECT_LE(sonarCfAltCm, HCSR04_MAX_RANGE_CM);
-    // Check reasonable values for maximum tilt
-    EXPECT_GE(sonarMaxTiltDeciDegrees, 0);
-    EXPECT_LE(sonarMaxTiltDeciDegrees, 450);
-}
-
-TEST(SonarUnittest, TestDistance)
-{
-    // Check sonar pulse time converted correctly to cm
-    const int echoMicroSecondsPerCm = 59;
-    measurement =  0;
-    EXPECT_EQ(hcsr04_get_distance(), 0);
-
-    measurement =  echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 1);
-
-    measurement =  10 * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 10);
-
-    measurement =  HCSR04_MAX_RANGE_CM * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), HCSR04_MAX_RANGE_CM);
-}
-
-TEST(SonarUnittest, TestAltitude)
-{
-    sonarInit(0);
-    // Check distance not modified if no tilt
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(0))), 0);
-    EXPECT_EQ(sonarGetLatestAltitude(), 0);
-    EXPECT_EQ(sonarCalculateAltitude(100, cosf(DECIDEGREES_TO_RADIANS(0))), 100);
-    EXPECT_EQ(sonarGetLatestAltitude(), 100);
-
-    // Check that out of range is returned if tilt is too large
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(sonarMaxTiltDeciDegrees+1))), SONAR_OUT_OF_RANGE);
-    EXPECT_EQ(sonarGetLatestAltitude(), SONAR_OUT_OF_RANGE);
-
-    // Check distance at various roll angles
-    // distance 400, 5 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(50))), 398);
-    EXPECT_EQ(sonarGetLatestAltitude(), 398);
-    // distance 400, 10 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(100))), 393);
-    EXPECT_EQ(sonarGetLatestAltitude(), 393);
-    // distance 400, 15 degrees of roll, this corresponds to HC-SR04 specified max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(150))), 386);
-    EXPECT_EQ(sonarGetLatestAltitude(), 386);
-    // distance 400, 20 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(200))), 375);
-    EXPECT_EQ(sonarGetLatestAltitude(), 375);
-    // distance 400, 22.4 degrees of roll, this corresponds to HC-SR04 effective max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(224))), 369);
-    EXPECT_EQ(sonarGetLatestAltitude(), 369);
-}
-
-// STUBS
-extern "C" {
-void sensorsSet(uint32_t mask) {UNUSED(mask);}
-}
-

From 1c8178cc03791468092a277f9393a2cd042e055a Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 12:42:56 +0200
Subject: [PATCH 164/336] Fix FF35

---
 src/main/target/FF_F35_LIGHTNING/target.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/FF_F35_LIGHTNING/target.h b/src/main/target/FF_F35_LIGHTNING/target.h
index a415ae541a..6fd417b2eb 100644
--- a/src/main/target/FF_F35_LIGHTNING/target.h
+++ b/src/main/target/FF_F35_LIGHTNING/target.h
@@ -42,6 +42,7 @@
 
 #define USE_MAG
 #define USE_MAG_MPU9250
+#define MAG_I2C_BUS            BUS_I2C1
 
 #define USE_BARO
 #define USE_BARO_BMP280

From f1b19e1cd1e705c9312d6678b1ecbe8206e4c1e0 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 23 Jul 2021 12:53:16 +0200
Subject: [PATCH 165/336] Fix another target

---
 src/main/target/CLRACINGF4AIR/target.h | 1 +
 src/main/target/common.h               | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
index 45778103a9..dab824e036 100644
--- a/src/main/target/CLRACINGF4AIR/target.h
+++ b/src/main/target/CLRACINGF4AIR/target.h
@@ -115,6 +115,7 @@
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define BNO055_I2C_BUS          BUS_I2C2
+#define MAG_I2C_BUS             BUS_I2C2
 #endif
 
 #define USE_ADC
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 7ac84f82f1..64f128a904 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -80,7 +80,9 @@
 
 #if (MCU_FLASH_SIZE > 256)
 
+#if defined(MAG_I2C_BUS) || defined(VCM5883_I2C_BUS)    
 #define USE_MAG_VCM5883
+#endif
 
 #define USE_MR_BRAKING_MODE
 #define USE_PITOT

From ec6c99a5dcb6f5e85ec5320f19eae96e611e9b70 Mon Sep 17 00:00:00 2001
From: Artem Korneenkov <artem.korneenkov@gmail.com>
Date: Sat, 24 Jul 2021 23:15:10 +0300
Subject: [PATCH 166/336] Sync with master

---
 docs/Settings.md                              |  20 --
 src/main/CMakeLists.txt                       |   6 +-
 src/main/drivers/bus.h                        |   1 +
 src/main/drivers/compass/compass_vcm5883.c    | 121 ++++++++++
 .../compass/compass_vcm5883.h}                |   6 +-
 src/main/drivers/io_pca9685.c                 |   4 +
 src/main/drivers/pwm_mapping.c                |  28 +--
 src/main/drivers/pwm_mapping.h                |   4 -
 src/main/drivers/pwm_output.c                 |  41 +---
 src/main/drivers/rangefinder/rangefinder.h    |   7 -
 .../drivers/rangefinder/rangefinder_hcsr04.c  | 221 ------------------
 .../drivers/rangefinder/rangefinder_hcsr04.h  |  24 --
 src/main/fc/config.c                          |  11 -
 src/main/fc/fc_core.c                         |   2 +-
 src/main/fc/fc_init.c                         |  14 --
 src/main/fc/settings.yaml                     |  18 +-
 src/main/flight/mixer.c                       |  56 +----
 src/main/flight/mixer.h                       |   4 +-
 src/main/io/esc_serialshot.c                  | 116 ---------
 src/main/io/pwmdriver_i2c.c                   |   5 +
 src/main/sensors/compass.c                    |  16 +-
 src/main/sensors/compass.h                    |   3 +-
 src/main/sensors/rangefinder.c                |  30 +--
 src/main/sensors/rangefinder.h                |  20 +-
 src/main/target/BETAFPVF722/target.h          |   1 -
 src/main/target/CLRACINGF4AIR/target.h        |   1 +
 src/main/target/COLIBRI/target.h              |   3 -
 src/main/target/DALRCF722DUAL/target.h        |   1 -
 src/main/target/FALCORE/target.h              |   3 -
 src/main/target/FF_F35_LIGHTNING/target.h     |   1 +
 src/main/target/FISHDRONEF4/target.h          |   3 -
 src/main/target/FLYWOOF411/target.h           |   1 -
 src/main/target/FRSKY_ROVERF7/target.h        |   1 -
 src/main/target/FURYF3/target.h               |   3 -
 src/main/target/HGLRCF722/target.h            |   1 -
 src/main/target/KAKUTEF4/target.h             |   1 -
 src/main/target/KAKUTEF7MINIV3/target.h       |   1 -
 src/main/target/MAMBAF405US/target.h          |   1 -
 src/main/target/MAMBAF722/target.h            |   1 -
 src/main/target/MATEKF405/target.h            |   1 -
 src/main/target/MATEKF411/target.h            |   1 -
 src/main/target/MATEKF411SE/target.h          |   1 -
 src/main/target/MATEKF722/target.h            |   1 -
 src/main/target/MATEKF722PX/target.h          |   1 -
 src/main/target/MATEKF722SE/target.h          |   1 -
 src/main/target/MATEKF765/target.h            |   1 -
 src/main/target/MATEKH743/target.h            |   1 -
 src/main/target/OMNIBUSF7NXT/target.h         |   1 -
 src/main/target/RCEXPLORERF3/target.h         |   3 -
 src/main/target/REVO/target.h                 |   1 -
 src/main/target/RUSH_BLADE_F7/target.h        |   1 -
 src/main/target/SKYSTARSF405HD/target.h       |   1 -
 src/main/target/SPARKY/target.h               |   4 +-
 src/main/target/SPRACINGF3/target.h           |   3 -
 src/main/target/ZEEZF7/target.h               |   1 -
 src/main/target/common.h                      |  31 ++-
 src/main/target/common_hardware.c             |   8 +
 src/main/target/common_post.h                 |   1 -
 src/test/unit/sonar_unittest.cc.txt           | 107 ---------
 59 files changed, 210 insertions(+), 761 deletions(-)
 create mode 100644 src/main/drivers/compass/compass_vcm5883.c
 rename src/main/{io/esc_serialshot.h => drivers/compass/compass_vcm5883.h} (86%)
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04.c
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04.h
 delete mode 100644 src/main/io/esc_serialshot.c
 delete mode 100644 src/test/unit/sonar_unittest.cc.txt

diff --git a/docs/Settings.md b/docs/Settings.md
index b11f3f6c8a..019593b3ec 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2852,26 +2852,6 @@ When powering up, gyro bias is calculated. If the model is shaking/moving during
 
 ---
 
-### motor_accel_time
-
-Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
-### motor_decel_time
-
-Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
 ### motor_direction_inverted
 
 Use if you need to inverse yaw motor direction.
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 9cabb11044..ba3efb7a9c 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -164,6 +164,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_qmc5883l.h
     drivers/compass/compass_rm3100.c
     drivers/compass/compass_rm3100.h
+    drivers/compass/compass_vcm5883.c
+    drivers/compass/compass_vcm5883.h
     drivers/compass/compass_msp.c
     drivers/compass/compass_msp.h
 
@@ -230,8 +232,6 @@ main_sources(COMMON_SRC
     drivers/pinio.c
     drivers/pinio.h
 
-    drivers/rangefinder/rangefinder_hcsr04.c
-    drivers/rangefinder/rangefinder_hcsr04.h
     drivers/rangefinder/rangefinder_hcsr04_i2c.c
     drivers/rangefinder/rangefinder_hcsr04_i2c.h
     drivers/rangefinder/rangefinder_srf10.c
@@ -355,8 +355,6 @@ main_sources(COMMON_SRC
 
     io/beeper.c
     io/beeper.h
-    io/esc_serialshot.c
-    io/esc_serialshot.h
     io/servo_sbus.c
     io/servo_sbus.h
     io/frsky_osd.c
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index ac8ef07a43..55e13c4f2d 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -120,6 +120,7 @@ typedef enum {
     DEVHW_MAG3110,
     DEVHW_LIS3MDL,
     DEVHW_RM3100,
+    DEVHW_VCM5883,
 
     /* Temp sensor chips */
     DEVHW_LM75_0,
diff --git a/src/main/drivers/compass/compass_vcm5883.c b/src/main/drivers/compass/compass_vcm5883.c
new file mode 100644
index 0000000000..b91dccba36
--- /dev/null
+++ b/src/main/drivers/compass/compass_vcm5883.c
@@ -0,0 +1,121 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include "platform.h"
+
+#ifdef USE_MAG_VCM5883
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_i2c.h"
+
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#include "drivers/compass/compass_vcm5883.h"
+
+#include "build/debug.h"
+
+#define VCM5883_REGISTER_ADDR_CNTL1 0x0B
+#define VCM5883_REGISTER_ADDR_CNTL2 0x0A
+#define VCM5883_REGISTER_ADDR_CHIPID 0x0C
+#define VCM5883_REGISTER_ADDR_OUTPUT_X 0x00
+#define VCM5883_INITIAL_CONFIG 0b0100
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        busWrite(mag->busDev, VCM5883_REGISTER_ADDR_CNTL2, 0b01000001);
+        delay(30);
+
+        uint8_t sig = 0;
+        bool ack = busRead(mag->busDev, VCM5883_REGISTER_ADDR_CHIPID, &sig);
+
+        if (ack && sig == 0x82) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool vcm5883Init(magDev_t * mag) {
+    UNUSED(mag);
+    return true;
+}
+
+static bool vcm5883Read(magDev_t * mag)
+{
+    uint8_t buf[6];
+
+    // set magData to zero for case of failed read
+    mag->magADCRaw[X] = 0;
+    mag->magADCRaw[Y] = 0;
+    mag->magADCRaw[Z] = 0;
+
+    bool ack = busReadBuf(mag->busDev, VCM5883_REGISTER_ADDR_OUTPUT_X, buf, 6);
+    if (!ack) {
+        return false;
+    }
+
+    mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]);
+    mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]);
+    mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]);
+
+    return true;
+}
+
+bool vcm5883Detect(magDev_t * mag)
+{
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_VCM5883, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(mag)) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, 7);
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+
+    mag->init = vcm5883Init;
+    mag->read = vcm5883Read;
+
+    return true;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/main/io/esc_serialshot.h b/src/main/drivers/compass/compass_vcm5883.h
similarity index 86%
rename from src/main/io/esc_serialshot.h
rename to src/main/drivers/compass/compass_vcm5883.h
index c915cc9f4f..b21063bf06 100644
--- a/src/main/io/esc_serialshot.h
+++ b/src/main/drivers/compass/compass_vcm5883.h
@@ -1,5 +1,5 @@
 /*
- * This file is part of INAV Project.
+ * This file is part of INAV.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
@@ -24,6 +24,4 @@
 
 #pragma once
 
-bool serialshotInitialize(void);
-void serialshotUpdateMotor(int index, uint16_t value);
-void serialshotSendUpdate(void);
+bool vcm5883Detect(magDev_t *mag);
\ No newline at end of file
diff --git a/src/main/drivers/io_pca9685.c b/src/main/drivers/io_pca9685.c
index 12803c0176..1038496228 100644
--- a/src/main/drivers/io_pca9685.c
+++ b/src/main/drivers/io_pca9685.c
@@ -5,6 +5,8 @@
 
 #include "build/build_config.h"
 
+#ifdef USE_PWM_DRIVER_PCA9685
+
 #include "common/time.h"
 #include "common/maths.h"
 
@@ -141,3 +143,5 @@ bool pca9685Initialize(void)
 
     return true;
 }
+
+#endif
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index a7a27b4ede..c8aeb8eb0f 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -67,16 +67,13 @@ static const char * pwmInitErrorMsg[] = {
 };
 
 static const motorProtocolProperties_t motorProtocolProperties[] = {
-    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_ONESHOT42]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
-    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT1200]    = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_SERIALSHOT]   = { .usesHwTimer = false,   .isDSHOT = false,   .isSerialShot = true  },
+    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false },
+    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true },
+    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true },
+    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true },
 };
 
 pwmInitError_e getPwmInitError(void)
@@ -199,17 +196,6 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 #endif
 #endif
 
-
-#ifdef USE_RANGEFINDER_HCSR04
-    // HC-SR04 has a dedicated connection to FC and require two pins
-    if (rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) {
-        const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-        if (rangefinderHardwarePins && (timHw->tag == rangefinderHardwarePins->triggerTag || timHw->tag == rangefinderHardwarePins->echoTag)) {
-            return true;
-        }
-    }
-#endif
-
     return false;
 }
 
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 7efbf39431..51ec456a77 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -39,14 +39,11 @@
 typedef enum {
     PWM_TYPE_STANDARD = 0,
     PWM_TYPE_ONESHOT125,
-    PWM_TYPE_ONESHOT42,
     PWM_TYPE_MULTISHOT,
     PWM_TYPE_BRUSHED,
     PWM_TYPE_DSHOT150,
     PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT600,
-    PWM_TYPE_DSHOT1200,
-    PWM_TYPE_SERIALSHOT,
 } motorPwmProtocolTypes_e;
 
 typedef enum {
@@ -73,7 +70,6 @@ typedef struct rangefinderIOConfig_s {
 typedef struct {
     bool usesHwTimer;
     bool isDSHOT;
-    bool isSerialShot;
 } motorProtocolProperties_t;
 
 bool pwmMotorAndServoInit(void);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 20429e07cb..37f0bda43f 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -37,7 +37,6 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/io_pca9685.h"
 
 #include "io/pwmdriver_i2c.h"
-#include "io/esc_serialshot.h"
 #include "io/servo_sbus.h"
 #include "sensors/esc_sensor.h"
 
@@ -50,7 +49,6 @@ FILE_COMPILE_FOR_SPEED
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_HZ * 20 / 1000000.0f / 1000.0f)
 
 #ifdef USE_DSHOT
-#define MOTOR_DSHOT1200_HZ    24000000
 #define MOTOR_DSHOT600_HZ     12000000
 #define MOTOR_DSHOT300_HZ     6000000
 #define MOTOR_DSHOT150_HZ     3000000
@@ -100,7 +98,7 @@ static pwmWriteFuncPtr         motorWritePtr = NULL;    // Function to write val
 static pwmOutputPort_t *       servos[MAX_SERVOS];
 static pwmWriteFuncPtr         servoWritePtr = NULL;    // Function to write value to motors
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static timeUs_t digitalMotorUpdateIntervalUs = 0;
 static timeUs_t digitalMotorLastUpdateUs;
 #endif
@@ -245,8 +243,6 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
     switch (pwmProtocolType) {
-        case(PWM_TYPE_DSHOT1200):
-            return MOTOR_DSHOT1200_HZ;
         case(PWM_TYPE_DSHOT600):
             return MOTOR_DSHOT600_HZ;
         case(PWM_TYPE_DSHOT300):
@@ -304,7 +300,7 @@ static uint16_t prepareDshotPacket(const uint16_t value, bool requestTelemetry)
 }
 #endif
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static void motorConfigDigitalUpdateInterval(uint16_t motorPwmRateHz)
 {
     digitalMotorUpdateIntervalUs = 1000000 / motorPwmRateHz;
@@ -325,14 +321,9 @@ bool isMotorProtocolDshot(void)
     return getMotorProtocolProperties(initMotorProtocol)->isDSHOT;
 }
 
-bool isMotorProtocolSerialShot(void)
-{
-    return getMotorProtocolProperties(initMotorProtocol)->isSerialShot;
-}
-
 bool isMotorProtocolDigital(void)
 {
-    return isMotorProtocolDshot() || isMotorProtocolSerialShot();
+    return isMotorProtocolDshot();
 }
 
 void pwmRequestMotorTelemetry(int motorIndex)
@@ -441,16 +432,6 @@ void pwmCompleteMotorUpdate(void) {
         }
     }
 #endif
-
-#ifdef USE_SERIALSHOT
-    if (isMotorProtocolSerialShot()) {
-        for (int index = 0; index < motorCount; index++) {
-            serialshotUpdateMotor(index, motors[index].value);
-        }
-
-        serialshotSendUpdate();
-    }
-#endif
 }
 
 #else // digital motor protocol
@@ -481,13 +462,11 @@ void pwmMotorPreconfigure(void)
         case PWM_TYPE_STANDARD:
         case PWM_TYPE_BRUSHED:
         case PWM_TYPE_ONESHOT125:
-        case PWM_TYPE_ONESHOT42:
         case PWM_TYPE_MULTISHOT:
             motorWritePtr = pwmWriteStandard;
             break;
 
 #ifdef USE_DSHOT
-        case PWM_TYPE_DSHOT1200:
         case PWM_TYPE_DSHOT600:
         case PWM_TYPE_DSHOT300:
         case PWM_TYPE_DSHOT150:
@@ -495,15 +474,6 @@ void pwmMotorPreconfigure(void)
             motorWritePtr = pwmWriteDigital;
             break;
 #endif
-
-#ifdef USE_SERIALSHOT
-        case PWM_TYPE_SERIALSHOT:
-            // Kick off SerialShot driver initalization
-            serialshotInitialize();
-            motorConfigDigitalUpdateInterval(motorConfig()->motorPwmRate);
-            motorWritePtr = pwmWriteDigital;
-            break;
-#endif
     }
 }
 
@@ -518,16 +488,11 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
 
-    case PWM_TYPE_ONESHOT42:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 42e-6f, 42e-6f, motorConfig()->motorPwmRate, enableOutput);
-        break;
-
     case PWM_TYPE_MULTISHOT:
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
 
 #ifdef USE_DSHOT
-    case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
diff --git a/src/main/drivers/rangefinder/rangefinder.h b/src/main/drivers/rangefinder/rangefinder.h
index 9efcf0dad0..797a29a6c0 100644
--- a/src/main/drivers/rangefinder/rangefinder.h
+++ b/src/main/drivers/rangefinder/rangefinder.h
@@ -27,13 +27,6 @@
 
 struct rangefinderDev_s;
 
-typedef struct rangefinderHardwarePins_s {
-    ioTag_t triggerTag;
-    ioTag_t echoTag;
-} rangefinderHardwarePins_t;
-
-struct rangefinderDev_s;
-
 typedef void (*rangefinderOpInitFuncPtr)(struct rangefinderDev_s * dev);
 typedef void (*rangefinderOpStartFuncPtr)(struct rangefinderDev_s * dev);
 typedef int32_t (*rangefinderOpReadFuncPtr)(struct rangefinderDev_s * dev);
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04.c b/src/main/drivers/rangefinder/rangefinder_hcsr04.c
deleted file mode 100644
index fe935473bf..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04.c
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#if defined(USE_RANGEFINDER_HCSR04)
-
-#include "build/build_config.h"
-
-#include "common/time.h"
-
-#include "drivers/time.h"
-#include "drivers/exti.h"
-#include "drivers/io.h"
-#include "drivers/nvic.h"
-#include "drivers/rcc.h"
-
-#include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
-
-#define HCSR04_MAX_RANGE_CM 400 // 4m, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_DECIDEGREES 300 // recommended cone angle30 degrees, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES 450 // in practice 45 degrees seems to work well
-
-
-/* HC-SR04 consists of ultrasonic transmitter, receiver, and control circuits.
- * When triggered it sends out a series of 40KHz ultrasonic pulses and receives
- * echo from an object. The distance between the unit and the object is calculated
- * by measuring the traveling time of sound and output it as the width of a TTL pulse.
- *
- * *** Warning: HC-SR04 operates at +5V ***
- *
- */
-
-static volatile timeDelta_t hcsr04SonarPulseTravelTime = 0;
-static volatile timeMs_t lastMeasurementReceivedAt;
-static volatile int32_t lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-static timeMs_t lastMeasurementStartedAt = 0;
-
-#ifdef USE_EXTI
-static extiCallbackRec_t hcsr04_extiCallbackRec;
-#endif
-
-static IO_t echoIO;
-static IO_t triggerIO;
-
-#if !defined(UNIT_TEST)
-void hcsr04_extiHandler(extiCallbackRec_t* cb)
-{
-    static timeUs_t timing_start;
-    UNUSED(cb);
-
-    if (IORead(echoIO) != 0) {
-        timing_start = micros();
-    } else {
-        const timeUs_t timing_stop = micros();
-        if (timing_stop > timing_start) {
-            lastMeasurementReceivedAt = millis();
-            hcsr04SonarPulseTravelTime = timing_stop - timing_start;
-        }
-    }
-}
-#endif
-
-void hcsr04_init(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-}
-
-#define HCSR04_MinimumFiringIntervalMs 60
-
-/*
- * Start a range reading
- * Called periodically by the scheduler
- * Measurement reading is done asynchronously, using interrupt
- */
-void hcsr04_start_reading(void)
-{
-#if !defined(UNIT_TEST)
-#ifdef RANGEFINDER_HCSR04_TRIG_INVERTED
-    IOLo(triggerIO);
-    delayMicroseconds(11);
-    IOHi(triggerIO);
-#else
-    IOHi(triggerIO);
-    delayMicroseconds(11);
-    IOLo(triggerIO);
-#endif
-#endif
-}
-
-void hcsr04_update(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    const timeMs_t timeNowMs = millis();
-
-    // the firing interval of the trigger signal should be greater than 60ms
-    // to avoid interference between consecutive measurements
-    if (timeNowMs > lastMeasurementStartedAt + HCSR04_MinimumFiringIntervalMs) {
-        // We should have a valid measurement within 60ms of trigger
-        if ((lastMeasurementReceivedAt - lastMeasurementStartedAt) <= HCSR04_MinimumFiringIntervalMs) {
-            // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
-            // The ping travels out and back, so to find the distance of the
-            // object we take half of the distance traveled.
-            // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
-
-            lastCalculatedDistance = hcsr04SonarPulseTravelTime / 59;
-            if (lastCalculatedDistance > HCSR04_MAX_RANGE_CM) {
-                lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-            }
-        }
-        else {
-            // No measurement within reasonable time - indicate failure
-            lastCalculatedDistance = RANGEFINDER_HARDWARE_FAILURE;
-        }
-
-        // Trigger a new measurement
-        lastMeasurementStartedAt = timeNowMs;
-        hcsr04_start_reading();
-    }
-
-}
-
-/**
- * Get the distance that was measured by the last pulse, in centimeters.
- */
-int32_t hcsr04_get_distance(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    return lastCalculatedDistance;
-}
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins)
-{
-    bool detected = false;
-
-#if defined(STM32F3) || defined(STM32F4)
-    RCC_ClockCmd(RCC_APB2(SYSCFG), ENABLE);
-#endif
-
-    triggerIO = IOGetByTag(rangefinderHardwarePins->triggerTag);
-    echoIO = IOGetByTag(rangefinderHardwarePins->echoTag);
-
-    if (IOGetOwner(triggerIO) != OWNER_FREE) {
-        return false;
-    }
-
-    if (IOGetOwner(echoIO) != OWNER_FREE) {
-        return false;
-    }
-
-    // trigger pin
-    IOInit(triggerIO, OWNER_RANGEFINDER, RESOURCE_OUTPUT, 0);
-    IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
-    IOLo(triggerIO);
-    delay(100);
-
-    // echo pin
-    IOInit(echoIO, OWNER_RANGEFINDER, RESOURCE_INPUT, 0);
-    IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
-
-    // HC-SR04 echo line should be low by default and should return a response pulse when triggered
-    if (IORead(echoIO) == false) {
-        for (int i = 0; i < 5 && !detected; i++) {
-            timeMs_t requestTime = millis();
-            hcsr04_start_reading();
-
-            while ((millis() - requestTime) < HCSR04_MinimumFiringIntervalMs) {
-                if (IORead(echoIO) == true) {
-                    detected = true;
-                    break;
-                }
-            }
-        }
-    }
-
-    if (detected) {
-        // Hardware detected - configure the driver
-#ifdef USE_EXTI
-        EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
-        EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
-        EXTIEnable(echoIO, true);
-#endif
-
-        dev->delayMs = 100;
-        dev->maxRangeCm = HCSR04_MAX_RANGE_CM;
-        dev->detectionConeDeciDegrees = HCSR04_DETECTION_CONE_DECIDEGREES;
-        dev->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
-
-        dev->init = &hcsr04_init;
-        dev->update = &hcsr04_update;
-        dev->read = &hcsr04_get_distance;
-
-        return true;
-    }
-    else {
-        // Not detected - free resources
-        IORelease(triggerIO);
-        IORelease(echoIO);
-        return false;
-    }
-}
-
-#endif
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04.h b/src/main/drivers/rangefinder/rangefinder_hcsr04.h
deleted file mode 100644
index a5647d81fd..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include "drivers/rangefinder/rangefinder.h"
-
-#define RANGEFINDER_HCSR04_TASK_PERIOD_MS 70
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins);
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 1fbafc3165..2bea10ec0f 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -265,9 +265,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_ONESHOT125:   // Limited to 3900 Hz
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
         break;
-    case PWM_TYPE_ONESHOT42:    // 2-8 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000);
-        break;
     case PWM_TYPE_MULTISHOT:    // 2-16 kHz
         motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
         break;
@@ -287,14 +284,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_DSHOT600:
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
         break;
-    case PWM_TYPE_DSHOT1200:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 32000);
-        break;
-#endif
-#ifdef USE_SERIALSHOT
-    case PWM_TYPE_SERIALSHOT:   // 2-4 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 4000);
-        break;
 #endif
     }
 #endif
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 310dffdb3f..fba1c08894 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -929,7 +929,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 #endif
 
-    mixTable(dT);
+    mixTable();
 
     if (isMixerUsingServos()) {
         servoMixer(dT);
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 20b754d626..1250872995 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -364,20 +364,6 @@ void init(void)
     updateHardwareRevision();
 #endif
 
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
-#if defined(FURYF3) || defined(OMNIBUS) || defined(SPRACINGF3MINI)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
-    }
-#endif
-#endif
-
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2) && defined(SPRACINGF3)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
-    }
-#endif
-
 #ifdef USE_USB_MSC
     /* MSC mode will start after init, but will not allow scheduler to run,
      * so there is no bottleneck in reading and writing data
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 4f3fd5dec8..0ad29c16e7 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -7,13 +7,13 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
+    values: ["NONE", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
@@ -35,7 +35,7 @@ tables:
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol
-    values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
+    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
@@ -861,18 +861,6 @@ groups:
         field: motorPwmRate
         min: 50
         max: 32000
-      - name: motor_accel_time
-        description: "Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorAccelTimeMs
-        min: 0
-        max: 1000
-      - name: motor_decel_time
-        description: "Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorDecelTimeMs
-        min: 0
-        max: 1000
       - name: motor_pwm_protocol
         description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
         default_value: "ONESHOT125"
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b92c999e3b..43d399a13f 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -102,15 +102,13 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
 
 #define DEFAULT_MAX_THROTTLE    1850
 
-PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 8);
+PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
     .motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
     .maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
     .mincommand = SETTING_MIN_COMMAND_DEFAULT,
-    .motorAccelTimeMs = SETTING_MOTOR_ACCEL_TIME_DEFAULT,
-    .motorDecelTimeMs = SETTING_MOTOR_DECEL_TIME_DEFAULT,
     .motorPoleCount = SETTING_MOTOR_POLES_DEFAULT,            // Most brushless motors that we use are 14 poles
 );
 
@@ -118,9 +116,6 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTO
 
 #define CRASH_OVER_AFTER_CRASH_FLIP_STICK_MIN 0.15f
 
-typedef void (*motorRateLimitingApplyFnPtr)(const float dT);
-static EXTENDED_FASTRAM motorRateLimitingApplyFnPtr motorRateLimitingApplyFn;
-
 int getThrottleIdleValue(void)
 {
     if (!throttleIdleValue) {
@@ -201,44 +196,6 @@ void nullMotorRateLimiting(const float dT)
     UNUSED(dT);
 }
 
-void applyMotorRateLimiting(const float dT)
-{
-    static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
-
-    if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-        // FIXME: Don't apply rate limiting in 3D mode
-        for (int i = 0; i < motorCount; i++) {
-            motorPrevious[i] = motor[i];
-        }
-    }
-    else {
-        // Calculate max motor step
-        const uint16_t motorRange = motorConfig()->maxthrottle - throttleIdleValue;
-        const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
-        const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
-
-        for (int i = 0; i < motorCount; i++) {
-            // Apply motor rate limiting
-            motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
-
-            // Handle throttle below min_throttle (motor start/stop)
-            if (motorPrevious[i] < throttleIdleValue) {
-                if (motor[i] < throttleIdleValue) {
-                    motorPrevious[i] = motor[i];
-                }
-                else {
-                    motorPrevious[i] = throttleIdleValue;
-                }
-            }
-        }
-    }
-
-    // Update motor values
-    for (int i = 0; i < motorCount; i++) {
-        motor[i] = motorPrevious[i];
-    }
-}
-
 void mixerInit(void)
 {
     computeMotorCount();
@@ -253,12 +210,6 @@ void mixerInit(void)
 
     mixerResetDisarmedMotors();
 
-    if (motorConfig()->motorAccelTimeMs || motorConfig()->motorDecelTimeMs) {
-        motorRateLimitingApplyFn = applyMotorRateLimiting;
-    } else {
-        motorRateLimitingApplyFn = nullMotorRateLimiting;
-    }
-
     if (mixerConfig()->motorDirectionInverted) {
         motorYawMultiplier = -1;
     } else {
@@ -516,7 +467,7 @@ static int getReversibleMotorsThrottleDeadband(void)
     return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue;
 }
 
-void FAST_CODE mixTable(const float dT)
+void FAST_CODE mixTable()
 {
 #ifdef USE_DSHOT
     if (FLIGHT_MODE(TURTLE_MODE)) {
@@ -649,9 +600,6 @@ void FAST_CODE mixTable(const float dT)
             motor[i] = motor_disarmed[i];
         }
     }
-
-    /* Apply motor acceleration/deceleration limit */
-    motorRateLimitingApplyFn(dT);
 }
 
 int16_t getThrottlePercent(void)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index e40842cb81..211923aa0e 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -80,8 +80,6 @@ typedef struct motorConfig_s {
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;
-    uint16_t motorAccelTimeMs;              // Time limit for motor to accelerate from 0 to 100% throttle [ms]
-    uint16_t motorDecelTimeMs;              // Time limit for motor to decelerate from 0 to 100% throttle [ms]
     uint16_t digitalIdleOffsetValue;
     uint8_t motorPoleCount;                 // Magnetic poles in the motors for calculating actual RPM from eRPM provided by ESC telemetry
 } motorConfig_t;
@@ -115,7 +113,7 @@ void writeAllMotors(int16_t mc);
 void mixerInit(void);
 void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
-void mixTable(const float dT);
+void mixTable(void);
 void writeMotors(void);
 void processServoAutotrim(const float dT);
 void processServoAutotrimMode(void);
diff --git a/src/main/io/esc_serialshot.c b/src/main/io/esc_serialshot.c
deleted file mode 100644
index 29fe5d5232..0000000000
--- a/src/main/io/esc_serialshot.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * This file is part of INAV Project.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this file,
- * You can obtain one at http://mozilla.org/MPL/2.0/.
- *
- * Alternatively, the contents of this file may be used under the terms
- * of the GNU General Public License Version 3, as described below:
- *
- * This file is free software: you may copy, redistribute and/or modify
- * it under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or (at your
- * option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see http://www.gnu.org/licenses/.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <ctype.h>
-#include <math.h>
-
-#include "platform.h"
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "common/maths.h"
-#include "common/crc.h"
-
-#include "io/serial.h"
-#include "io/esc_serialshot.h"
-
-#if defined(USE_SERIALSHOT)
-
-#define SERIALSHOT_UART_BAUD            921600
-#define SERIALSHOT_PKT_DEFAULT_HEADER   (0x00)  // Default header (motors 1-4, regular 4-in-1 ESC)
-
-
-typedef struct __attribute__((packed)) {
-    uint8_t hdr;            // Header/version marker
-    uint8_t motorData[6];   // 12 bit per motor
-    uint8_t crc;            // CRC8/DVB-T of hdr & motorData
-} serialShortPacket_t;
-
-
-static serialShortPacket_t txPkt;
-static uint16_t motorValues[4];
-static serialPort_t * escPort = NULL;
-static serialPortConfig_t * portConfig;
-
-bool serialshotInitialize(void)
-{
-    // Avoid double initialization
-    if (escPort) {
-        return true;
-    }
-
-    portConfig = findSerialPortConfig(FUNCTION_ESCSERIAL);
-    if (!portConfig) {
-        return false;
-    }
-
-    escPort = openSerialPort(portConfig->identifier, FUNCTION_ESCSERIAL, NULL, NULL, SERIALSHOT_UART_BAUD, MODE_RXTX, SERIAL_NOT_INVERTED | SERIAL_UNIDIR);
-    if (!escPort) {
-        return false;
-    }
-
-    return true;
-}
-
-void serialshotUpdateMotor(int index, uint16_t value)
-{
-    if (index < 0 || index > 3) {
-        return;
-    }
-
-    motorValues[index] = value;
-}
-
-void serialshotSendUpdate(void)
-{
-    // Check if the port is initialized
-    if (!escPort) {
-        return;
-    }
-
-    // Skip update if previous one is not yet fully sent
-    // This helps to avoid buffer overflow and evenyually the data corruption
-    if (!isSerialTransmitBufferEmpty(escPort)) {
-        return;
-    }
-
-    txPkt.hdr = SERIALSHOT_PKT_DEFAULT_HEADER;
-
-    txPkt.motorData[0] = motorValues[0] & 0x00FF;
-    txPkt.motorData[1] = motorValues[1] & 0x00FF;
-    txPkt.motorData[2] = motorValues[2] & 0x00FF;
-    txPkt.motorData[3] = motorValues[3] & 0x00FF;
-    txPkt.motorData[4] = (((motorValues[0] & 0xF00) >> 8) << 0) | (((motorValues[1] & 0xF00) >> 8) << 4);
-    txPkt.motorData[5] = (((motorValues[2] & 0xF00) >> 8) << 0) | (((motorValues[3] & 0xF00) >> 8) << 4);
-
-    txPkt.crc = crc8_dvb_s2(0x00, txPkt.hdr);
-    txPkt.crc = crc8_dvb_s2_update(txPkt.crc, txPkt.motorData, sizeof(txPkt.motorData));
-
-    serialWriteBuf(escPort, (const uint8_t *)&txPkt, sizeof(txPkt));
-}
-
-#endif
diff --git a/src/main/io/pwmdriver_i2c.c b/src/main/io/pwmdriver_i2c.c
index dc5e930457..0103a29102 100644
--- a/src/main/io/pwmdriver_i2c.c
+++ b/src/main/io/pwmdriver_i2c.c
@@ -7,6 +7,9 @@
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"
+#include "platform.h"
+
+#ifdef USE_PWM_SERVO_DRIVER
 
 #define PWM_DRIVER_IMPLEMENTATION_COUNT 1
 #define PWM_DRIVER_MAX_CYCLE 4
@@ -63,3 +66,5 @@ void pwmDriverSync(void) {
         cycle = 0;
     }
 }
+
+#endif
\ No newline at end of file
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 92ea43ee6b..a6ca548dd1 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -41,6 +41,7 @@
 #include "drivers/compass/compass_mpu9250.h"
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_rm3100.h"
+#include "drivers/compass/compass_vcm5883.h"
 #include "drivers/compass/compass_msp.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -62,7 +63,7 @@ mag_t mag;                   // mag access functions
 
 #ifdef USE_MAG
 
-PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 5);
 
 PG_RESET_TEMPLATE(compassConfig_t, compassConfig,
     .mag_align = SETTING_ALIGN_MAG_DEFAULT,
@@ -246,6 +247,19 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_VCM5883:
+#ifdef USE_MAG_VCM5883
+        if (vcm5883Detect(dev)) {
+            magHardware = MAG_VCM5883;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index fb0e75367f..389e516847 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -42,7 +42,8 @@ typedef enum {
     MAG_LIS3MDL = 11,
     MAG_MSP = 12,
     MAG_RM3100 = 13,
-    MAG_FAKE = 14,
+    MAG_VCM5883 = 14,
+    MAG_FAKE = 15,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index b4394f5a5c..7f127f83e8 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -36,7 +36,6 @@
 #include "drivers/io.h"
 #include "drivers/time.h"
 #include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
 #include "drivers/rangefinder/rangefinder_srf10.h"
 #include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
 #include "drivers/rangefinder/rangefinder_vl53l0x.h"
@@ -65,28 +64,13 @@ rangefinder_t rangefinder;
 #define RANGEFINDER_DYNAMIC_FACTOR              75
 
 #ifdef USE_RANGEFINDER
-PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 2);
 
 PG_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig,
     .rangefinder_hardware = SETTING_RANGEFINDER_HARDWARE_DEFAULT,
     .use_median_filtering = SETTING_RANGEFINDER_MEDIAN_FILTER_DEFAULT,
 );
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void)
-{
-    static rangefinderHardwarePins_t rangefinderHardwarePins;
-
-#if defined(RANGEFINDER_HCSR04_TRIGGER_PIN)
-    rangefinderHardwarePins.triggerTag = IO_TAG(RANGEFINDER_HCSR04_TRIGGER_PIN);
-    rangefinderHardwarePins.echoTag = IO_TAG(RANGEFINDER_HCSR04_ECHO_PIN);
-#else
-    // No Trig/Echo hardware rangefinder
-    rangefinderHardwarePins.triggerTag = IO_TAG(NONE);
-    rangefinderHardwarePins.echoTag = IO_TAG(NONE);
-#endif
-    return &rangefinderHardwarePins;
-}
-
 /*
  * Detect which rangefinder is present
  */
@@ -96,18 +80,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
     requestedSensors[SENSOR_INDEX_RANGEFINDER] = rangefinderHardwareToUse;
 
     switch (rangefinderHardwareToUse) {
-        case RANGEFINDER_HCSR04:
-#ifdef USE_RANGEFINDER_HCSR04
-            {
-                const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-                if (hcsr04Detect(dev, rangefinderHardwarePins)) {   // FIXME: Do actual detection if HC-SR04 is plugged in
-                    rangefinderHardware = RANGEFINDER_HCSR04;
-                    rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_TASK_PERIOD_MS));
-                }
-            }
-#endif
-            break;
-
         case RANGEFINDER_SRF10:
 #ifdef USE_RANGEFINDER_SRF10
             if (srf10Detect(dev)) {
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index 491a6a4a8c..e2d603da60 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -23,16 +23,14 @@
 
 typedef enum {
     RANGEFINDER_NONE        = 0,
-    RANGEFINDER_HCSR04      = 1,
-    RANGEFINDER_SRF10       = 2,
-    RANGEFINDER_HCSR04I2C   = 3,
-    RANGEFINDER_VL53L0X     = 4,
-    RANGEFINDER_MSP         = 5,
-    RANGEFINDER_UNUSED      = 6,    // Was UIB
-    RANGEFINDER_BENEWAKE    = 7,
-    RANGEFINDER_VL53L1X     = 8,
-    RANGEFINDER_US42        = 9,
-    RANGEFINDER_TOF10102I2C = 10,
+    RANGEFINDER_SRF10       = 1,
+    RANGEFINDER_HCSR04I2C   = 2,
+    RANGEFINDER_VL53L0X     = 3,
+    RANGEFINDER_MSP         = 4,
+    RANGEFINDER_BENEWAKE    = 5,
+    RANGEFINDER_VL53L1X     = 6,
+    RANGEFINDER_US42        = 7,
+    RANGEFINDER_TOF10102I2C = 8,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
@@ -52,8 +50,6 @@ typedef struct rangefinder_s {
 
 extern rangefinder_t rangefinder;
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void);
-
 bool rangefinderInit(void);
 
 int32_t rangefinderGetLatestAltitude(void);
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index 4342800797..85c709edab 100755
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -163,4 +163,3 @@
 // ESC-related features
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/CLRACINGF4AIR/target.h b/src/main/target/CLRACINGF4AIR/target.h
index 45778103a9..dab824e036 100644
--- a/src/main/target/CLRACINGF4AIR/target.h
+++ b/src/main/target/CLRACINGF4AIR/target.h
@@ -115,6 +115,7 @@
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define BNO055_I2C_BUS          BUS_I2C2
+#define MAG_I2C_BUS             BUS_I2C2
 #endif
 
 #define USE_ADC
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
index c111bcb378..a99cf0cbcd 100755
--- a/src/main/target/COLIBRI/target.h
+++ b/src/main/target/COLIBRI/target.h
@@ -124,9 +124,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C3
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN      PB8
-#define RANGEFINDER_HCSR04_ECHO_PIN         PB9
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h
index 2ff18eeccb..ad863e2e0a 100644
--- a/src/main/target/DALRCF722DUAL/target.h
+++ b/src/main/target/DALRCF722DUAL/target.h
@@ -138,7 +138,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS    6
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/FALCORE/target.h b/src/main/target/FALCORE/target.h
index 5d02d9c744..502dfee9ed 100755
--- a/src/main/target/FALCORE/target.h
+++ b/src/main/target/FALCORE/target.h
@@ -117,9 +117,6 @@
 #define BIND_PIN                PA3
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA7
-#define RANGEFINDER_HCSR04_ECHO_PIN          PA2
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_GPS | FEATURE_TELEMETRY | FEATURE_LED_STRIP)
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
diff --git a/src/main/target/FF_F35_LIGHTNING/target.h b/src/main/target/FF_F35_LIGHTNING/target.h
index a415ae541a..6fd417b2eb 100644
--- a/src/main/target/FF_F35_LIGHTNING/target.h
+++ b/src/main/target/FF_F35_LIGHTNING/target.h
@@ -42,6 +42,7 @@
 
 #define USE_MAG
 #define USE_MAG_MPU9250
+#define MAG_I2C_BUS            BUS_I2C1
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 331de0d918..2b150d3f02 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -147,9 +147,6 @@
 
 // *************** RANGEFINDER *****************************
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PB10
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB11
 // #define USE_RANGEFINDER_SRF10
 
 // *************** NAV *****************************
diff --git a/src/main/target/FLYWOOF411/target.h b/src/main/target/FLYWOOF411/target.h
index f949cbf4f6..22229390b0 100644
--- a/src/main/target/FLYWOOF411/target.h
+++ b/src/main/target/FLYWOOF411/target.h
@@ -165,7 +165,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/FRSKY_ROVERF7/target.h b/src/main/target/FRSKY_ROVERF7/target.h
index f729d2bd60..ef6334ca60 100755
--- a/src/main/target/FRSKY_ROVERF7/target.h
+++ b/src/main/target/FRSKY_ROVERF7/target.h
@@ -150,4 +150,3 @@
 #define MAX_PWM_OUTPUT_PORTS        5
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 9091457131..cba4eca303 100755
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -128,9 +128,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index a2453b1e61..456c68cb2e 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -175,6 +175,5 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 28e94d1e7f..7c3843b047 100755
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -171,7 +171,6 @@
 #define TARGET_IO_PORTD        (BIT(2))
 
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #ifdef KAKUTEF4V2
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 6e7188f9f7..8914f81af1 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -160,7 +160,6 @@
 #define MAX_PWM_OUTPUT_PORTS            6
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS         BUS_I2C1
diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index ae1eb7bb33..d0cbc97389 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -191,7 +191,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 3efdde2835..5f4b9035ae 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -193,7 +193,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index c3dd007b4d..1f14337212 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -199,7 +199,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS       6
 
diff --git a/src/main/target/MATEKF411/target.h b/src/main/target/MATEKF411/target.h
index b73c6013c7..124dcbd0a2 100755
--- a/src/main/target/MATEKF411/target.h
+++ b/src/main/target/MATEKF411/target.h
@@ -160,7 +160,6 @@
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 8bb3e933ef..0cb067d99e 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -163,7 +163,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index b1b657e424..47f0d3508c 100755
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -157,6 +157,5 @@
 #define MAX_PWM_OUTPUT_PORTS        7
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define BNO055_I2C_BUS          BUS_I2C1
diff --git a/src/main/target/MATEKF722PX/target.h b/src/main/target/MATEKF722PX/target.h
index 83d7d669cb..8edf1e7755 100755
--- a/src/main/target/MATEKF722PX/target.h
+++ b/src/main/target/MATEKF722PX/target.h
@@ -170,5 +170,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index 6f62d53406..e55e379131 100644
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -191,7 +191,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define BNO055_I2C_BUS          BUS_I2C1
diff --git a/src/main/target/MATEKF765/target.h b/src/main/target/MATEKF765/target.h
index 593cab78a4..ea3414f2c6 100644
--- a/src/main/target/MATEKF765/target.h
+++ b/src/main/target/MATEKF765/target.h
@@ -229,4 +229,3 @@
 #define MAX_PWM_OUTPUT_PORTS        16
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 84449f9f33..126ce22d18 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -205,5 +205,4 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
diff --git a/src/main/target/OMNIBUSF7NXT/target.h b/src/main/target/OMNIBUSF7NXT/target.h
index de7da72927..4396302717 100644
--- a/src/main/target/OMNIBUSF7NXT/target.h
+++ b/src/main/target/OMNIBUSF7NXT/target.h
@@ -169,7 +169,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    6
diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h
index 738ed44638..18e6719435 100644
--- a/src/main/target/RCEXPLORERF3/target.h
+++ b/src/main/target/RCEXPLORERF3/target.h
@@ -90,9 +90,6 @@
 #define WS2811_PIN                      PB8 // TIM16_CH1
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA6   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
 
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index f8a3c7264c..4f4befce66 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -31,7 +31,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // MPU6000 interrupts
 #define USE_EXTI
diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h
index 1a701ed987..fb9c522642 100644
--- a/src/main/target/RUSH_BLADE_F7/target.h
+++ b/src/main/target/RUSH_BLADE_F7/target.h
@@ -142,5 +142,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index d6c562aa0b..a23dc48e89 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -161,6 +161,5 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS    4
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index 5052027dc4..f8e60a84ea 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -92,9 +92,7 @@
 #define BIND_PIN                PA3
 
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PA2   // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
+
 
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
 
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index bab9f28842..23d076e466 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -96,9 +96,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
 #define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS             BUS_I2C1
 
diff --git a/src/main/target/ZEEZF7/target.h b/src/main/target/ZEEZF7/target.h
index 5ad4f85e6e..c01f4ede4d 100755
--- a/src/main/target/ZEEZF7/target.h
+++ b/src/main/target/ZEEZF7/target.h
@@ -231,4 +231,3 @@
 #endif
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 07bb45a0d1..35b1b62701 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -79,10 +79,14 @@
 #endif
 
 #if (MCU_FLASH_SIZE > 256)
+
+#if defined(MAG_I2C_BUS) || defined(VCM5883_I2C_BUS)    
+#define USE_MAG_VCM5883
+#endif
+
 #define USE_MR_BRAKING_MODE
 #define USE_PITOT
 #define USE_PITOT_ADC
-#define USE_PITOT_VIRTUAL
 
 #define USE_ALPHA_BETA_GAMMA_FILTER
 #define USE_DYNAMIC_FILTERS
@@ -90,7 +94,6 @@
 #define USE_SMITH_PREDICTOR
 #define USE_RATE_DYNAMICS
 #define USE_EXTENDED_CMS_MENUS
-#define USE_HOTT_TEXTMODE
 
 // NAZA GPS support for F4+ only
 #define USE_GPS_PROTO_NAZA
@@ -127,8 +130,6 @@
 #define DASHBOARD_ARMED_BITMAP
 #define USE_OLED_UG2864
 
-#define USE_PWM_DRIVER_PCA9685
-
 #define USE_OSD
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
@@ -147,14 +148,10 @@
 #define USE_GPS_PROTO_MTK
 
 #define USE_TELEMETRY_SIM
-#define USE_TELEMETRY_HOTT
 #define USE_TELEMETRY_MAVLINK
 #define USE_MSP_OVER_TELEMETRY
 
 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
-#define USE_SERIALRX_SUMD
-#define USE_SERIALRX_SUMH
-#define USE_SERIALRX_XBUS
 #define USE_SERIALRX_JETIEXBUS
 #define USE_SERIALRX_MAVLINK
 #define USE_TELEMETRY_SRXL
@@ -194,7 +191,6 @@
 #define USE_RX_MSP
 //#define USE_MSP_RC_OVERRIDE
 #define USE_SERIALRX_CRSF
-#define USE_PWM_SERVO_DRIVER
 #define USE_SERIAL_PASSTHROUGH
 #define NAV_MAX_WAYPOINTS       60
 #define USE_RCDEVICE
@@ -203,7 +199,6 @@
 #define USE_VTX_CONTROL
 #define USE_VTX_SMARTAUDIO
 #define USE_VTX_TRAMP
-#define USE_VTX_FFPV
 
 #ifndef STM32F3 //F3 series does not have enoug RAM to support logic conditions
 #define USE_PROGRAMMING_FRAMEWORK
@@ -220,3 +215,19 @@
 #define SKIP_TASK_STATISTICS
 
 #endif
+
+//Designed to free space of F722 and F411 MCUs
+#if (MCU_FLASH_SIZE > 512)
+
+#define USE_VTX_FFPV
+#define USE_PITOT_VIRTUAL
+#define USE_PWM_DRIVER_PCA9685
+#define USE_PWM_SERVO_DRIVER
+
+#define USE_SERIALRX_SUMD
+#define USE_SERIALRX_SUMH
+#define USE_SERIALRX_XBUS
+#define USE_TELEMETRY_HOTT
+#define USE_HOTT_TEXTMODE
+
+#endif
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index 3f4db095c3..47d94a12d8 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -248,6 +248,14 @@
     BUSDEV_REGISTER_SPI(busdev_rm3100,      DEVHW_RM3100,       RM3100_SPI_BUS,     RM3100_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
     #endif
 #endif
+
+#if defined(USE_MAG_VCM5883)
+    #if !defined(VCM5883_I2C_BUS)
+        #define VCM5883_I2C_BUS MAG_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_vcm5883,     DEVHW_VCM5883,      VCM5883_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
+#endif
+
 #endif
 
 
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index d7603c9e6f..1fd40fcb44 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -58,7 +58,6 @@ extern uint8_t __config_end;
 #undef USE_SERIALRX_SUMH
 #undef USE_SERIALRX_XBUS
 #undef USE_SERIALRX_JETIEXBUS
-#undef USE_PWM_SERVO_DRIVER
 #endif
 
 #ifndef BEEPER_PWM_FREQUENCY
diff --git a/src/test/unit/sonar_unittest.cc.txt b/src/test/unit/sonar_unittest.cc.txt
deleted file mode 100644
index dc60b0949b..0000000000
--- a/src/test/unit/sonar_unittest.cc.txt
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-#include <math.h>
-
-extern "C" {
-    #include "build_config.h"
-    #include "drivers/rangefinder_hcsr04.h"
-    #include "sensors/sonar.h"
-    extern int32_t measurement;
-    extern int16_t sonarMaxTiltDeciDegrees;
-    void sonarInit(const sonarHardware_t *sonarHardware);
-}
-
-#include "unittest_macros.h"
-#include "gtest/gtest.h"
-
-#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
-
-TEST(SonarUnittest, TestConstants)
-{
-    sonarInit(0);
-    // SONAR_OUT_OF_RANGE must be negative
-    EXPECT_LE(SONAR_OUT_OF_RANGE, 0);
-    // Check against gross errors in max range constants
-    EXPECT_GT(HCSR04_MAX_RANGE_CM, 100);
-}
-
-TEST(SonarUnittest, TestSonarInit)
-{
-    sonarInit(0);
-    // Check against gross errors in max range values
-    EXPECT_GE(sonarCfAltCm, 100);
-    EXPECT_LE(sonarCfAltCm, HCSR04_MAX_RANGE_CM);
-    // Check reasonable values for maximum tilt
-    EXPECT_GE(sonarMaxTiltDeciDegrees, 0);
-    EXPECT_LE(sonarMaxTiltDeciDegrees, 450);
-}
-
-TEST(SonarUnittest, TestDistance)
-{
-    // Check sonar pulse time converted correctly to cm
-    const int echoMicroSecondsPerCm = 59;
-    measurement =  0;
-    EXPECT_EQ(hcsr04_get_distance(), 0);
-
-    measurement =  echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 1);
-
-    measurement =  10 * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 10);
-
-    measurement =  HCSR04_MAX_RANGE_CM * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), HCSR04_MAX_RANGE_CM);
-}
-
-TEST(SonarUnittest, TestAltitude)
-{
-    sonarInit(0);
-    // Check distance not modified if no tilt
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(0))), 0);
-    EXPECT_EQ(sonarGetLatestAltitude(), 0);
-    EXPECT_EQ(sonarCalculateAltitude(100, cosf(DECIDEGREES_TO_RADIANS(0))), 100);
-    EXPECT_EQ(sonarGetLatestAltitude(), 100);
-
-    // Check that out of range is returned if tilt is too large
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(sonarMaxTiltDeciDegrees+1))), SONAR_OUT_OF_RANGE);
-    EXPECT_EQ(sonarGetLatestAltitude(), SONAR_OUT_OF_RANGE);
-
-    // Check distance at various roll angles
-    // distance 400, 5 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(50))), 398);
-    EXPECT_EQ(sonarGetLatestAltitude(), 398);
-    // distance 400, 10 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(100))), 393);
-    EXPECT_EQ(sonarGetLatestAltitude(), 393);
-    // distance 400, 15 degrees of roll, this corresponds to HC-SR04 specified max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(150))), 386);
-    EXPECT_EQ(sonarGetLatestAltitude(), 386);
-    // distance 400, 20 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(200))), 375);
-    EXPECT_EQ(sonarGetLatestAltitude(), 375);
-    // distance 400, 22.4 degrees of roll, this corresponds to HC-SR04 effective max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(224))), 369);
-    EXPECT_EQ(sonarGetLatestAltitude(), 369);
-}
-
-// STUBS
-extern "C" {
-void sensorsSet(uint32_t mask) {UNUSED(mask);}
-}
-

From 2bc9e002726e5860a5014431879e80a7551d6944 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 25 Jul 2021 12:15:30 +0100
Subject: [PATCH 167/336] Fixed inconsistency with Heading in preview and OSD

---
 src/main/common/maths.h | 4 ++--
 src/main/io/osd.c       | 6 ++++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index cc442d1412..4450723a2b 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -62,9 +62,9 @@
 
 #define METERS_TO_CENTIMETERS(m)                (m * 100)
 
-#define CMSEC_TO_CENTIMPH(cms)      (cms * 2.236936)
+#define CMSEC_TO_CENTIMPH(cms)      (cms * 2.2369363)
 #define CMSEC_TO_CENTIKPH(cms)      (cms * 3.6)
-#define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.94384)
+#define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.943845)
 
 // copied from https://code.google.com/p/cxutil/source/browse/include/cxutil/utility.h#70
 #define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar)         \
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 1032620238..6acedd994f 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1678,7 +1678,8 @@ static bool osdDrawSingleElement(uint8_t item)
             } else {
                 buff[1] = buff[2] = buff[3] = '-';
             }
-            buff[4] = '\0';
+            buff[4] = SYM_DEGREES;
+            buff[5] = '\0';
             break;
         }
 
@@ -2741,7 +2742,8 @@ static bool osdDrawSingleElement(uint8_t item)
             } else {
                 buff[1] = buff[2] = buff[3] = '-';
             }
-            buff[4] = '\0';
+            buff[4] = SYM_DEGREES;
+            buff[5] = '\0';
             break;
         }
 

From 70c8f07c73fd6534a1912a171b00e77c02f1e18a Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 26 Jul 2021 18:03:52 +0200
Subject: [PATCH 168/336] Allow PT2 and PT3 filters on Dterm

---
 src/main/common/filter.c                   | 35 ++++++++++++-
 src/main/common/filter.h                   | 13 +++--
 src/main/drivers/compass/compass_vcm5883.c |  1 -
 src/main/fc/settings.yaml                  | 16 +++---
 src/main/flight/pid.c                      | 58 +++++++---------------
 5 files changed, 72 insertions(+), 51 deletions(-)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index afa986e8df..71b420eccc 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -381,4 +381,37 @@ FAST_CODE float alphaBetaGammaFilterApply(alphaBetaGammaFilter_t *filter, float
 	return filter->xk;
 }
 
-#endif
\ No newline at end of file
+#endif
+
+FUNCTION_COMPILE_FOR_SIZE
+void initFilter(const uint8_t filterType, filter_t *filter, const float cutoffFrequency, const uint32_t refreshRate) {
+    const float dT = refreshRate * 1e-6f;
+
+    if (cutoffFrequency) {
+        if (filterType == FILTER_PT1) {
+            pt1FilterInit(&filter->pt1, cutoffFrequency, dT);
+        } if (filterType == FILTER_PT2) {
+            pt2FilterInit(&filter->pt2, pt2FilterGain(cutoffFrequency, dT));
+        } if (filterType == FILTER_PT3) {
+            pt3FilterInit(&filter->pt3, pt3FilterGain(cutoffFrequency, dT));
+        } else {
+            biquadFilterInitLPF(&filter->biquad, cutoffFrequency, refreshRate);
+        }
+    }
+}
+
+FUNCTION_COMPILE_FOR_SIZE
+void assignFilterApplyFn(uint8_t filterType, float cutoffFrequency, filterApplyFnPtr *applyFn) {
+    *applyFn = nullFilterApply;
+    if (cutoffFrequency) {
+        if (filterType == FILTER_PT1) {
+            *applyFn = (filterApplyFnPtr) pt1FilterApply;
+        } if (filterType == FILTER_PT2) {
+            *applyFn = (filterApplyFnPtr) pt2FilterApply;
+        } if (filterType == FILTER_PT3) {
+            *applyFn = (filterApplyFnPtr) pt3FilterApply;
+        } else {
+            *applyFn = (filterApplyFnPtr) biquadFilterApply;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 7e6a579efe..c6cedc8649 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -47,12 +47,16 @@ typedef struct biquadFilter_s {
 
 typedef union { 
     biquadFilter_t biquad; 
-    pt1Filter_t pt1; 
+    pt1Filter_t pt1;
+    pt2Filter_t pt2;
+    pt3Filter_t pt3;
 } filter_t;
 
 typedef enum {
     FILTER_PT1 = 0,
-    FILTER_BIQUAD
+    FILTER_BIQUAD,
+    FILTER_PT2,
+    FILTER_PT3
 } filterType_e;
 
 typedef enum {
@@ -127,4 +131,7 @@ float filterGetNotchQ(float centerFrequencyHz, float cutoffFrequencyHz);
 void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, biquadFilterType_e filterType);
 
 void alphaBetaGammaFilterInit(alphaBetaGammaFilter_t *filter, float alpha, float boostGain, float halfLife, float dT);
-float alphaBetaGammaFilterApply(alphaBetaGammaFilter_t *filter, float input);
\ No newline at end of file
+float alphaBetaGammaFilterApply(alphaBetaGammaFilter_t *filter, float input);
+
+void initFilter(uint8_t filterType, filter_t *filter, float cutoffFrequency, uint32_t refreshRate);
+void assignFilterApplyFn(uint8_t filterType, float cutoffFrequency, filterApplyFnPtr *applyFn);
\ No newline at end of file
diff --git a/src/main/drivers/compass/compass_vcm5883.c b/src/main/drivers/compass/compass_vcm5883.c
index b91dccba36..9eb312929b 100644
--- a/src/main/drivers/compass/compass_vcm5883.c
+++ b/src/main/drivers/compass/compass_vcm5883.c
@@ -107,7 +107,6 @@ bool vcm5883Detect(magDev_t * mag)
     }
 
     if (!deviceDetect(mag)) {
-        DEBUG_SET(DEBUG_ALWAYS, 0, 7);
         busDeviceDeInit(mag->busDev);
         return false;
     }
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0b3ad1cb70..b68dede5b6 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -129,6 +129,8 @@ tables:
     enum: vtxLowerPowerDisarm_e
   - name: filter_type
     values: ["PT1", "BIQUAD"]
+  - name: filter_type_full
+    values: ["PT1", "BIQUAD", "PT2", "PT3"]
   - name: log_level
     values: ["ERROR", "WARNING", "INFO", "VERBOSE", "DEBUG"]
   - name: iterm_relax
@@ -1884,24 +1886,24 @@ groups:
         max: 900
       - name: dterm_lpf_hz
         description: "Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value"
-        default_value: 40
+        default_value: 110
         min: 0
         max: 500
       - name: dterm_lpf_type
-        description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
-        default_value: "BIQUAD"
+        description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
+        default_value: "PT2"
         field: dterm_lpf_type
-        table: filter_type
+        table: filter_type_full
       - name: dterm_lpf2_hz
         description: "Cutoff frequency for stage 2 D-term low pass filter"
         default_value: 0
         min: 0
         max: 500
       - name: dterm_lpf2_type
-        description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
-        default_value: "BIQUAD"
+        description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
+        default_value: "PT1"
         field: dterm_lpf2_type
-        table: filter_type
+        table: filter_type_full
       - name: yaw_lpf_hz
         description: "Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
         default_value: 0
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e2f86d2ee2..b95f6973ac 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -309,6 +309,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
 #endif
 );
 
+FUNCTION_COMPILE_FOR_SIZE
 bool pidInitFilters(void)
 {
     const uint32_t refreshRate = getLooptime();
@@ -317,26 +318,9 @@ bool pidInitFilters(void)
         return false;
     }
 
-    // Init other filters
-    if (pidProfile()->dterm_lpf_hz) {
-        for (int axis = 0; axis < 3; ++ axis) {
-            if (pidProfile()->dterm_lpf_type == FILTER_PT1) {
-                pt1FilterInit(&pidState[axis].dtermLpfState.pt1, pidProfile()->dterm_lpf_hz, refreshRate * 1e-6f);
-            } else {
-                biquadFilterInitLPF(&pidState[axis].dtermLpfState.biquad, pidProfile()->dterm_lpf_hz, refreshRate);
-            }
-        }
-    }
-
-    // Init other filters
-    if (pidProfile()->dterm_lpf2_hz) {
-        for (int axis = 0; axis < 3; ++ axis) {
-            if (pidProfile()->dterm_lpf2_type == FILTER_PT1) {
-                pt1FilterInit(&pidState[axis].dtermLpf2State.pt1, pidProfile()->dterm_lpf2_hz, refreshRate * 1e-6f);
-            } else {
-                biquadFilterInitLPF(&pidState[axis].dtermLpf2State.biquad, pidProfile()->dterm_lpf2_hz, refreshRate);
-            }
-        }
+    for (int axis = 0; axis < 3; ++ axis) {
+        initFilter(pidProfile()->dterm_lpf_type, &pidState[axis].dtermLpfState, pidProfile()->dterm_lpf_hz, refreshRate);
+        initFilter(pidProfile()->dterm_lpf2_type, &pidState[axis].dtermLpf2State, pidProfile()->dterm_lpf2_hz, refreshRate);
     }
 
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
@@ -713,8 +697,6 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
     dBoost = pt1FilterApply4(&pidState->dBoostLpf, dBoost, D_BOOST_LPF_HZ, dT);
     dBoost = constrainf(dBoost, dBoostMin, dBoostMax);
 
-    DEBUG_SET(DEBUG_ALWAYS, pidState->axis, dBoost * 100);
-
     return dBoost;
 }
 #else
@@ -733,10 +715,23 @@ static float dTermProcess(pidState_t *pidState, float dT) {
         newDTerm = 0;
     } else {
         float delta = pidState->previousRateGyro - pidState->gyroRate;
+        
+        if (pidState->axis == FD_ROLL) {
+            DEBUG_SET(DEBUG_ALWAYS, 0, delta);
+        }
 
         delta = dTermLpfFilterApplyFn((filter_t *) &pidState->dtermLpfState, delta);
+        
+        if (pidState->axis == FD_ROLL) {
+            DEBUG_SET(DEBUG_ALWAYS, 1, delta);
+        }
+        
         delta = dTermLpf2FilterApplyFn((filter_t *) &pidState->dtermLpf2State, delta);
 
+        if (pidState->axis == FD_ROLL) {
+            DEBUG_SET(DEBUG_ALWAYS, 2, delta);
+        }
+
         // Calculate derivative
         newDTerm =  delta * (pidState->kD / dT) * applyDBoost(pidState, dT);
     }
@@ -1230,23 +1225,8 @@ void pidInit(void)
         usedPidControllerType = pidProfile()->pidControllerType;
     }
 
-    dTermLpfFilterApplyFn = nullFilterApply;
-    if (pidProfile()->dterm_lpf_hz) {
-        if (pidProfile()->dterm_lpf_type == FILTER_PT1) {
-            dTermLpfFilterApplyFn = (filterApplyFnPtr) pt1FilterApply;
-        } else {
-            dTermLpfFilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
-        }
-    }
-
-    dTermLpf2FilterApplyFn = nullFilterApply;
-    if (pidProfile()->dterm_lpf2_hz) {
-        if (pidProfile()->dterm_lpf2_type == FILTER_PT1) {
-            dTermLpf2FilterApplyFn = (filterApplyFnPtr) pt1FilterApply;
-        } else {
-            dTermLpf2FilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
-        }
-    }
+    assignFilterApplyFn(pidProfile()->dterm_lpf_type, pidProfile()->dterm_lpf_hz, &dTermLpfFilterApplyFn);
+    assignFilterApplyFn(pidProfile()->dterm_lpf2_type, pidProfile()->dterm_lpf2_hz, &dTermLpf2FilterApplyFn);
 
     if (usedPidControllerType == PID_TYPE_PIFF) {
         pidControllerApplyFn = pidApplyFixedWingRateController;

From 9cc480099f658cb9502cd4d31f52a525924d2e86 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 26 Jul 2021 21:45:05 +0200
Subject: [PATCH 169/336] Docs update

---
 docs/Settings.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 019593b3ec..8a1ad7b9cc 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -754,11 +754,11 @@ Cutoff frequency for stage 2 D-term low pass filter
 
 ### dterm_lpf2_type
 
-Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation.
+Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| BIQUAD |  |  |
+| PT1 |  |  |
 
 ---
 
@@ -768,17 +768,17 @@ Dterm low pass filter cutoff frequency. Default setting is very conservative and
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 40 | 0 | 500 |
+| 110 | 0 | 500 |
 
 ---
 
 ### dterm_lpf_type
 
-Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation.
+Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| BIQUAD |  |  |
+| PT2 |  |  |
 
 ---
 

From 20512c0e0282821720563897e1066699667f9c2d Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 26 Jul 2021 21:45:37 +0200
Subject: [PATCH 170/336] Remove debug

---
 src/main/flight/pid.c | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b95f6973ac..3a26bbac00 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -716,22 +716,9 @@ static float dTermProcess(pidState_t *pidState, float dT) {
     } else {
         float delta = pidState->previousRateGyro - pidState->gyroRate;
         
-        if (pidState->axis == FD_ROLL) {
-            DEBUG_SET(DEBUG_ALWAYS, 0, delta);
-        }
-
         delta = dTermLpfFilterApplyFn((filter_t *) &pidState->dtermLpfState, delta);
-        
-        if (pidState->axis == FD_ROLL) {
-            DEBUG_SET(DEBUG_ALWAYS, 1, delta);
-        }
-        
         delta = dTermLpf2FilterApplyFn((filter_t *) &pidState->dtermLpf2State, delta);
 
-        if (pidState->axis == FD_ROLL) {
-            DEBUG_SET(DEBUG_ALWAYS, 2, delta);
-        }
-
         // Calculate derivative
         newDTerm =  delta * (pidState->kD / dT) * applyDBoost(pidState, dT);
     }

From 3845265afd7025f204e915dac7acc2c0de11851d Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Tue, 27 Jul 2021 21:59:17 -0300
Subject: [PATCH 171/336] HC-SR04 and US-100 Cleanup

---
 docs/Rangefinder.md                           |   5 +-
 src/main/CMakeLists.txt                       |   2 -
 src/main/drivers/bus.h                        |   1 -
 .../rangefinder/rangefinder_hcsr04_i2c.c      | 125 ------------------
 .../rangefinder/rangefinder_hcsr04_i2c.h      |  22 ---
 src/main/sensors/rangefinder.c                |  10 --
 src/main/sensors/rangefinder.h                |  11 +-
 src/main/target/AIRBOTF4/target.h             |   1 -
 src/main/target/ANYFCF7/target.h              |   1 -
 src/main/target/BETAFLIGHTF4/target.h         |   1 -
 src/main/target/DALRCF405/target.h            |   1 -
 src/main/target/FIREWORKSV2/target.h          |   1 -
 src/main/target/FURYF4OSD/target.h            |   1 -
 src/main/target/IFLIGHTF4_SUCCEXD/target.h    |   1 -
 src/main/target/MATEKF405/target.h            |   1 -
 src/main/target/MATEKF405CAN/target.h         |   1 -
 src/main/target/MATEKF405SE/target.h          |   1 -
 src/main/target/MATEKF411SE/target.h          |   1 -
 src/main/target/OMNIBUSF7/target.h            |   1 -
 src/main/target/SKYSTARSF405HD/target.h       |   1 -
 src/main/target/SPRACINGF3/target.h           |   1 -
 src/main/target/SPRACINGF3EVO/target.h        |   3 -
 src/main/target/SPRACINGF3MINI/target.h       |   3 -
 src/main/target/common.h                      |   1 -
 src/main/target/common_hardware.c             |   9 --
 25 files changed, 6 insertions(+), 200 deletions(-)
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.c
 delete mode 100644 src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.h

diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md
index 620430a6ab..cf1682104f 100644
--- a/docs/Rangefinder.md
+++ b/docs/Rangefinder.md
@@ -14,8 +14,6 @@ Current support of rangefinders in INAV is very limited. They are used only to:
 
 Following rangefinders are supported:
 
-* HC-SR04 - ***DO NOT USE*** HC-SR04 while most popular is not suited to use in noise reach environments (like multirotors). It is proven that this sonar rangefinder start to report random values already at 1.5m above solid concrete surface. Reported altitude is valid up to only 75cm above concrete. ***DO NOT USE***
-* US-100 in trigger-echo mode - Can be used as direct replacement of _HC-SR04_ when `rangefinder_hardware` is set to _HCSR04_. Useful up to 2m over concrete and correctly reporting _out of range_ when out of range
 * SRF10 - experimental
 * INAV_I2C - is a simple [DIY rangefinder interface with Arduino Pro Mini 3.3V](https://github.com/iNavFlight/inav-rangefinder). Can be used to connect when flight controller has no Trigger-Echo ports. 
 * VL53L0X - simple laser rangefinder usable up to 75cm
@@ -24,9 +22,8 @@ Following rangefinders are supported:
 
 ## Connections
 
-Target dependent in case of Trigger/Echo solutions like `HC-SR04` and `US-100`.
 I2C solutions like `VL53L0X` or `INAV_I2C` can be connected to I2C port and used as any other I2C device.
 
 #### Constraints
 
-Target dependent in case of Trigger/Echo solutions like `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`.
\ No newline at end of file
+iNav does not support `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`.
\ No newline at end of file
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 7ff2ed71d0..87dcbcd6ab 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -232,8 +232,6 @@ main_sources(COMMON_SRC
     drivers/pinio.c
     drivers/pinio.h
 
-    drivers/rangefinder/rangefinder_hcsr04_i2c.c
-    drivers/rangefinder/rangefinder_hcsr04_i2c.h
     drivers/rangefinder/rangefinder_srf10.c
     drivers/rangefinder/rangefinder_srf10.h
     drivers/rangefinder/rangefinder_vl53l0x.c
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index 143847e289..c2055c1175 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -140,7 +140,6 @@ typedef enum {
 
     /* Rangefinder modules */
     DEVHW_SRF10,
-    DEVHW_HCSR04_I2C,   // DIY-style adapter
     DEVHW_VL53L0X,
     DEVHW_VL53L1X,
     DEVHW_US42,
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.c b/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.c
deleted file mode 100644
index a38144c28d..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * This file is part of INAV.
- *
- * INAV is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * INAV is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "platform.h"
-
-#if defined(USE_RANGEFINDER) && defined(USE_RANGEFINDER_HCSR04_I2C)
-
-#include "build/build_config.h"
-
-#include "drivers/time.h"
-#include "drivers/bus_i2c.h"
-
-#include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
-
-#include "build/debug.h"
-
-#define HCSR04_I2C_MAX_RANGE_CM 400
-#define HCSR04_I2C_DETECTION_CONE_DECIDEGREES 300
-#define HCSR04_I2C_DETECTION_CONE_EXTENDED_DECIDEGREES 450
-
-#define HCSR04_I2C_Address 0x14
-
-#define HCSR04_I2C_REGISTRY_STATUS 0x00
-#define HCSR04_I2C_REGISTRY_DISTANCE_HIGH 0x01
-#define HCSR04_I2C_REGISTRY_DISTANCE_LOW 0x02
-
-volatile int32_t hcsr04i2cMeasurementCm = RANGEFINDER_OUT_OF_RANGE;
-static bool isHcsr04i2cResponding = false;
-
-static void hcsr04i2cInit(rangefinderDev_t *rangefinder)
-{
-    UNUSED(rangefinder);
-}
-
-void hcsr04i2cUpdate(rangefinderDev_t *rangefinder)
-{
-    uint8_t response[3];
-
-    isHcsr04i2cResponding = busReadBuf(rangefinder->busDev, HCSR04_I2C_REGISTRY_STATUS, response, 3);
-
-    if (!isHcsr04i2cResponding) {
-        hcsr04i2cMeasurementCm = RANGEFINDER_HARDWARE_FAILURE;
-        return;
-    }
-
-    if (response[HCSR04_I2C_REGISTRY_STATUS] == 0) {
-
-        hcsr04i2cMeasurementCm =
-            (int32_t)((int32_t)response[HCSR04_I2C_REGISTRY_DISTANCE_HIGH] << 8) +
-            response[HCSR04_I2C_REGISTRY_DISTANCE_LOW];
-
-    } else {
-        /*
-         * Rangefinder is reporting out-of-range situation
-         */
-        hcsr04i2cMeasurementCm = RANGEFINDER_OUT_OF_RANGE;
-    }
-}
-
-/**
- * Get the distance that was measured by the last pulse, in centimeters.
- */
-int32_t hcsr04i2cGetDistance(rangefinderDev_t *rangefinder)
-{
-    UNUSED(rangefinder);
-    return hcsr04i2cMeasurementCm;
-}
-
-static bool deviceDetect(busDevice_t * busDev)
-{
-    for (int retry = 0; retry < 5; retry++) {
-        uint8_t inquiryResult;
-        delay(150);
-
-        bool ack = busRead(busDev, HCSR04_I2C_REGISTRY_STATUS, &inquiryResult);
-        if (ack) {
-            return true;
-        }
-    };
-
-    return false;
-}
-
-bool hcsr04i2c0Detect(rangefinderDev_t *rangefinder)
-{
-    rangefinder->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_HCSR04_I2C, 0, OWNER_RANGEFINDER);
-    if (rangefinder->busDev == NULL) {
-        return false;
-    }
-
-    if (!deviceDetect(rangefinder->busDev)) {
-        busDeviceDeInit(rangefinder->busDev);
-        return false;
-    }
-
-    rangefinder->delayMs = RANGEFINDER_HCSR04_i2C_TASK_PERIOD_MS;
-    rangefinder->maxRangeCm = HCSR04_I2C_MAX_RANGE_CM;
-    rangefinder->detectionConeDeciDegrees = HCSR04_I2C_DETECTION_CONE_DECIDEGREES;
-    rangefinder->detectionConeExtendedDeciDegrees = HCSR04_I2C_DETECTION_CONE_EXTENDED_DECIDEGREES;
-
-    rangefinder->init = &hcsr04i2cInit;
-    rangefinder->update = &hcsr04i2cUpdate;
-    rangefinder->read = &hcsr04i2cGetDistance;
-
-    return true;
-}
-#endif
diff --git a/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.h b/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.h
deleted file mode 100644
index 7d2ed6265e..0000000000
--- a/src/main/drivers/rangefinder/rangefinder_hcsr04_i2c.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
- * This file is part of INAV.
- *
- * INAV is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * INAV is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#define RANGEFINDER_HCSR04_i2C_TASK_PERIOD_MS 100
-
-bool hcsr04i2c0Detect(rangefinderDev_t *dev);
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index fc6951f3d1..e0d496e3aa 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -37,7 +37,6 @@
 #include "drivers/time.h"
 #include "drivers/rangefinder/rangefinder.h"
 #include "drivers/rangefinder/rangefinder_srf10.h"
-#include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
 #include "drivers/rangefinder/rangefinder_vl53l0x.h"
 #include "drivers/rangefinder/rangefinder_vl53l1x.h"
 #include "drivers/rangefinder/rangefinder_virtual.h"
@@ -88,15 +87,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
-            case RANGEFINDER_HCSR04I2C:
-#ifdef USE_RANGEFINDER_HCSR04_I2C
-            if (hcsr04i2c0Detect(dev)) {
-                rangefinderHardware = RANGEFINDER_HCSR04I2C;
-                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_i2C_TASK_PERIOD_MS));
-            }
-#endif
-            break;
-
             case RANGEFINDER_VL53L0X:
 #if defined(USE_RANGEFINDER_VL53L0X)
             if (vl53l0xDetect(dev)) {
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index f09ca8e225..3ff470d581 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -24,12 +24,11 @@
 typedef enum {
     RANGEFINDER_NONE        = 0,
     RANGEFINDER_SRF10       = 1,
-    RANGEFINDER_HCSR04I2C   = 2,
-    RANGEFINDER_VL53L0X     = 3,
-    RANGEFINDER_MSP         = 4,
-    RANGEFINDER_BENEWAKE    = 5,
-    RANGEFINDER_VL53L1X     = 6,
-    RANGEFINDER_US42        = 7,
+    RANGEFINDER_VL53L0X     = 2,
+    RANGEFINDER_MSP         = 3,
+    RANGEFINDER_BENEWAKE    = 4,
+    RANGEFINDER_VL53L1X     = 5,
+    RANGEFINDER_US42        = 6,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
diff --git a/src/main/target/AIRBOTF4/target.h b/src/main/target/AIRBOTF4/target.h
index 70279b57b2..f2d6d5bfa6 100644
--- a/src/main/target/AIRBOTF4/target.h
+++ b/src/main/target/AIRBOTF4/target.h
@@ -110,7 +110,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
-#define USE_RANGEFINDER_HCSR04_I2C
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC1
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index 0d9b879e04..02d73169c7 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -65,7 +65,6 @@
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
 #define USE_VCP
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index 4116a52001..e9b44bb480 100755
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -141,7 +141,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
-#define USE_RANGEFINDER_HCSR04_I2C
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN		    PC1
diff --git a/src/main/target/DALRCF405/target.h b/src/main/target/DALRCF405/target.h
index a36a59a63a..f939dd1f23 100644
--- a/src/main/target/DALRCF405/target.h
+++ b/src/main/target/DALRCF405/target.h
@@ -98,7 +98,6 @@
 #define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 
 #define PITOT_I2C_BUS           DEFAULT_I2C_BUS
diff --git a/src/main/target/FIREWORKSV2/target.h b/src/main/target/FIREWORKSV2/target.h
index 51ea748abc..ec20e387ec 100644
--- a/src/main/target/FIREWORKSV2/target.h
+++ b/src/main/target/FIREWORKSV2/target.h
@@ -123,7 +123,6 @@
 #else
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 #endif
-#define USE_RANGEFINDER_HCSR04_I2C
 
 #define USE_VCP
 #define VBUS_SENSING_PIN        PC5
diff --git a/src/main/target/FURYF4OSD/target.h b/src/main/target/FURYF4OSD/target.h
index 5b7b75dd5b..9e8283dfff 100644
--- a/src/main/target/FURYF4OSD/target.h
+++ b/src/main/target/FURYF4OSD/target.h
@@ -137,7 +137,6 @@
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 
 #define PITOT_I2C_BUS               DEFAULT_I2C_BUS
diff --git a/src/main/target/IFLIGHTF4_SUCCEXD/target.h b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
index 7d603cc116..59523f3c70 100644
--- a/src/main/target/IFLIGHTF4_SUCCEXD/target.h
+++ b/src/main/target/IFLIGHTF4_SUCCEXD/target.h
@@ -115,7 +115,6 @@
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     BUS_I2C1
 
 // *************** ADC *****************************
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index 1f14337212..fc5b7f09fe 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -165,7 +165,6 @@
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 
 #define PITOT_I2C_BUS               DEFAULT_I2C_BUS
diff --git a/src/main/target/MATEKF405CAN/target.h b/src/main/target/MATEKF405CAN/target.h
index b321826dd4..f9fc403795 100644
--- a/src/main/target/MATEKF405CAN/target.h
+++ b/src/main/target/MATEKF405CAN/target.h
@@ -68,7 +68,6 @@
 #define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
 #define PITOT_I2C_BUS           BUS_I2C2
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 805f6cea42..d9e07b0384 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -71,7 +71,6 @@
 #define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define USE_RANGEFINDER_US42
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index 0cb067d99e..1a86e8bda5 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -121,7 +121,6 @@
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     BUS_I2C1
 
 // *************** ADC *****************************
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index 8296e531e5..cea5bbd254 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -159,7 +159,6 @@
 #define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO)
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index a23dc48e89..544a001487 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -132,7 +132,6 @@
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 
 #define PITOT_I2C_BUS           DEFAULT_I2C_BUS
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index 23d076e466..a2718f15a9 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -96,7 +96,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS             BUS_I2C1
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index a667188092..aa5336db3d 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -123,9 +123,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS             BUS_I2C1
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
 #define USE_RANGEFINDER_SRF10
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 406ee535f0..5e103d27cf 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -56,9 +56,6 @@
 #define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
 
 #define USB_CABLE_DETECTION
 
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 64f128a904..38c6bb7658 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -104,7 +104,6 @@
 #define USE_RANGEFINDER_BENEWAKE
 #define USE_RANGEFINDER_VL53L0X
 #define USE_RANGEFINDER_VL53L1X
-#define USE_RANGEFINDER_HCSR04_I2C
 #define USE_RANGEFINDER_US42
 
 // Allow default optic flow boards
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index d4d2321e8f..29cbe4469c 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -303,15 +303,6 @@
     #endif
 #endif
 
-#if defined(USE_RANGEFINDER_HCSR04_I2C) && (defined(HCSR04_I2C_BUS) || defined(RANGEFINDER_I2C_BUS))
-    #if !defined(HCSR04_I2C_BUS)
-        #define HCSR04_I2C_BUS RANGEFINDER_I2C_BUS
-    #endif
-    #if defined(HCSR04_I2C_BUS)
-    BUSDEV_REGISTER_I2C(busdev_hcsr04,      DEVHW_HCSR04_I2C,   HCSR04_I2C_BUS,     0x14,               NONE,           DEVFLAGS_NONE,  0);
-    #endif
-#endif
-
 #if defined(USE_RANGEFINDER_VL53L0X)
     #if !defined(VL53L0X_I2C_BUS) && defined(RANGEFINDER_I2C_BUS)
         #define VL53L0X_I2C_BUS RANGEFINDER_I2C_BUS

From c452d3b064dd7385e63150e9f4cda5a3633072d9 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Tue, 27 Jul 2021 22:36:04 -0300
Subject: [PATCH 172/336] PID Yaw LPF to 100Hz

---
 docs/Settings.md          | 4 ++--
 src/main/fc/settings.yaml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 019593b3ec..219a43a5f6 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5704,11 +5704,11 @@ These are values (in us) by how much RC input can be different before it's consi
 
 ### yaw_lpf_hz
 
-Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)
+Yaw low pass filter cutoff frequency. Should be disabled (set to `0`)
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0 | 0 | 200 |
+| 100 | 0 | 200 |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0b3ad1cb70..0709958089 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1903,8 +1903,8 @@ groups:
         field: dterm_lpf2_type
         table: filter_type
       - name: yaw_lpf_hz
-        description: "Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
-        default_value: 0
+        description: "Yaw low pass filter cutoff frequency. Should be disabled (set to `0`)"
+        default_value: 100
         min: 0
         max: 200
       - name: fw_iterm_throw_limit

From bb452aa31d3b974920c380f33b2274a85a0e16f7 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 28 Jul 2021 16:07:19 -0300
Subject: [PATCH 173/336] Increase RangeFinder PGM

---
 src/main/sensors/rangefinder.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index e0d496e3aa..c6e8d8dd76 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -62,7 +62,7 @@ rangefinder_t rangefinder;
 #define RANGEFINDER_DYNAMIC_FACTOR              75
 
 #ifdef USE_RANGEFINDER
-PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 3);
 
 PG_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig,
     .rangefinder_hardware = SETTING_RANGEFINDER_HARDWARE_DEFAULT,

From 967d72fddd4b75e796cdc04e85652ea69cfb1c75 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 28 Jul 2021 17:04:25 -0300
Subject: [PATCH 174/336] fix param description

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 219a43a5f6..ebbddd99ca 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5704,7 +5704,7 @@ These are values (in us) by how much RC input can be different before it's consi
 
 ### yaw_lpf_hz
 
-Yaw low pass filter cutoff frequency. Should be disabled (set to `0`)
+Yaw low pass filter cutoff frequency.
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0709958089..b1f8cf2433 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1903,7 +1903,7 @@ groups:
         field: dterm_lpf2_type
         table: filter_type
       - name: yaw_lpf_hz
-        description: "Yaw low pass filter cutoff frequency. Should be disabled (set to `0`)"
+        description: "Yaw low pass filter cutoff frequency."
         default_value: 100
         min: 0
         max: 200

From 1c137b999c8268f273b28cf34cae45fb4ccf7b25 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 28 Jul 2021 17:06:16 -0300
Subject: [PATCH 175/336] edit param description

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index ebbddd99ca..bd3ab036fd 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5704,7 +5704,7 @@ These are values (in us) by how much RC input can be different before it's consi
 
 ### yaw_lpf_hz
 
-Yaw low pass filter cutoff frequency.
+Yaw P term low pass filter cutoff frequency.
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b1f8cf2433..d2356f8f9b 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1903,7 +1903,7 @@ groups:
         field: dterm_lpf2_type
         table: filter_type
       - name: yaw_lpf_hz
-        description: "Yaw low pass filter cutoff frequency."
+        description: "Yaw P term low pass filter cutoff frequency."
         default_value: 100
         min: 0
         max: 200

From eeedcb5eea4a30d2ac6837766e279b9a0a36d0ad Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Wed, 28 Jul 2021 17:30:37 -0300
Subject: [PATCH 176/336] Fix the Range Finder Enum

---
 src/main/sensors/rangefinder.h | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index e2d603da60..e7ab9e8a61 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -24,13 +24,12 @@
 typedef enum {
     RANGEFINDER_NONE        = 0,
     RANGEFINDER_SRF10       = 1,
-    RANGEFINDER_HCSR04I2C   = 2,
-    RANGEFINDER_VL53L0X     = 3,
-    RANGEFINDER_MSP         = 4,
-    RANGEFINDER_BENEWAKE    = 5,
-    RANGEFINDER_VL53L1X     = 6,
-    RANGEFINDER_US42        = 7,
-    RANGEFINDER_TOF10102I2C = 8,
+    RANGEFINDER_VL53L0X     = 2,
+    RANGEFINDER_MSP         = 3,
+    RANGEFINDER_BENEWAKE    = 4,
+    RANGEFINDER_VL53L1X     = 5,
+    RANGEFINDER_US42        = 6,
+    RANGEFINDER_TOF10102I2C = 7,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {

From 4a5f602a3c7d361deabaa05f00e2a4899cecf632 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 29 Jul 2021 09:01:46 +0200
Subject: [PATCH 177/336] Fix rangefinder table

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index fc71a197bc..edef62a021 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -7,7 +7,7 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
+    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
     values: ["NONE", "BNO055", "BNO055_SERIAL"]

From 2f4179071fad45a582b81d636c9425980e2be977 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 29 Jul 2021 21:53:29 -0300
Subject: [PATCH 178/336] Edit description

---
 docs/Settings.md          | 4 ++--
 src/main/fc/settings.yaml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index bd3ab036fd..683f35c895 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5704,11 +5704,11 @@ These are values (in us) by how much RC input can be different before it's consi
 
 ### yaw_lpf_hz
 
-Yaw P term low pass filter cutoff frequency.
+Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 100 | 0 | 200 |
+| 0 | 0 | 200 |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d2356f8f9b..50d016ff65 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1903,8 +1903,8 @@ groups:
         field: dterm_lpf2_type
         table: filter_type
       - name: yaw_lpf_hz
-        description: "Yaw P term low pass filter cutoff frequency."
-        default_value: 100
+        description: "Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)"
+        default_value: 0
         min: 0
         max: 200
       - name: fw_iterm_throw_limit

From 82abd04e90609c5fdf873469424ce17f8f72f1a7 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 29 Jul 2021 21:57:42 -0300
Subject: [PATCH 179/336] update cli docs

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 683f35c895..34f3c1638f 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5704,7 +5704,7 @@ These are values (in us) by how much RC input can be different before it's consi
 
 ### yaw_lpf_hz
 
-Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)
+Yaw P term low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 50d016ff65..2e5f1f391c 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1903,7 +1903,7 @@ groups:
         field: dterm_lpf2_type
         table: filter_type
       - name: yaw_lpf_hz
-        description: "Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)"
+        description: "Yaw P term low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
         default_value: 0
         min: 0
         max: 200

From 4c9b46dc50a41d18f8c131385faf2d47d01444aa Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Fri, 6 Aug 2021 18:23:12 +0100
Subject: [PATCH 180/336] boringly trivial fix for -Wstringop-overflow

---
 src/main/io/osd_dji_hd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
index 0c164a9f28..dde158da32 100644
--- a/src/main/io/osd_dji_hd.c
+++ b/src/main/io/osd_dji_hd.c
@@ -1165,7 +1165,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
                     djiSerializeCraftNameOverride(dst);
                 } else {
 #endif
-                    sbufWriteData(dst, systemConfig()->name, MAX((int)strlen(systemConfig()->name), OSD_MESSAGE_LENGTH));
+                    sbufWriteData(dst, systemConfig()->name, (int)strlen(systemConfig()->name));
 #if defined(USE_OSD)
                 }
 #endif

From 99fca9cc0fb26bc4498a90317a535c11e6f384a8 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 6 Aug 2021 08:55:44 -0700
Subject: [PATCH 181/336] BMP388: Fix I2C mode

---
 src/main/drivers/barometer/barometer_bmp388.c | 41 +++++++++++++++----
 1 file changed, 32 insertions(+), 9 deletions(-)

diff --git a/src/main/drivers/barometer/barometer_bmp388.c b/src/main/drivers/barometer/barometer_bmp388.c
index c35fbc05b4..000058534c 100644
--- a/src/main/drivers/barometer/barometer_bmp388.c
+++ b/src/main/drivers/barometer/barometer_bmp388.c
@@ -197,7 +197,13 @@ static bool bmp388StartUP(baroDev_t *baro)
 
 static bool bmp388GetUP(baroDev_t *baro)
 {
-    busReadBuf(baro->busDev, BMP388_DATA_0_REG, sensor_data, BMP388_DATA_FRAME_SIZE + 1);
+    if (baro->busDev->busType == BUSTYPE_SPI) {
+        // In SPI mode, first byte read is a dummy byte
+        busReadBuf(baro->busDev, BMP388_DATA_0_REG, &sensor_data[0], BMP388_DATA_FRAME_SIZE + 1);
+    } else {
+        // In I2C mode, no dummy byte is read
+        busReadBuf(baro->busDev, BMP388_DATA_0_REG, &sensor_data[1], BMP388_DATA_FRAME_SIZE);
+    }
 
     bmp388_up = sensor_data[1] << 0 | sensor_data[2] << 8 | sensor_data[3] << 16;
     bmp388_ut = sensor_data[4] << 0 | sensor_data[5] << 8 | sensor_data[6] << 16;
@@ -289,14 +295,26 @@ STATIC_UNIT_TESTED bool bmp388Calculate(baroDev_t *baro, int32_t *pressure, int3
 #define DETECTION_MAX_RETRY_COUNT   5
 static bool deviceDetect(busDevice_t * busDev)
 {
-    for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
-        uint8_t chipId[2];
+    uint8_t chipId[2];
+    uint8_t nRead;
+    uint8_t * pId;
 
+    if (busDev->busType == BUSTYPE_SPI) {
+        // In SPI mode, first byte read is a dummy byte
+        nRead = 2;
+        pId = &chipId[1];
+    } else {
+        // In I2C mode, no dummy byte is read
+        nRead = 1;
+        pId = &chipId[0];
+    }
+
+    for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
         delay(100);
 
-        bool ack = busReadBuf(busDev, BMP388_CHIP_ID_REG, chipId, 2);
+        bool ack = busReadBuf(busDev, BMP388_CHIP_ID_REG, chipId, nRead);
 
-        if (ack && chipId[1] == BMP388_DEFAULT_CHIP_ID) {
+        if (ack && *pId == BMP388_DEFAULT_CHIP_ID) {
             return true;
         }
     };
@@ -318,11 +336,16 @@ bool bmp388Detect(baroDev_t *baro)
         return false;
     }
 
-    uint8_t calibration_buf[sizeof(bmp388_calib_param_t) + 1];
-
     // read calibration
-    busReadBuf(baro->busDev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, calibration_buf, sizeof(bmp388_calib_param_t) + 1);
-    memcpy(&bmp388_cal, calibration_buf + 1, sizeof(bmp388_calib_param_t));
+    if (baro->busDev->busType == BUSTYPE_SPI) {
+        // In SPI mode, first byte read is a dummy byte
+        uint8_t calibration_buf[sizeof(bmp388_calib_param_t) + 1];
+        busReadBuf(baro->busDev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, calibration_buf, sizeof(bmp388_calib_param_t) + 1);
+        memcpy(&bmp388_cal, calibration_buf + 1, sizeof(bmp388_calib_param_t));
+    } else {
+        // In I2C mode, no dummy byte is read
+        busReadBuf(baro->busDev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, (uint8_t*)&bmp388_cal, sizeof(bmp388_calib_param_t));
+    }
 
     // set oversampling + power mode (forced), and start sampling
     busWrite(baro->busDev, BMP388_OSR_REG,

From 76150a7e67d08a06642eb5c062d56c6d2c4ea7bc Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Sat, 10 Jul 2021 08:51:44 -0700
Subject: [PATCH 182/336] Config: conditional compile for H7 when config in ext
 flash

---
 src/main/config/config_streamer_stm32h7.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/config/config_streamer_stm32h7.c b/src/main/config/config_streamer_stm32h7.c
index ee23ada22c..973a96e6dd 100644
--- a/src/main/config/config_streamer_stm32h7.c
+++ b/src/main/config/config_streamer_stm32h7.c
@@ -20,7 +20,7 @@
 #include "drivers/system.h"
 #include "config/config_streamer.h"
 
-#if defined(STM32H7)
+#if defined(STM32H7) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 #if defined(STM32H743xx)
 /* Sectors 0-7 of 128K each */
@@ -96,4 +96,4 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
     return 0;
 }
 
-#endif
\ No newline at end of file
+#endif

From 885a29b969c486aeb521e4421f9f88247a3150f0 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Tue, 20 Jul 2021 08:47:12 -0700
Subject: [PATCH 183/336] Config streamer: prevent writing past allocated size

---
 src/main/config/config_eeprom.c   | 33 +++++++++++++++++++++++--------
 src/main/config/config_streamer.c |  9 +++++++++
 src/main/config/config_streamer.h |  1 +
 3 files changed, 35 insertions(+), 8 deletions(-)

diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
index e59c42b700..9d5b6d7fe9 100755
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@@ -25,6 +25,7 @@
 #include "build/build_config.h"
 
 #include "common/crc.h"
+#include "common/utils.h"
 
 #include "config/config_eeprom.h"
 #include "config/config_streamer.h"
@@ -217,7 +218,9 @@ static bool writeSettingsToEEPROM(void)
         .format = EEPROM_CONF_VERSION,
     };
 
-    config_streamer_write(&streamer, (uint8_t *)&header, sizeof(header));
+    if (config_streamer_write(&streamer, (uint8_t *)&header, sizeof(header)) < 0) {
+        return false;
+    }
     uint16_t crc = updateCRC(0, (uint8_t *)&header, sizeof(header));
     PG_FOREACH(reg) {
         const uint16_t regSize = pgSize(reg);
@@ -231,9 +234,13 @@ static bool writeSettingsToEEPROM(void)
         if (pgIsSystem(reg)) {
             // write the only instance
             record.flags |= CR_CLASSICATION_SYSTEM;
-            config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record));
+            if (config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record)) < 0) {
+                return false;
+            }
             crc = updateCRC(crc, (uint8_t *)&record, sizeof(record));
-            config_streamer_write(&streamer, reg->address, regSize);
+            if (config_streamer_write(&streamer, reg->address, regSize) < 0) {
+                return false;
+            }
             crc = updateCRC(crc, reg->address, regSize);
         } else {
             // write one instance for each profile
@@ -241,10 +248,14 @@ static bool writeSettingsToEEPROM(void)
                 record.flags = 0;
 
                 record.flags |= ((profileIndex + 1) & CR_CLASSIFICATION_MASK);
-                config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record));
+                if (config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record)) < 0) {
+                    return false;
+                }
                 crc = updateCRC(crc, (uint8_t *)&record, sizeof(record));
                 const uint8_t *address = reg->address + (regSize * profileIndex);
-                config_streamer_write(&streamer, address, regSize);
+                if (config_streamer_write(&streamer, address, regSize) < 0) {
+                    return false;
+                }
                 crc = updateCRC(crc, address, regSize);
             }
         }
@@ -254,13 +265,19 @@ static bool writeSettingsToEEPROM(void)
         .terminator = 0,
     };
 
-    config_streamer_write(&streamer, (uint8_t *)&footer, sizeof(footer));
+    if (config_streamer_write(&streamer, (uint8_t *)&footer, sizeof(footer)) < 0) {
+        return false;
+    }
     crc = updateCRC(crc, (uint8_t *)&footer, sizeof(footer));
 
     // append checksum now
-    config_streamer_write(&streamer, (uint8_t *)&crc, sizeof(crc));
+    if (config_streamer_write(&streamer, (uint8_t *)&crc, sizeof(crc)) < 0) {
+        return false;
+    }
 
-    config_streamer_flush(&streamer);
+    if (config_streamer_flush(&streamer) < 0) {
+        return false;
+    }
 
     bool success = config_streamer_finish(&streamer) == 0;
 
diff --git a/src/main/config/config_streamer.c b/src/main/config/config_streamer.c
index c09bac00dd..4a3312689e 100644
--- a/src/main/config/config_streamer.c
+++ b/src/main/config/config_streamer.c
@@ -35,6 +35,7 @@ void config_streamer_start(config_streamer_t *c, uintptr_t base, int size)
     // base must start at FLASH_PAGE_SIZE boundary when using embedded flash.
     c->address = base;
     c->size = size;
+    c->end = base + size;
     if (!c->unlocked) {
         config_streamer_impl_unlock();
         c->unlocked = true;
@@ -44,6 +45,11 @@ void config_streamer_start(config_streamer_t *c, uintptr_t base, int size)
 
 int config_streamer_write(config_streamer_t *c, const uint8_t *p, uint32_t size)
 {
+    if ((c->address + size) > c->end) {
+        // trying to write past end of streamer
+        return -1;
+    }
+
     for (const uint8_t *pat = p; pat != (uint8_t*)p + size; pat++) {
         c->buffer.b[c->at++] = *pat;
 
@@ -63,6 +69,9 @@ int config_streamer_status(config_streamer_t *c)
 int config_streamer_flush(config_streamer_t *c)
 {
     if (c->at != 0) {
+        if ((c->address + c->at) > c->end) {
+            return -1;
+        }
         memset(c->buffer.b + c->at, 0, sizeof(c->buffer) - c->at);
         c->err = config_streamer_impl_write_word(c, &c->buffer.w);
         c->at = 0;
diff --git a/src/main/config/config_streamer.h b/src/main/config/config_streamer.h
index 952c811efe..5d8f7076fd 100644
--- a/src/main/config/config_streamer.h
+++ b/src/main/config/config_streamer.h
@@ -33,6 +33,7 @@ typedef uint32_t config_streamer_buffer_align_type_t;
 
 typedef struct config_streamer_s {
     uintptr_t address;
+    uintptr_t end;
     int size;
     union {
         uint8_t b[CONFIG_STREAMER_BUFFER_SIZE];

From 53e7b74a7763a3a56867847f5f1b9446bef12138 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 22 Jul 2021 16:04:14 -0700
Subject: [PATCH 184/336] Flash M25P16: return same address on timeout

---
 src/main/drivers/flash_m25p16.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index c2529b436b..faea52feb9 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -294,7 +294,10 @@ uint32_t m25p16_pageProgram(uint32_t address, const uint8_t *data, int length)
 
     m25p16_setCommandAddress(&command[1], address, isLargeFlash);
 
-    m25p16_waitForReady(DEFAULT_TIMEOUT_MILLIS);
+    if (m25p16_waitForReady(DEFAULT_TIMEOUT_MILLIS) == false) {
+        // timeout
+        return address;
+    }
 
     m25p16_writeEnable();
 

From 62a5623cd7875879dad70e57f93b914e648e6b42 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 22 Jul 2021 16:39:56 -0700
Subject: [PATCH 185/336] Flash M25P16: improve tiemout handling

---
 src/main/drivers/flash_m25p16.c | 40 +++++++++++++++++++++++++++------
 1 file changed, 33 insertions(+), 7 deletions(-)

diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index faea52feb9..6590a630c2 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -68,6 +68,7 @@ static flashGeometry_t geometry = {.pageSize = M25P16_PAGESIZE};
 
 static busDevice_t * busDev = NULL;
 static bool isLargeFlash = false;
+static uint32_t timeoutAt = 0;
 
 /*
  * Whether we've performed an action that could have made the device busy for writes.
@@ -114,15 +115,30 @@ bool m25p16_isReady(void)
     return !couldBeBusy;
 }
 
+static void m25p16_setTimeout(uint32_t timeoutMillis)
+{
+    uint32_t now = millis();
+    timeoutAt = now + timeoutMillis;
+}
+
 bool m25p16_waitForReady(uint32_t timeoutMillis)
 {
-    uint32_t time = millis();
+    uint32_t timeoutAtUse;
+    if (timeoutMillis == 0) {
+        timeoutAtUse = timeoutAt;
+    }
+    else {
+        timeoutAtUse = millis() + timeoutMillis;
+    }
+
     while (!m25p16_isReady()) {
-        if (timeoutMillis && (millis() - time > timeoutMillis)) {
+        uint32_t now = millis();
+        if (now >= timeoutAtUse) {
             return false;
         }
     }
 
+    timeoutAt = 0;
     return true;
 }
 
@@ -252,20 +268,28 @@ void m25p16_eraseSector(uint32_t address)
 
     m25p16_setCommandAddress(&out[1], address, isLargeFlash);
 
-    m25p16_waitForReady(SECTOR_ERASE_TIMEOUT_MILLIS);
+    if (!m25p16_waitForReady(0)) {
+        return;
+    }
 
     m25p16_writeEnable();
 
     busTransfer(busDev, NULL, out, isLargeFlash ? 5 : 4);
+
+    m25p16_setTimeout(SECTOR_ERASE_TIMEOUT_MILLIS);
 }
 
 void m25p16_eraseCompletely(void)
 {
-    m25p16_waitForReady(BULK_ERASE_TIMEOUT_MILLIS);
+    if (!m25p16_waitForReady(0)) {
+        return;
+    }
 
     m25p16_writeEnable();
 
     m25p16_performOneByteCommand(M25P16_INSTRUCTION_BULK_ERASE);
+
+    m25p16_setTimeout(BULK_ERASE_TIMEOUT_MILLIS);
 }
 
 /**
@@ -294,8 +318,8 @@ uint32_t m25p16_pageProgram(uint32_t address, const uint8_t *data, int length)
 
     m25p16_setCommandAddress(&command[1], address, isLargeFlash);
 
-    if (m25p16_waitForReady(DEFAULT_TIMEOUT_MILLIS) == false) {
-        // timeout
+    if (!m25p16_waitForReady(0)) {
+        // return same address to indicate timeout
         return address;
     }
 
@@ -303,6 +327,8 @@ uint32_t m25p16_pageProgram(uint32_t address, const uint8_t *data, int length)
 
     busTransferMultiple(busDev, txn, 2);
 
+    m25p16_setTimeout(DEFAULT_TIMEOUT_MILLIS);
+
     return address + length;
 }
 
@@ -325,7 +351,7 @@ int m25p16_readBytes(uint32_t address, uint8_t *buffer, int length)
 
     m25p16_setCommandAddress(&command[1], address, isLargeFlash);
 
-    if (!m25p16_waitForReady(DEFAULT_TIMEOUT_MILLIS)) {
+    if (!m25p16_waitForReady(0)) {
         return 0;
     }
 

From 30d60d0c0b55fe7378d339c69119b93079918d4a Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:33:34 -0700
Subject: [PATCH 186/336] Flash M25P16: always init everything

---
 src/main/drivers/flash_m25p16.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index 6590a630c2..ea22ffddde 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -232,10 +232,6 @@ static bool m25p16_readIdentification(void)
  */
 bool m25p16_init(int flashNumToUse)
 {
-    if (busDev) {
-        return true;
-    }
-
     busDev = busDeviceInit(BUSTYPE_SPI, DEVHW_M25P16, flashNumToUse, OWNER_FLASH);
     if (busDev == NULL) {
         return false;

From a43caa08903ca8cb841f8c018d3bd1dcc086e3dd Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:41:29 -0700
Subject: [PATCH 187/336] Config streamer RAM and external flash backends

---
 src/main/config/config_streamer_extflash.c | 77 ++++++++++++++++++++++
 src/main/config/config_streamer_ram.c      | 61 +++++++++++++++++
 2 files changed, 138 insertions(+)
 create mode 100644 src/main/config/config_streamer_extflash.c
 create mode 100644 src/main/config/config_streamer_ram.c

diff --git a/src/main/config/config_streamer_extflash.c b/src/main/config/config_streamer_extflash.c
new file mode 100644
index 0000000000..cb576ccc26
--- /dev/null
+++ b/src/main/config/config_streamer_extflash.c
@@ -0,0 +1,77 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include "platform.h"
+#include "drivers/system.h"
+#include "drivers/flash.h"
+#include "config/config_streamer.h"
+
+#if defined(CONFIG_IN_EXTERNAL_FLASH)
+
+static bool streamerLocked = true;
+
+void config_streamer_impl_unlock(void)
+{
+    const flashGeometry_t *flashGeometry = flashGetGeometry();
+    if (flashGeometry->pageSize == CONFIG_STREAMER_BUFFER_SIZE) {
+        // streamer needs to buffer exactly one flash page
+        streamerLocked = false;
+    }
+}
+
+void config_streamer_impl_lock(void)
+{
+    streamerLocked = true;
+}
+
+int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer_align_type_t *buffer)
+{
+    if (streamerLocked) {
+        return -1;
+    }
+
+    uint32_t dataOffset = (uint32_t)(c->address - (uintptr_t)&eepromData[0]);
+
+    const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_CONFIG);
+    const flashGeometry_t *flashGeometry = flashGetGeometry();
+
+    uint32_t flashStartAddress = flashPartition->startSector * flashGeometry->sectorSize;
+    uint32_t flashOverflowAddress = ((flashPartition->endSector + 1) * flashGeometry->sectorSize); // +1 to sector for inclusive
+
+    uint32_t flashAddress = flashStartAddress + dataOffset;
+    if (flashAddress + CONFIG_STREAMER_BUFFER_SIZE > flashOverflowAddress) {
+        return -2; // address is past end of partition
+    }
+
+    uint32_t flashSectorSize = flashGeometry->sectorSize;
+
+    if (flashAddress % flashSectorSize == 0) {
+        flashEraseSector(flashAddress);
+    }
+
+    if (flashPageProgram(flashAddress, (uint8_t *)buffer, CONFIG_STREAMER_BUFFER_SIZE) == flashAddress) {
+        // returned same address: programming failed
+        return -3;
+    }
+
+    c->address += CONFIG_STREAMER_BUFFER_SIZE;
+
+    return 0;
+}
+
+#endif
diff --git a/src/main/config/config_streamer_ram.c b/src/main/config/config_streamer_ram.c
new file mode 100644
index 0000000000..9a7e8578ab
--- /dev/null
+++ b/src/main/config/config_streamer_ram.c
@@ -0,0 +1,61 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include "platform.h"
+#include "drivers/system.h"
+#include "config/config_streamer.h"
+
+#if defined(CONFIG_IN_RAM)
+
+static bool streamerLocked = true;
+
+void config_streamer_impl_unlock(void)
+{
+    streamerLocked = false;
+}
+
+void config_streamer_impl_lock(void)
+{
+    streamerLocked = true;
+}
+
+int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer_align_type_t *buffer)
+{
+    if (streamerLocked) {
+        return -1;
+    }
+
+    if (c->address == (uintptr_t)&eepromData[0]) {
+        memset(eepromData, 0, sizeof(eepromData));
+    }
+
+    config_streamer_buffer_align_type_t *destAddr = (config_streamer_buffer_align_type_t *)c->address;
+    config_streamer_buffer_align_type_t *srcAddr = buffer;
+
+    uint8_t nRows = CONFIG_STREAMER_BUFFER_SIZE / sizeof(config_streamer_buffer_align_type_t);
+
+    do {
+        *destAddr++ = *srcAddr++;
+    } while(--nRows != 0);
+
+    c->address += CONFIG_STREAMER_BUFFER_SIZE;
+
+    return 0;
+}
+
+#endif

From f6641af5a05c76d65458b77c7d1731e9b1d62d0e Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:48:19 -0700
Subject: [PATCH 188/336] Config streamer: use external flash and RAM based
 backends

---
 src/main/config/config_eeprom.c      | 38 ++++++++++++++++++++++++++++
 src/main/config/config_streamer.c    |  5 ++++
 src/main/config/config_streamer.h    |  7 ++++-
 src/main/drivers/flash.c             | 10 +++++++-
 src/main/drivers/system.h            |  3 ++-
 src/main/fc/fc_init.c                | 12 +++++++++
 src/main/fc/firmware_update_common.h |  3 +++
 7 files changed, 75 insertions(+), 3 deletions(-)

diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
index 9d5b6d7fe9..f64b2bb8a6 100755
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@@ -32,6 +32,7 @@
 #include "config/parameter_group.h"
 
 #include "drivers/system.h"
+#include "drivers/flash.h"
 
 #include "fc/config.h"
 
@@ -77,6 +78,31 @@ typedef struct {
     uint32_t word;
 } PG_PACKED packingTest_t;
 
+#if defined(CONFIG_IN_EXTERNAL_FLASH)
+bool loadEEPROMFromExternalFlash(void)
+{
+    const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_CONFIG);
+    const flashGeometry_t *flashGeometry = flashGetGeometry();
+
+    uint32_t flashStartAddress = flashPartition->startSector * flashGeometry->sectorSize;
+
+    uint32_t totalBytesRead = 0;
+    int bytesRead = 0;
+
+    bool success = false;
+
+    do {
+        bytesRead = flashReadBytes(flashStartAddress + totalBytesRead, &eepromData[totalBytesRead], EEPROM_SIZE - totalBytesRead);
+        if (bytesRead > 0) {
+            totalBytesRead += bytesRead;
+            success = (totalBytesRead == EEPROM_SIZE);
+        }
+    } while (!success && bytesRead > 0);
+
+    return success;
+}
+#endif /* defined(CONFIG_IN_EXTERNAL_FLASH) */
+
 void initEEPROM(void)
 {
     // Verify that this architecture packs as expected.
@@ -87,6 +113,14 @@ void initEEPROM(void)
     BUILD_BUG_ON(sizeof(configHeader_t) != 1);
     BUILD_BUG_ON(sizeof(configFooter_t) != 2);
     BUILD_BUG_ON(sizeof(configRecord_t) != 6);
+
+#if defined(CONFIG_IN_EXTERNAL_FLASH)
+    bool eepromLoaded = loadEEPROMFromExternalFlash();
+    if (!eepromLoaded) {
+        // Flash read failed - just die now
+        failureMode(FAILURE_FLASH_READ_FAILED);
+    }
+#endif
 }
 
 static uint16_t updateCRC(uint16_t crc, const void *data, uint32_t length)
@@ -291,6 +325,10 @@ void writeConfigToEEPROM(void)
     for (int attempt = 0; attempt < 3 && !success; attempt++) {
         if (writeSettingsToEEPROM()) {
             success = true;
+#ifdef CONFIG_IN_EXTERNAL_FLASH
+            // copy it back from flash to the in-memory buffer.
+            success = loadEEPROMFromExternalFlash();
+#endif
         }
     }
 
diff --git a/src/main/config/config_streamer.c b/src/main/config/config_streamer.c
index 4a3312689e..6a598cc9e4 100644
--- a/src/main/config/config_streamer.c
+++ b/src/main/config/config_streamer.c
@@ -19,6 +19,11 @@
 #include "platform.h"
 #include "drivers/system.h"
 #include "config/config_streamer.h"
+#include "build/build_config.h"
+
+#if !defined(CONFIG_IN_FLASH)
+SLOW_RAM uint8_t eepromData[EEPROM_SIZE];
+#endif
 
 // Helper functions
 extern void config_streamer_impl_unlock(void);
diff --git a/src/main/config/config_streamer.h b/src/main/config/config_streamer.h
index 5d8f7076fd..87b688406f 100644
--- a/src/main/config/config_streamer.h
+++ b/src/main/config/config_streamer.h
@@ -20,10 +20,15 @@
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "drivers/flash_m25p16.h"
+
 // Streams data out to the EEPROM, padding to the write size as
 // needed, and updating the checksum as it goes.
 
-#if defined(STM32H7)
+#ifdef CONFIG_IN_EXTERNAL_FLASH
+#define CONFIG_STREAMER_BUFFER_SIZE M25P16_PAGESIZE // Must match flash device page size
+typedef uint32_t config_streamer_buffer_align_type_t;
+#elif defined(STM32H7)
 #define CONFIG_STREAMER_BUFFER_SIZE 32  // Flash word = 256-bits
 typedef uint64_t config_streamer_buffer_align_type_t;
 #else
diff --git a/src/main/drivers/flash.c b/src/main/drivers/flash.c
index f65c1fd497..647ac675a0 100644
--- a/src/main/drivers/flash.c
+++ b/src/main/drivers/flash.c
@@ -196,7 +196,15 @@ static void flashConfigurePartitions(void)
 #endif
 
 #if defined(CONFIG_IN_EXTERNAL_FLASH)
-    createPartition(FLASH_PARTITION_TYPE_CONFIG, EEPROM_SIZE, &endSector);
+    uint32_t configSize = EEPROM_SIZE;
+    flashSector_t configSectors = (configSize / flashGeometry->sectorSize);
+
+    if (configSize % flashGeometry->sectorSize > 0) {
+        configSectors++; // needs a portion of a sector.
+    }
+    configSize = configSectors * flashGeometry->sectorSize;
+
+    createPartition(FLASH_PARTITION_TYPE_CONFIG, configSize, &endSector);
 #endif
 
 #ifdef USE_FLASHFS
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index 2f2184613b..10c0a1e717 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -30,7 +30,8 @@ typedef enum {
     FAILURE_ACC_INCOMPATIBLE,
     FAILURE_INVALID_EEPROM_CONTENTS,
     FAILURE_FLASH_WRITE_FAILED,
-    FAILURE_GYRO_INIT_FAILED
+    FAILURE_GYRO_INIT_FAILED,
+    FAILURE_FLASH_READ_FAILED,
 } failureMode_e;
 
 // failure
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 1250872995..a53d1088bc 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -217,6 +217,13 @@ void init(void)
     detectBrushedESC();
 #endif
 
+#ifdef CONFIG_IN_EXTERNAL_FLASH
+    // Reset config to defaults. Note: Default flash config must be functional for config in external flash to work.
+    pgResetAll(0);
+
+    flashDeviceInitialized = flashInit();
+#endif
+
     initEEPROM();
     ensureEEPROMContainsValidData();
     readEEPROM();
@@ -360,6 +367,11 @@ void init(void)
     // Initialize buses
     busInit();
 
+#ifdef CONFIG_IN_EXTERNAL_FLASH
+    // busInit re-configures the SPI pins. Init flash again so it is ready to write settings
+    flashDeviceInitialized = flashInit();
+#endif
+
 #ifdef USE_HARDWARE_REVISION_DETECTION
     updateHardwareRevision();
 #endif
diff --git a/src/main/fc/firmware_update_common.h b/src/main/fc/firmware_update_common.h
index 27fd8799e2..ce396875ad 100644
--- a/src/main/fc/firmware_update_common.h
+++ b/src/main/fc/firmware_update_common.h
@@ -39,8 +39,11 @@
 #define AVAILABLE_FIRMWARE_SPACE (FLASH_END - FIRMWARE_START_ADDRESS)
 
 extern uint8_t __firmware_start; // set via linker
+
+#if defined(CONFIG_IN_FLASH)
 extern uint8_t __config_start;
 extern uint8_t __config_end;
+#endif
 
 typedef struct {
     uint32_t magic;

From 242940e84db66cbbbf418691e5e59cecf8c2cbde Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:50:54 -0700
Subject: [PATCH 189/336] Add __config_{start,end} when using RAM or Ext Flash
 streamer

---
 src/main/target/common_post.h | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 1fd40fcb44..0ca2ff4c9a 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -88,3 +88,18 @@ extern uint8_t __config_end;
 #define FILE_COMPILE_NORMAL
 #define FILE_COMPILE_FOR_SPEED
 #endif
+
+#if defined(CONFIG_IN_RAM) || defined(CONFIG_IN_EXTERNAL_FLASH)
+#ifndef EEPROM_SIZE
+#define EEPROM_SIZE     8192
+#endif
+extern uint8_t eepromData[EEPROM_SIZE];
+#define __config_start (*eepromData)
+#define __config_end (*ARRAYEND(eepromData))
+#else
+#ifndef CONFIG_IN_FLASH
+#define CONFIG_IN_FLASH
+#endif
+extern uint8_t __config_start;   // configured via linker script when building binaries.
+extern uint8_t __config_end;
+#endif

From 8c33b1cb2f898ecae6136bd594ccd6298628358d Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:51:54 -0700
Subject: [PATCH 190/336] Add SLOW_RAM section allocated in D2 RAM for H7

---
 src/main/build/build_config.h              | 2 ++
 src/main/target/link/stm32_flash_h743xi.ld | 1 +
 2 files changed, 3 insertions(+)

diff --git a/src/main/build/build_config.h b/src/main/build/build_config.h
index ae4eb1a3a4..2ded047b05 100644
--- a/src/main/build/build_config.h
+++ b/src/main/build/build_config.h
@@ -53,8 +53,10 @@
 
 #ifdef STM32H7
 #define DMA_RAM __attribute__ ((section(".DMA_RAM")))
+#define SLOW_RAM __attribute__ ((section(".SLOW_RAM")))
 #else
 #define DMA_RAM
+#define SLOW_RAM
 #endif
 
 #define STATIC_FASTRAM              static FASTRAM
diff --git a/src/main/target/link/stm32_flash_h743xi.ld b/src/main/target/link/stm32_flash_h743xi.ld
index c338241bc7..7f3d857f5a 100644
--- a/src/main/target/link/stm32_flash_h743xi.ld
+++ b/src/main/target/link/stm32_flash_h743xi.ld
@@ -56,5 +56,6 @@ MEMORY
 
 REGION_ALIAS("STACKRAM", DTCM_RAM)
 REGION_ALIAS("FASTRAM",  DTCM_RAM)
+REGION_ALIAS("SLOWRAM",  D2_RAM)
 
 INCLUDE "stm32_flash_h7_split.ld"
\ No newline at end of file

From 89b59146c02c94c845d63ce8f81f884bb9a92532 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 23 Jul 2021 07:56:28 -0700
Subject: [PATCH 191/336] Add RAM and Ext Flash config streamer to F3, F4, F7,
 H7

---
 cmake/stm32f3.cmake                       | 2 ++
 cmake/stm32f4.cmake                       | 2 ++
 cmake/stm32f7.cmake                       | 2 ++
 cmake/stm32h7.cmake                       | 4 +++-
 src/main/config/config_streamer_stm32f3.c | 4 ++--
 src/main/config/config_streamer_stm32f4.c | 4 ++--
 src/main/config/config_streamer_stm32f7.c | 4 ++--
 src/main/config/config_streamer_stm32h7.c | 2 +-
 8 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/cmake/stm32f3.cmake b/cmake/stm32f3.cmake
index 2d0ef50704..5410d45b43 100644
--- a/cmake/stm32f3.cmake
+++ b/cmake/stm32f3.cmake
@@ -19,6 +19,8 @@ main_sources(STM32F3_SRC
     target/system_stm32f30x.c
 
     config/config_streamer_stm32f3.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f30x.c
     drivers/bus_i2c_stm32f30x.c
diff --git a/cmake/stm32f4.cmake b/cmake/stm32f4.cmake
index 37fd1cdad5..2f8dd59b3d 100644
--- a/cmake/stm32f4.cmake
+++ b/cmake/stm32f4.cmake
@@ -36,6 +36,8 @@ main_sources(STM32F4_SRC
     target/system_stm32f4xx.c
 
     config/config_streamer_stm32f4.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f4xx.c
     drivers/adc_stm32f4xx.c
diff --git a/cmake/stm32f7.cmake b/cmake/stm32f7.cmake
index 238920bcf8..6aa2a9fd80 100644
--- a/cmake/stm32f7.cmake
+++ b/cmake/stm32f7.cmake
@@ -61,6 +61,8 @@ main_sources(STM32F7_SRC
     target/system_stm32f7xx.c
 
     config/config_streamer_stm32f7.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f7xx.c
     drivers/bus_i2c_hal.c
diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
index 758f9dca25..2f232a4600 100644
--- a/cmake/stm32h7.cmake
+++ b/cmake/stm32h7.cmake
@@ -142,6 +142,8 @@ main_sources(STM32H7_SRC
     target/system_stm32h7xx.c
 
     config/config_streamer_stm32h7.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32h7xx.c
     drivers/bus_i2c_hal.c
@@ -217,4 +219,4 @@ macro(define_target_stm32h7 subfamily size)
     endfunction()
 endmacro()
 
-define_target_stm32h7(43 i)
\ No newline at end of file
+define_target_stm32h7(43 i)
diff --git a/src/main/config/config_streamer_stm32f3.c b/src/main/config/config_streamer_stm32f3.c
index 41c49d22b6..f56f86e7a9 100644
--- a/src/main/config/config_streamer_stm32f3.c
+++ b/src/main/config/config_streamer_stm32f3.c
@@ -20,7 +20,7 @@
 #include "drivers/system.h"
 #include "config/config_streamer.h"
 
-#if defined(STM32F3)
+#if defined(STM32F3) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 #define FLASH_PAGE_SIZE     0x800
 
@@ -57,4 +57,4 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
     return 0;
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/config/config_streamer_stm32f4.c b/src/main/config/config_streamer_stm32f4.c
index dcd7b5feab..4f48831bc8 100644
--- a/src/main/config/config_streamer_stm32f4.c
+++ b/src/main/config/config_streamer_stm32f4.c
@@ -20,7 +20,7 @@
 #include "drivers/system.h"
 #include "config/config_streamer.h"
 
-#if defined(STM32F4)
+#if defined(STM32F4) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 /*
 Sector 0    0x08000000 - 0x08003FFF 16 Kbytes
@@ -103,4 +103,4 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
     return 0;
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/config/config_streamer_stm32f7.c b/src/main/config/config_streamer_stm32f7.c
index afcedc7ba0..61b148fce5 100644
--- a/src/main/config/config_streamer_stm32f7.c
+++ b/src/main/config/config_streamer_stm32f7.c
@@ -20,7 +20,7 @@
 #include "drivers/system.h"
 #include "config/config_streamer.h"
 
-#if defined(STM32F7)
+#if defined(STM32F7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 #if defined(STM32F745xx) || defined(STM32F746xx) || defined(STM32F765xx)
 /*
@@ -138,4 +138,4 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
     return 0;    
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/main/config/config_streamer_stm32h7.c b/src/main/config/config_streamer_stm32h7.c
index 973a96e6dd..baa41ea92b 100644
--- a/src/main/config/config_streamer_stm32h7.c
+++ b/src/main/config/config_streamer_stm32h7.c
@@ -20,7 +20,7 @@
 #include "drivers/system.h"
 #include "config/config_streamer.h"
 
-#if defined(STM32H7) && !defined(CONFIG_IN_EXTERNAL_FLASH)
+#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
 #if defined(STM32H743xx)
 /* Sectors 0-7 of 128K each */

From 9017add51deee7aeae5c8bfb9a11b53c706be2ba Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 7 Aug 2021 10:19:02 +0200
Subject: [PATCH 192/336] Remove unused code

---
 support/buildserver/upload.php    |  57 -----
 support/flash.bat                 |  26 ---
 support/stmloader/Makefile        |  14 --
 support/stmloader/loader.c        | 122 -----------
 support/stmloader/serial.c        | 179 ----------------
 support/stmloader/serial.h        |  38 ----
 support/stmloader/stmbootloader.c | 343 ------------------------------
 support/stmloader/stmbootloader.h |  27 ---
 8 files changed, 806 deletions(-)
 delete mode 100755 support/buildserver/upload.php
 delete mode 100644 support/flash.bat
 delete mode 100644 support/stmloader/Makefile
 delete mode 100644 support/stmloader/loader.c
 delete mode 100644 support/stmloader/serial.c
 delete mode 100644 support/stmloader/serial.h
 delete mode 100644 support/stmloader/stmbootloader.c
 delete mode 100644 support/stmloader/stmbootloader.h

diff --git a/support/buildserver/upload.php b/support/buildserver/upload.php
deleted file mode 100755
index ef9fd306ab..0000000000
--- a/support/buildserver/upload.php
+++ /dev/null
@@ -1,57 +0,0 @@
-<?php
-	// see docs/Travis.md, .travis.sh
-
-	$baseDir = "/var/www/builds/";
-
-	$firmwareFile = $_FILES["file"];
-	$manualFile = $_FILES["manual"];
-
-	$recentCommits = $_POST["recent_commits"];
-	$travisJobId = sanitize($_POST["travis_build_number"]);
-	$lastCommitDate = sanitize($_POST["last_commit_date"]);
-	$revision = sanitize($_POST["revision"]);
-	$branch = sanitize($_POST["branch"]);
-
-	$github_repo = sanitize($_POST["github_repo"]);
-	$build_name = sanitize($_POST["build_name"]);
-
-	$uploadDir = $baseDir . "/" . $github_repo . "/" . $lastCommitDate . "/";
-	$prefix = $uploadDir . $travisJobId . "_" . $revision . "_" . $build_name;
-
-	if(!file_exists($uploadDir)) mkdir($uploadDir, 0770, true);
-
-	if($firmwareFile) {
-		$uploadfile = $prefix . "_" . (basename($firmwareFile['name']));
-		if(move_uploaded_file($firmwareFile['tmp_name'], $uploadfile)) {
-			echo "upload succeeded.\n";
-		}
-		else {
-			echo "upload failed $uploadfile\n";
-		}
-	}
-
-	if($manualFile) {
-		$uploadfile = $prefix . "_" . (basename($manualFile['name']));
-		if(move_uploaded_file($manualFile['tmp_name'], $uploadfile)) {
-			echo "upload succeeded.\n";
-		}
-		else {
-			echo "upload failed $uploadfile\n";
-		}
-	}
-
-	if($revision && $lastCommitDate && $recentCommits) {
-		$changelog = fopen($prefix . "_changes.txt", "w") or die ("unable to open changelog file for writing");
-		fwrite($changelog, $recentCommits);
-		fclose($changelog);
-	}
-
-	print_r($_FILES);
-	print_r($_POST);
-	print_r($_GET);
-
-	function sanitize($str) {
-		return (preg_replace('/[^A-Za-z0-9_\-]/', '_', ($str)));
-	}
-
-?>
diff --git a/support/flash.bat b/support/flash.bat
deleted file mode 100644
index 0e0f8000b7..0000000000
--- a/support/flash.bat
+++ /dev/null
@@ -1,26 +0,0 @@
-@@echo OFF
-
-:: User configuration
-
-:: set your port number. ie: for COM6 , port is 6
-set PORT=2
-:: location of stmflashloader.exe, this is default
-set FLASH_LOADER="C:\Program Files (x86)\STMicroelectronics\Software\Flash Loader Demonstrator\STMFlashLoader.exe"
-:: path to firmware
-set FIRMWARE="D:\baseflight.hex"
-
-:: ----------------------------------------------
-
-mode COM%PORT% BAUD=115200 PARITY=N DATA=8 STOP=1 XON=OFF DTR=OFF RTS=OFF
-echo/|set /p ="R" > COM%PORT%:
-
-TIMEOUT /T 3
-
-cd %LOADER_PATH%
-
-%FLASH_LOADER% ^
-    -c --pn %PORT% --br 115200 --db 8 ^
-    -i STM32_Med-density_128K ^
-    -e --all ^
-    -d --fn %FIRMWARE% ^
-    -r --a 0x8000000
diff --git a/support/stmloader/Makefile b/support/stmloader/Makefile
deleted file mode 100644
index 936fa697a3..0000000000
--- a/support/stmloader/Makefile
+++ /dev/null
@@ -1,14 +0,0 @@
-CC = $(CROSS_COMPILE)gcc
-AR = $(CROSS_COMPILE)ar
-export CC
-export AR
-
-all:
-		$(CC) -g -o stmloader -I./ \
-				loader.c \
-				serial.c \
-				stmbootloader.c \
-				-Wall
-
-clean:
-		rm -f stmloader; rm -rf stmloader.dSYM
diff --git a/support/stmloader/loader.c b/support/stmloader/loader.c
deleted file mode 100644
index 8a060fa258..0000000000
--- a/support/stmloader/loader.c
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
-    This file is part of AutoQuad.
-
-    AutoQuad is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    AutoQuad is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
-
-    Copyright © 2011  Bill Nesbitt
-*/
-
-#include "serial.h"
-#include "stmbootloader.h"
-#include <stdio.h>
-#include <unistd.h>
-#include <string.h>
-#include <termios.h>
-#include <fcntl.h>
-#include <getopt.h>
-#include <stdlib.h>
-
-#define DEFAULT_PORT		"/dev/ttyUSB0"
-#define DEFAULT_BAUD		115200
-#define FIRMWARE_FILENAME	"STM32.hex"
-
-serialStruct_t *s;
-
-char port[256];
-unsigned int baud;
-unsigned char overrideParity;
-unsigned char noSendR;
-char firmFile[256];
-
-void loaderUsage(void) {
-	fprintf(stderr, "usage: loader <-h> <-p device_file> <-b baud_rate> <-f firmware_file> <-o> <-n>\n");
-}
-
-unsigned int loaderOptions(int argc, char **argv) {
-	int ch;
-
-	strncpy(port, DEFAULT_PORT, sizeof(port));
-	baud = DEFAULT_BAUD;
-	overrideParity = 0;
-	noSendR = 0;
-	strncpy(firmFile, FIRMWARE_FILENAME, sizeof(firmFile));
-
-	/* options descriptor */
-	static struct option longopts[] = {
-		{ "help",					required_argument,	NULL,		'h' },
-		{ "port",					required_argument,	NULL,		'p' },
-		{ "baud",					required_argument,	NULL,		's' },
-		{ "firm_file",				required_argument,	NULL,		'f' },
-		{ "override_parity",		no_argument,			NULL,		'o' },
-		{ "no_send_r",				no_argument,			NULL,		'n' },
-		{ NULL,						0,							NULL,		0 }
-	};
-
-	while ((ch = getopt_long(argc, argv, "hp:b:f:o:n", longopts, NULL)) != -1)
-		switch (ch) {
-		case 'h':
-			loaderUsage();
-			exit(0);
-			break;
-		case 'p':
-			strncpy(port, optarg, sizeof(port));
-			break;
-		case 'b':
-			baud = atoi(optarg);
-			break;
-		case 'f':
-			strncpy(firmFile, optarg, sizeof(firmFile));
-			break;
-		case 'o':
-			overrideParity = 1;
-			break;
-		case 'n':
-			noSendR = 1;
-			break;
-		default:
-			loaderUsage();
-			return 0;
-	}
-	argc -= optind;
-	argv += optind;
-
-	return 1;
-}
-
-int main(int argc, char **argv) {
-	FILE *fw;
-
-	// init
-	if (!loaderOptions(argc, argv)) {
-		fprintf(stderr, "Init failed, aborting\n");
-		return 1;
-	}
-
-	s = initSerial(port, baud, 0);
-	if (!s) {
-		fprintf(stderr, "Cannot open serial port '%s', aborting.\n", port);
-		return 1;
-	}
-
-	fw = fopen(firmFile, "r");
-	if (!fw) {
-		fprintf(stderr, "Cannot open firmware file '%s', aborting.\n", firmFile);
-		return 1;
-	}
-	else {
-		printf("Upgrading STM on port %s from %s...\n", port, firmFile);
-		stmLoader(s, fw, overrideParity, noSendR);
-	}
-
-	return 0;
-}
diff --git a/support/stmloader/serial.c b/support/stmloader/serial.c
deleted file mode 100644
index b11fa4923d..0000000000
--- a/support/stmloader/serial.c
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
-    This file is part of AutoQuad.
-
-    AutoQuad is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    AutoQuad is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
-
-    Copyright © 2011  Bill Nesbitt
-*/
-
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#endif
-
-#include "serial.h"
-#include <stdio.h>
-#include <unistd.h>
-#include <termios.h>
-#include <fcntl.h>
-#include <stdlib.h>
-#include <sys/select.h>
-#include <string.h>
-
-serialStruct_t *initSerial(const char *port, unsigned int baud, char ctsRts) {
-	serialStruct_t *s;
-	struct termios options;
-	unsigned int brate;
-
-	s = (serialStruct_t *)calloc(1, sizeof(serialStruct_t));
-
-	s->fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
-
-	if (s->fd == -1) {
-		free(s);
-		return 0;
-	}
-
-	fcntl(s->fd, F_SETFL, 0);    // clear all flags on descriptor, enable direct I/O
-
-//	bzero(&options, sizeof(options));
-//	memset(&options, 0, sizeof(options));
-	tcgetattr(s->fd, &options);
-
-#ifdef B921600
-	switch (baud) {
-		case 9600:
-			brate = B9600;
-			break;
-		case 19200:
-			brate = B19200;
-			break;
-		case 38400:
-			brate = B38400;
-			break;
-		case 57600:
-			brate = B57600;
-			break;
-		case 115200:
-			brate = B115200;
-			break;
-		case 230400:
-			brate = B230400;
-			break;
-		case 460800:
-			brate = B460800;
-			break;
-		case 921600:
-			brate = B921600;
-			break;
-		default:
-			brate = B115200;
-			break;
-	}
-	options.c_cflag = brate;
-#else   // APPLE
-	cfsetispeed(&options, baud);
-	cfsetospeed(&options, baud);
-#endif
-
-	options.c_cflag |= CRTSCTS | CS8 | CLOCAL | CREAD;
-	options.c_iflag = IGNPAR;
-	options.c_iflag &= (~(IXON|IXOFF|IXANY));	// turn off software flow control
-	options.c_oflag = 0;
-
-	/* set input mode (non-canonical, no echo,...) */
-	options.c_lflag = 0;
-
-	options.c_cc[VTIME]    = 0;   /* inter-character timer unused */
-	options.c_cc[VMIN]     = 1;   /* blocking read until 1 chars received */
-
-#ifdef CCTS_OFLOW
-	options.c_cflag |= CCTS_OFLOW;
-#endif
-
-	if (!ctsRts)
-		options.c_cflag &= ~(CRTSCTS);	// turn off hardware flow control
-
-	// set the new port options
-	tcsetattr(s->fd, TCSANOW, &options);
-
-	return s;
-}
-
-void serialFree(serialStruct_t *s) {
-	if (s) {
-		if (s->fd)
-			close(s->fd);
-		free (s);
-	}
-}
-
-void serialNoParity(serialStruct_t *s) {
-	struct termios options;
-
-	tcgetattr(s->fd, &options);   // read serial port options
-
-	options.c_cflag &= ~(PARENB | CSTOPB);
-
-	tcsetattr(s->fd, TCSANOW, &options);
-}
-
-void serialEvenParity(serialStruct_t *s) {
-	struct termios options;
-
-	tcgetattr(s->fd, &options);   // read serial port options
-
-	options.c_cflag |= (PARENB);
-	options.c_cflag &= ~(PARODD | CSTOPB);
-
-	tcsetattr(s->fd, TCSANOW, &options);
-}
-
-void serialWriteChar(serialStruct_t *s, unsigned char c) {
-	char ret;
-
-	ret = write(s->fd, &c, 1);
-}
-
-void serialWrite(serialStruct_t *s, const char *str, unsigned int len) {
-	char ret;
-
-	ret = write(s->fd, str, len);
-}
-
-unsigned char serialAvailable(serialStruct_t *s) {
-	fd_set fdSet;
-	struct timeval timeout;
-
-	FD_ZERO(&fdSet);
-	FD_SET(s->fd, &fdSet);
-	memset((char *)&timeout, 0, sizeof(timeout));
-
-	if (select(s->fd+1, &fdSet, 0, 0, &timeout) == 1)
-		return 1;
-	else
-		return 0;
-}
-
-void serialFlush(serialStruct_t *s) {
-	while (serialAvailable(s))
-		serialRead(s);
-}
-
-unsigned char serialRead(serialStruct_t *s) {
-	char ret;
-	unsigned char c;
-
-	ret = read(s->fd, &c, 1);
-
-	return c;
-}
diff --git a/support/stmloader/serial.h b/support/stmloader/serial.h
deleted file mode 100644
index 90beedc781..0000000000
--- a/support/stmloader/serial.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
-    This file is part of AutoQuad.
-
-    AutoQuad is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    AutoQuad is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
-
-    Copyright © 2011  Bill Nesbitt
-*/
-
-#ifndef _serial_h
-#define _serial_h
-
-#define INPUT_BUFFER_SIZE	1024
-
-typedef struct {
-	int fd;
-} serialStruct_t;
-
-extern serialStruct_t *initSerial(const char *port, unsigned int baud, char ctsRts);
-extern void serialWrite(serialStruct_t *s, const char *str, unsigned int len);
-extern void serialWriteChar(serialStruct_t *s, unsigned char c);
-extern unsigned char serialAvailable(serialStruct_t *s);
-extern void serialFlush(serialStruct_t *s);
-extern unsigned char serialRead(serialStruct_t *s);
-extern void serialEvenParity(serialStruct_t *s);
-extern void serialNoParity(serialStruct_t *s);
-extern void serialFree(serialStruct_t *s);
-
-#endif
diff --git a/support/stmloader/stmbootloader.c b/support/stmloader/stmbootloader.c
deleted file mode 100644
index 9a0550b8da..0000000000
--- a/support/stmloader/stmbootloader.c
+++ /dev/null
@@ -1,343 +0,0 @@
-/*
-    This file is part of AutoQuad.
-
-    AutoQuad is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    AutoQuad is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
-
-    Copyright © 2011  Bill Nesbitt
-*/
-
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#endif
-
-#include "serial.h"
-#include <stdio.h>
-#include <unistd.h>
-#include <string.h>
-#include <ctype.h>
-
-#define STM_RETRIES_SHORT	1000
-#define STM_RETRIES_LONG	50000
-
-unsigned char getResults[11];
-
-unsigned char stmHexToChar(const char *hex) {
-	char hex1, hex2;
-	unsigned char nibble1, nibble2;
-
-	// force data to upper case
-	hex1 = toupper(hex[0]);
-	hex2 = toupper(hex[1]);
-
-	if (hex1 < 65)
-		nibble1 = hex1 - 48;
-	else
-		nibble1 = hex1 - 55;
-
-	if (hex2 < 65)
-		nibble2 = hex2 - 48;
-	else
-		nibble2 = hex2 - 55;
-
-	return (nibble1 << 4 | nibble2);
-}
-
-
-unsigned char stmWaitAck(serialStruct_t *s, int retries) {
-	unsigned char c;
-	unsigned int i;
-
-	for (i = 0; i < retries; i++) {
-		if (serialAvailable(s)) {
-			c = serialRead(s);
-			if (c == 0x79) {
-//				putchar('+'); fflush(stdout);
-				return 1;
-			}
-			if (c == 0x1f) {
-				putchar('-'); fflush(stdout);
-				return 0;
-			}
-			else {
-				printf("?%x?", c); fflush(stdout);
-				return 0;
-			}
-		}
-		usleep(500);
-	}
-
-	return 0;
-}
-
-unsigned char stmWrite(serialStruct_t *s, const char *hex) {
-	unsigned char c;
-	unsigned char ck;
-	unsigned char i;
-
-	ck = 0;
-	i = 0;
-	while (*hex) {
-		c = stmHexToChar(hex);
-		serialWrite(s, (char *)&c, 1);
-		ck ^= c;
-		hex += 2;
-		i++;
-	}
-	if (i == 1)
-		ck = 0xff ^ c;
-
-	// send checksum
-	serialWrite(s, (char *)&ck, 1);
-
-	return stmWaitAck(s, STM_RETRIES_LONG);
-}
-
-void stmWriteCommand(serialStruct_t *s, char *msb, char *lsb, char *len, char *data) {
-	char startAddress[9];
-	char lenPlusData[128];
-	char c;
-
-	strncpy(startAddress, msb, sizeof(startAddress));
-	strcat(startAddress, lsb);
-
-	sprintf(lenPlusData, "%02x%s", stmHexToChar(len) - 1, data);
-
-	write:
-	// send WRITE MEMORY command
-	do {
-		c = getResults[5];
-		serialWrite(s, &c, 1);
-		c = 0xff ^ c;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_LONG));
-
-	// send address
-	if (!stmWrite(s, startAddress)) {
-		putchar('A');
-		goto write;
-	}
-
-	// send len + data
-	if (!stmWrite(s, lenPlusData)) {
-		putchar('D');
-		goto write;
-	}
-
-	putchar('='); fflush(stdout);
-}
-
-char *stmHexLoader(serialStruct_t *s, FILE *fp) {
-	char hexByteCount[3], hexAddressLSB[5], hexRecordType[3], hexData[128];
-	char addressMSB[5];
-	static char addressJump[9];
-
-//	bzero(addressJump, sizeof(addressJump));
-//	bzero(addressMSB, sizeof(addressMSB));
-	memset(addressJump, 0, sizeof(addressJump));
-	memset(addressMSB, 0, sizeof(addressMSB));
-
-	while (fscanf(fp, ":%2s%4s%2s%s\n", hexByteCount, hexAddressLSB, hexRecordType, hexData) != EOF) {
-		unsigned int byteCount, addressLSB, recordType;
-
-		recordType = stmHexToChar(hexRecordType);
-		hexData[stmHexToChar(hexByteCount) * 2] = 0;	// terminate at CHKSUM
-
-//		printf("Record Type: %d\n", recordType);
-		switch (recordType) {
-			case 0x00:
-				stmWriteCommand(s, addressMSB, hexAddressLSB, hexByteCount, hexData);
-				break;
-			case 0x01:
-				// EOF
-				return addressJump;
-				break;
-			case 0x04:
-				// MSB of destination 32 bit address
-				strncpy(addressMSB, hexData, 4);
-				break;
-			case 0x05:
-				// 32 bit address to run after load
-				strncpy(addressJump, hexData, 8);
-				break;
-		}
-	}
-
-	return 0;
-}
-
-void stmLoader(serialStruct_t *s, FILE *fp, unsigned char overrideParity, unsigned char noSendR) {
-	char c;
-	unsigned char b1, b2, b3;
-	unsigned char i, n;
-	char *jumpAddress;
-
-	// turn on parity generation
-	if (!overrideParity)
-		serialEvenParity(s);
-
-	if(!noSendR) {
-		top:
-		printf("Sending R to place Baseflight in bootloader, press a key to continue");
-		serialFlush(s);
-		c = 'R';
-		serialWrite(s, &c, 1);
-		getchar();
-		printf("\n");
-	}
-
-	serialFlush(s);
-
-	printf("Poking the MCU to check whether bootloader is alive...");
-
-	// poke the MCU
-	do {
-		printf("p"); fflush(stdout);
-		c = 0x7f;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_SHORT));
-	printf("STM bootloader alive...\n");
-
-	// send GET command
-	do {
-		c = 0x00;
-		serialWrite(s, &c, 1);
-		c = 0xff;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_LONG));
-
-	b1 = serialRead(s);	// number of bytes
-	b2 = serialRead(s);	// bootloader version
-
-	for (i = 0; i < b1; i++)
-		getResults[i] = serialRead(s);
-
-	stmWaitAck(s, STM_RETRIES_LONG);
-	printf("Received commands.\n");
-
-
-	// send GET VERSION command
-	do {
-		c = getResults[1];
-		serialWrite(s, &c, 1);
-		c = 0xff ^ c;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_LONG));
-	b1 = serialRead(s);
-	b2 = serialRead(s);
-	b3 = serialRead(s);
-	stmWaitAck(s, STM_RETRIES_LONG);
-	printf("STM Bootloader version: %d.%d\n", (b1 & 0xf0) >> 4, (b1 & 0x0f));
-
-	// send GET ID command
-	do {
-		c = getResults[2];
-		serialWrite(s, &c, 1);
-		c = 0xff ^ c;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_LONG));
-	n = serialRead(s);
-	printf("STM Device ID: 0x");
-	for (i = 0; i <= n; i++) {
-		b1 = serialRead(s);
-		printf("%02x", b1);
-	}
-	stmWaitAck(s, STM_RETRIES_LONG);
-	printf("\n");
-
-/*
-	flash_size:
-	// read Flash size
-	c = getResults[3];
-	serialWrite(s, &c, 1);
-	c = 0xff ^ c;
-	serialWrite(s, &c, 1);
-
-	// if read not allowed, unprotect (which also erases)
-	if (!stmWaitAck(s, STM_RETRIES_LONG)) {
-		// unprotect command
-		do {
-			c = getResults[10];
-			serialWrite(s, &c, 1);
-			c = 0xff ^ c;
-			serialWrite(s, &c, 1);
-		} while (!stmWaitAck(s, STM_RETRIES_LONG));
-
-		// wait for results
-		if (stmWaitAck(s, STM_RETRIES_LONG))
-			goto top;
-	}
-
-	// send address
-	if (!stmWrite(s, "1FFFF7E0"))
-		goto flash_size;
-
-	// send # bytes (N-1 = 1)
-	if (!stmWrite(s, "01"))
-		goto flash_size;
-
-	b1 = serialRead(s);
-	b2 = serialRead(s);
-	printf("STM Flash Size: %dKB\n", b2<<8 | b1);
-*/
-
-	// erase flash
-	erase_flash:
-	printf("Global flash erase [command 0x%x]...", getResults[6]); fflush(stdout);
-	do {
-		c = getResults[6];
-		serialWrite(s, &c, 1);
-		c = 0xff ^ c;
-		serialWrite(s, &c, 1);
-	} while (!stmWaitAck(s, STM_RETRIES_LONG));
-
-	// global erase
-	if (getResults[6] == 0x44) {
-		// mass erase
-		if (!stmWrite(s, "FFFF"))
-			goto erase_flash;
-	}
-	else {
-		c = 0xff;
-		serialWrite(s, &c, 1);
-		c = 0x00;
-		serialWrite(s, &c, 1);
-
-		if (!stmWaitAck(s, STM_RETRIES_LONG))
-			goto erase_flash;
-	}
-
-	printf("Done.\n");
-
-	// upload hex file
-	printf("Flashing device...\n");
-	jumpAddress = stmHexLoader(s, fp);
-	if (jumpAddress) {
-		printf("\nFlash complete, executing.\n");
-
-		go:
-		// send GO command
-		do {
-			c = getResults[4];
-			serialWrite(s, &c, 1);
-			c = 0xff ^ c;
-			serialWrite(s, &c, 1);
-		} while (!stmWaitAck(s, STM_RETRIES_LONG));
-
-		// send address
-		if (!stmWrite(s, jumpAddress))
-			goto go;
-	}
-	else {
-		printf("\nFlash complete.\n");
-	}
-}
diff --git a/support/stmloader/stmbootloader.h b/support/stmloader/stmbootloader.h
deleted file mode 100644
index 9c7a5de5ad..0000000000
--- a/support/stmloader/stmbootloader.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
-    This file is part of AutoQuad.
-
-    AutoQuad is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    AutoQuad is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with AutoQuad.  If not, see <http://www.gnu.org/licenses/>.
-
-    Copyright © 2011  Bill Nesbitt
-*/
-
-#ifndef _stmbootloader_h
-#define _stmbootloader_h
-
-#include <stdio.h>
-#include "serial.h"
-
-extern void stmLoader(serialStruct_t *s, FILE *fp, unsigned char overrideParity, unsigned char noSendR);
-
-#endif

From 362c5e354e2736a52492bcb73f54c8ff51db8fec Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 8 Aug 2021 12:56:28 +0200
Subject: [PATCH 193/336] Do not disable IMU2 is detect failed

---
 src/main/flight/secondary_imu.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/main/flight/secondary_imu.c b/src/main/flight/secondary_imu.c
index b8e5a20160..111fce7aaa 100644
--- a/src/main/flight/secondary_imu.c
+++ b/src/main/flight/secondary_imu.c
@@ -110,10 +110,6 @@ void secondaryImuInit(void)
         }
     }
 
-    if (!secondaryImuState.active) {
-        secondaryImuConfigMutable()->hardwareType = SECONDARY_IMU_NONE;
-    }
-
 }
 
 void secondaryImuProcess(void) {

From 50e20f24dd9fbb248558aaab7fd8959c4c607967 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 9 Aug 2021 12:06:55 +0200
Subject: [PATCH 194/336] Store IMU2 hardware is diagnostics framework

---
 src/main/flight/secondary_imu.c   | 8 ++++++++
 src/main/sensors/initialisation.c | 7 ++++---
 src/main/sensors/sensors.h        | 1 +
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/secondary_imu.c b/src/main/flight/secondary_imu.c
index 111fce7aaa..3c0800a18a 100644
--- a/src/main/flight/secondary_imu.c
+++ b/src/main/flight/secondary_imu.c
@@ -95,10 +95,13 @@ void secondaryImuInit(void)
         calibrationData.radius[ACC] = secondaryImuConfig()->calibrationRadiusAcc;
         calibrationData.radius[MAG] = secondaryImuConfig()->calibrationRadiusMag;
 
+    requestedSensors[SENSOR_INDEX_IMU2] = secondaryImuConfig()->hardwareType;
+
     if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
         secondaryImuState.active = bno055Init(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
 
         if (secondaryImuState.active) {
+            detectedSensors[SENSOR_INDEX_IMU2] = SECONDARY_IMU_BNO055;
             rescheduleTask(TASK_SECONDARY_IMU, TASK_PERIOD_HZ(10));
         }
 
@@ -106,10 +109,15 @@ void secondaryImuInit(void)
         secondaryImuState.active = bno055SerialInit(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
 
         if (secondaryImuState.active) {
+            detectedSensors[SENSOR_INDEX_IMU2] = SECONDARY_IMU_BNO055_SERIAL;
             rescheduleTask(TASK_SECONDARY_IMU, TASK_PERIOD_HZ(50));
         }
     }
 
+    if (!secondaryImuState.active) {
+        detectedSensors[SENSOR_INDEX_IMU2] = SECONDARY_IMU_NONE;
+    }
+
 }
 
 void secondaryImuProcess(void) {
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 274b76eb86..6fe022daea 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -38,10 +38,11 @@
 #include "sensors/rangefinder.h"
 #include "sensors/sensors.h"
 #include "sensors/temperature.h"
+#include "sensors/temperature.h"
+#include "flight/secondary_imu.h"
 
-uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_AUTODETECT, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
-uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
-
+uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_AUTODETECT, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE, SECONDARY_IMU_NONE };
+uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE, SECONDARY_IMU_NONE };
 
 bool sensorsAutodetect(void)
 {
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index 1a6ab0b8b2..6d8bbea298 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -25,6 +25,7 @@ typedef enum {
     SENSOR_INDEX_RANGEFINDER,
     SENSOR_INDEX_PITOT,
     SENSOR_INDEX_OPFLOW,
+    SENSOR_INDEX_IMU2,
     SENSOR_INDEX_COUNT
 } sensorIndex_e;
 

From d44587456642dd5f12669779764f2583dc7bdcf3 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 10 Aug 2021 10:47:01 +0200
Subject: [PATCH 195/336] Properly report unhealthy hardware

---
 src/main/fc/cli.c               |  5 +++--
 src/main/flight/secondary_imu.c | 30 ++++++++++++++++++++++++++++++
 src/main/flight/secondary_imu.h |  5 ++++-
 src/main/sensors/diagnostics.c  |  5 +++++
 src/main/sensors/diagnostics.h  |  2 ++
 5 files changed, 44 insertions(+), 3 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 991dd5d2b4..c420cf0277 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -3186,14 +3186,15 @@ static void cliStatus(char *cmdline)
     cliPrintLinef("  PCLK2  = %d MHz", clocks.PCLK2_Frequency / 1000000);
 #endif
 
-    cliPrintLinef("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, RANGEFINDER=%s, OPFLOW=%s, GPS=%s",
+    cliPrintLinef("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, RANGEFINDER=%s, OPFLOW=%s, GPS=%s, IMU2=%s",
         hardwareSensorStatusNames[getHwGyroStatus()],
         hardwareSensorStatusNames[getHwAccelerometerStatus()],
         hardwareSensorStatusNames[getHwCompassStatus()],
         hardwareSensorStatusNames[getHwBarometerStatus()],
         hardwareSensorStatusNames[getHwRangefinderStatus()],
         hardwareSensorStatusNames[getHwOpticalFlowStatus()],
-        hardwareSensorStatusNames[getHwGPSStatus()]
+        hardwareSensorStatusNames[getHwGPSStatus()],
+        hardwareSensorStatusNames[getHwSecondaryImuStatus()]
     );
 
 #ifdef USE_ESC_SENSOR
diff --git a/src/main/flight/secondary_imu.c b/src/main/flight/secondary_imu.c
index 3c0800a18a..21a0f613af 100644
--- a/src/main/flight/secondary_imu.c
+++ b/src/main/flight/secondary_imu.c
@@ -227,3 +227,33 @@ void secondaryImuFetchCalibration(void) {
 void secondaryImuSetMagneticDeclination(float declination) { //Incoming units are degrees
     secondaryImuState.magDeclination = declination * 10.0f; //Internally declination is stored in decidegrees
 }
+
+bool isSecondaryImuHealthy(void) {
+    return secondaryImuState.active;
+}
+
+hardwareSensorStatus_e getHwSecondaryImuStatus(void)
+{
+#ifdef USE_SECONDARY_IMU
+    if (detectedSensors[SENSOR_INDEX_IMU2] != SECONDARY_IMU_NONE) {
+        if (isSecondaryImuHealthy()) {
+            return HW_SENSOR_OK;
+        }
+        else {
+            return HW_SENSOR_UNHEALTHY;
+        }
+    }
+    else {
+        if (requestedSensors[SENSOR_INDEX_IMU2] != SECONDARY_IMU_NONE) {
+            // Selected but not detected
+            return HW_SENSOR_UNAVAILABLE;
+        }
+        else {
+            // Not selected and not detected
+            return HW_SENSOR_NONE;
+        }
+    }
+#else
+    return HW_SENSOR_NONE;
+#endif
+}
\ No newline at end of file
diff --git a/src/main/flight/secondary_imu.h b/src/main/flight/secondary_imu.h
index e7414a48c7..0471b0a7c4 100644
--- a/src/main/flight/secondary_imu.h
+++ b/src/main/flight/secondary_imu.h
@@ -29,6 +29,7 @@
 #include "sensors/sensors.h"
 #include "drivers/accgyro/accgyro_bno055.h"
 #include "drivers/accgyro/accgyro_bno055_serial.h"
+#include "sensors/diagnostics.h"
 
 typedef enum {
     SECONDARY_IMU_NONE          = 0,
@@ -66,4 +67,6 @@ void secondaryImuProcess(void);
 void secondaryImuInit(void);
 void taskSecondaryImu(timeUs_t currentTimeUs);
 void secondaryImuFetchCalibration(void);
-void secondaryImuSetMagneticDeclination(float declination);
\ No newline at end of file
+void secondaryImuSetMagneticDeclination(float declination);
+bool isSecondaryImuHealthy(void);
+hardwareSensorStatus_e getHwSecondaryImuStatus(void);
\ No newline at end of file
diff --git a/src/main/sensors/diagnostics.c b/src/main/sensors/diagnostics.c
index e00859a196..2825440b49 100644
--- a/src/main/sensors/diagnostics.c
+++ b/src/main/sensors/diagnostics.c
@@ -24,6 +24,7 @@
 #include "sensors/rangefinder.h"
 #include "sensors/pitotmeter.h"
 #include "sensors/opflow.h"
+#include "flight/secondary_imu.h"
 
 extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
 extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
@@ -226,6 +227,7 @@ bool isHardwareHealthy(void)
     const hardwareSensorStatus_e pitotStatus = getHwPitotmeterStatus();
     const hardwareSensorStatus_e gpsStatus = getHwGPSStatus();
     const hardwareSensorStatus_e opflowStatus = getHwOpticalFlowStatus();
+    const hardwareSensorStatus_e imu2Status = getHwSecondaryImuStatus();
 
     // Sensor is considered failing if it's either unavailable (selected but not detected) or unhealthy (returning invalid readings)
     if (gyroStatus == HW_SENSOR_UNAVAILABLE || gyroStatus == HW_SENSOR_UNHEALTHY)
@@ -252,5 +254,8 @@ bool isHardwareHealthy(void)
     if (opflowStatus == HW_SENSOR_UNAVAILABLE || opflowStatus == HW_SENSOR_UNHEALTHY)
         return false;
 
+    if (imu2Status == HW_SENSOR_UNAVAILABLE || opflowStatus == HW_SENSOR_UNHEALTHY)
+        return false;
+
     return true;
 }
diff --git a/src/main/sensors/diagnostics.h b/src/main/sensors/diagnostics.h
index 3ee3214d2b..fd976fa010 100644
--- a/src/main/sensors/diagnostics.h
+++ b/src/main/sensors/diagnostics.h
@@ -5,6 +5,8 @@
  * rather already known hardware status should be returned.
  */
 
+#pragma once
+
 typedef enum {
     HW_SENSOR_NONE          = 0,    // Not selected
     HW_SENSOR_OK            = 1,    // Selected, detected and healthy (ready to be used)

From 0854edc2335b6336575c9473029d5af948f595c4 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 10 Aug 2021 22:13:01 +0200
Subject: [PATCH 196/336] Report IMU2 status over MSP

---
 src/main/fc/fc_msp.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 10501ddb3f..bd9d793fb8 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -76,6 +76,7 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
+#include "flight/secondary_imu.h"
 
 #include "config/config_eeprom.h"
 #include "config/feature.h"
@@ -424,6 +425,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, getHwRangefinderStatus());
         sbufWriteU8(dst, getHwPitotmeterStatus());
         sbufWriteU8(dst, getHwOpticalFlowStatus());
+        sbufWriteU8(dst, getHwSecondaryImuStatus());
         break;
 
     case MSP_ACTIVEBOXES:

From c4703aae954c737e99468e6e7dcc8d284c2de3f0 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 13 Aug 2021 13:10:13 -0700
Subject: [PATCH 197/336] Fix UART1 AF mapping for H7

---
 src/main/drivers/serial_uart_stm32h7xx.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/serial_uart_stm32h7xx.c b/src/main/drivers/serial_uart_stm32h7xx.c
index 0e22206bed..7f5d6da7e0 100644
--- a/src/main/drivers/serial_uart_stm32h7xx.c
+++ b/src/main/drivers/serial_uart_stm32h7xx.c
@@ -50,8 +50,8 @@ typedef struct uartDevice_s {
 #ifdef USE_UART1
 #define UART_PIN_AF_UART1_PA9       GPIO_AF7_USART1
 #define UART_PIN_AF_UART1_PA10      GPIO_AF7_USART1
-#define UART_PIN_AF_UART1_PB6       GPIO_AF4_USART1
-#define UART_PIN_AF_UART1_PB7       GPIO_AF4_USART1
+#define UART_PIN_AF_UART1_PB6       GPIO_AF7_USART1
+#define UART_PIN_AF_UART1_PB7       GPIO_AF7_USART1
 #define UART_PIN_AF_UART1_PB14      GPIO_AF4_USART1
 #define UART_PIN_AF_UART1_PB15      GPIO_AF4_USART1
 
@@ -470,4 +470,4 @@ void UART8_IRQHandler(void)
     uartPort_t *s = &(uartHardwareMap[UARTDEV_8]->port);
     uartIrqHandler(s);
 }
-#endif
\ No newline at end of file
+#endif

From ea1d7ce83efa1a7887beae4ce313e15dbc8a00d7 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Sat, 14 Aug 2021 08:55:06 -0700
Subject: [PATCH 198/336] Fix H7 timer def: TIM15 CH2 is PA3 not PA2

---
 src/main/drivers/timer_def_stm32h7xx.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/timer_def_stm32h7xx.h b/src/main/drivers/timer_def_stm32h7xx.h
index a21132ae05..ef4d60166f 100644
--- a/src/main/drivers/timer_def_stm32h7xx.h
+++ b/src/main/drivers/timer_def_stm32h7xx.h
@@ -138,7 +138,7 @@
 
 #define DEF_TIM_AF__PA1__TCH_TIM15_CH1N   D(4, 15)
 #define DEF_TIM_AF__PA2__TCH_TIM15_CH1    D(4, 15)
-#define DEF_TIM_AF__PA2__TCH_TIM15_CH2    D(4, 15)
+#define DEF_TIM_AF__PA3__TCH_TIM15_CH2    D(4, 15)
 
 //PORTB
 #define DEF_TIM_AF__PB0__TCH_TIM1_CH2N    D(1, 1)

From 5ab3d517a162d27cfd67e86ba5919fd3209ad31a Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Sun, 15 Aug 2021 07:29:59 -0700
Subject: [PATCH 199/336] Assign correct resource ownership for MOTOR and SERVO
 outputs

---
 src/main/drivers/pwm_output.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 37f0bda43f..7861984ced 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -146,7 +146,7 @@ static pwmOutputPort_t *pwmOutAllocatePort(void)
     return p;
 }
 
-static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
+static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timHw, resourceOwner_e owner, uint32_t hz, uint16_t period, uint16_t value, bool enableOutput)
 {
     // Attempt to allocate TCH
     TCH_t * tch = timerGetTCH(timHw);
@@ -161,7 +161,7 @@ static pwmOutputPort_t *pwmOutConfigMotor(const timerHardware_t *timHw, uint32_t
     }
 
     const IO_t io = IOGetByTag(timHw->tag);
-    IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
+    IOInit(io, owner, RESOURCE_OUTPUT, allocatedOutputPortCount);
 
     if (enableOutput) {
         IOConfigGPIOAF(io, IOCFG_AF_PP, timHw->alternateFunction);
@@ -228,7 +228,7 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
     const uint32_t timerHz = baseClockHz / prescaler;
     const uint32_t period = timerHz / motorPwmRateHz;
 
-    pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, timerHz, period, 0, enableOutput);
+    pwmOutputPort_t * port = pwmOutConfig(timerHardware, OWNER_MOTOR, timerHz, period, 0, enableOutput);
 
     if (port) {
         port->pulseScale = ((sLen == 0) ? period : (sLen * timerHz)) / 1000.0f;
@@ -256,7 +256,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 static pwmOutputPort_t * motorConfigDshot(const timerHardware_t * timerHardware, uint32_t dshotHz, bool enableOutput)
 {
     // Try allocating new port
-    pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, dshotHz, DSHOT_MOTOR_BITLENGTH, 0, enableOutput);
+    pwmOutputPort_t * port = pwmOutConfig(timerHardware, OWNER_MOTOR, dshotHz, DSHOT_MOTOR_BITLENGTH, 0, enableOutput);
 
     if (!port) {
         return NULL;
@@ -580,7 +580,7 @@ void pwmServoPreconfigure(void)
 
 bool pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput)
 {
-    pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, PWM_TIMER_HZ, PWM_TIMER_HZ / servoPwmRate, servoCenterPulse, enableOutput);
+    pwmOutputPort_t * port = pwmOutConfig(timerHardware, OWNER_SERVO, PWM_TIMER_HZ, PWM_TIMER_HZ / servoPwmRate, servoCenterPulse, enableOutput);
 
     if (port) {
         servos[servoIndex] = port;

From ff01781f6cdada33c6545c0f9c8601e9e7336284 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 15 Aug 2021 18:46:39 -0300
Subject: [PATCH 200/336] Safe SquareRoot

---
 src/main/common/maths.c | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index a99c3f346b..4a07f7a8ef 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -524,11 +524,15 @@ float bellCurve(const float x, const float curveWidth)
 }
 
 float fast_fsqrtf(const double value) {
+    float ret = 0.0f;
 #ifdef USE_ARM_MATH
-    float squirt;
-    arm_sqrt_f32(value, &squirt);
-    return squirt;
+    arm_sqrt_f32(value, &ret);
 #else 
-    return sqrtf(value);
+    ret = sqrtf(value);
 #endif
+    if (isnan(ret))
+    {
+        return 0;
+    }
+    return ret;
 }
\ No newline at end of file

From f59f59843e4e3f083dcde984d7a70d4d42d23972 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 15 Aug 2021 20:37:53 -0300
Subject: [PATCH 201/336] Add X,Y and Z to VelNED Array

---
 src/main/io/gps_naza.c                         | 10 +++++-----
 src/main/io/gps_ublox.c                        |  6 +++---
 src/main/navigation/navigation_pos_estimator.c |  6 +++---
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/main/io/gps_naza.c b/src/main/io/gps_naza.c
index 91e3d09fcd..ad86f05d06 100644
--- a/src/main/io/gps_naza.c
+++ b/src/main/io/gps_naza.c
@@ -183,9 +183,9 @@ static bool NAZA_parse_gps(void)
         uint32_t v_acc = decodeLong(_buffernaza.nav.v_acc, mask); // mm
         //uint32_t test = decodeLong(_buffernaza.nav.reserved, mask);
 
-        gpsSol.velNED[0] = decodeLong(_buffernaza.nav.ned_north, mask);  // cm/s
-        gpsSol.velNED[1] = decodeLong(_buffernaza.nav.ned_east, mask);   // cm/s
-        gpsSol.velNED[2] = decodeLong(_buffernaza.nav.ned_down, mask);   // cm/s
+        gpsSol.velNED[X] = decodeLong(_buffernaza.nav.ned_north, mask);  // cm/s
+        gpsSol.velNED[Y] = decodeLong(_buffernaza.nav.ned_east, mask);   // cm/s
+        gpsSol.velNED[Z] = decodeLong(_buffernaza.nav.ned_down, mask);   // cm/s
 
 
         uint16_t pdop = decodeShort(_buffernaza.nav.pdop, mask); // pdop
@@ -199,10 +199,10 @@ static bool NAZA_parse_gps(void)
         gpsSol.eph = gpsConstrainEPE(h_acc / 10);   // hAcc in cm
         gpsSol.epv = gpsConstrainEPE(v_acc / 10);   // vAcc in cm
         gpsSol.numSat = _buffernaza.nav.satellites;
-        gpsSol.groundSpeed = fast_fsqrtf(powf(gpsSol.velNED[0], 2)+powf(gpsSol.velNED[1], 2)); //cm/s
+        gpsSol.groundSpeed = fast_fsqrtf(powf(gpsSol.velNED[X], 2)+powf(gpsSol.velNED[Y], 2)); //cm/s
 
         // calculate gps heading from VELNE
-        gpsSol.groundCourse = (uint16_t) (fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[1], gpsSol.velNED[0]))+3600.0f,3600.0f));
+        gpsSol.groundCourse = (uint16_t) (fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[Y], gpsSol.velNED[X]))+3600.0f,3600.0f));
 
         gpsSol.flags.validVelNE = 1;
         gpsSol.flags.validVelD = 1;
diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index a1d1378e5c..1dfa702bfa 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -587,9 +587,9 @@ static bool gpsParceFrameUBLOX(void)
     case MSG_VELNED:
         gpsSol.groundSpeed = _buffer.velned.speed_2d;    // cm/s
         gpsSol.groundCourse = (uint16_t) (_buffer.velned.heading_2d / 10000);     // Heading 2D deg * 100000 rescaled to deg * 10
-        gpsSol.velNED[0] = _buffer.velned.ned_north;
-        gpsSol.velNED[1] = _buffer.velned.ned_east;
-        gpsSol.velNED[2] = _buffer.velned.ned_down;
+        gpsSol.velNED[X] = _buffer.velned.ned_north;
+        gpsSol.velNED[Y] = _buffer.velned.ned_east;
+        gpsSol.velNED[Z] = _buffer.velned.ned_down;
         gpsSol.flags.validVelNE = 1;
         gpsSol.flags.validVelD = 1;
         _new_speed = true;
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index 236420c89b..377638a804 100755
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -246,8 +246,8 @@ void onNewGPSData(void)
                 /* Use VELNED provided by GPS if available, calculate from coordinates otherwise */
                 float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f);
                 if (positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelNE) {
-                    posEstimator.gps.vel.x = gpsSol.velNED[0];
-                    posEstimator.gps.vel.y = gpsSol.velNED[1];
+                    posEstimator.gps.vel.x = gpsSol.velNED[X];
+                    posEstimator.gps.vel.y = gpsSol.velNED[Y];
                 }
                 else {
                     posEstimator.gps.vel.x = (posEstimator.gps.vel.x + (DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lat - previousLat) / dT)) / 2.0f;
@@ -255,7 +255,7 @@ void onNewGPSData(void)
                 }
 
                 if (positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelD) {
-                    posEstimator.gps.vel.z = - gpsSol.velNED[2];   // NEU
+                    posEstimator.gps.vel.z = -gpsSol.velNED[Z];   // NEU
                 }
                 else {
                     posEstimator.gps.vel.z = (posEstimator.gps.vel.z + (gpsSol.llh.alt - previousAlt) / dT) / 2.0f;

From dc394d4d2a5b572b8f031541b9e9396294669c32 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 15 Aug 2021 20:40:05 -0300
Subject: [PATCH 202/336] remove spaces

---
 src/main/io/gps_naza.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/io/gps_naza.c b/src/main/io/gps_naza.c
index ad86f05d06..9abef4c878 100644
--- a/src/main/io/gps_naza.c
+++ b/src/main/io/gps_naza.c
@@ -199,10 +199,10 @@ static bool NAZA_parse_gps(void)
         gpsSol.eph = gpsConstrainEPE(h_acc / 10);   // hAcc in cm
         gpsSol.epv = gpsConstrainEPE(v_acc / 10);   // vAcc in cm
         gpsSol.numSat = _buffernaza.nav.satellites;
-        gpsSol.groundSpeed = fast_fsqrtf(powf(gpsSol.velNED[X], 2)+powf(gpsSol.velNED[Y], 2)); //cm/s
+        gpsSol.groundSpeed = fast_fsqrtf(powf(gpsSol.velNED[X], 2) + powf(gpsSol.velNED[Y], 2)); //cm/s
 
         // calculate gps heading from VELNE
-        gpsSol.groundCourse = (uint16_t) (fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[Y], gpsSol.velNED[X]))+3600.0f,3600.0f));
+        gpsSol.groundCourse = (uint16_t)(fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[Y], gpsSol.velNED[X])) + 3600.0f, 3600.0f));
 
         gpsSol.flags.validVelNE = 1;
         gpsSol.flags.validVelD = 1;

From 53223880a5b3336bb052a76f37abe752ed6af5d8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 16 Aug 2021 21:49:24 +0200
Subject: [PATCH 203/336] SDIO initialization delay

---
 src/main/drivers/sdcard/sdmmc_sdio_f7xx.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/drivers/sdcard/sdmmc_sdio_f7xx.c b/src/main/drivers/sdcard/sdmmc_sdio_f7xx.c
index e03d11acef..20fe8ca8dd 100644
--- a/src/main/drivers/sdcard/sdmmc_sdio_f7xx.c
+++ b/src/main/drivers/sdcard/sdmmc_sdio_f7xx.c
@@ -1385,14 +1385,19 @@ bool SD_Init(void)
     // Initialize SDMMC1 peripheral interface with default configuration for SD card initialization
     MODIFY_REG(SDMMC1->CLKCR, CLKCR_CLEAR_MASK, (uint32_t) SDMMC_INIT_CLK_DIV);
 
+    delay(100);
+
     // Identify card operating voltage
     if ((ErrorState = SD_PowerON()) == SD_OK) {
+        delay(100);
         // Initialize the present card and put them in idle state
         if ((ErrorState = SD_InitializeCard()) == SD_OK) {
+            delay(100);
             // Read CSD/CID MSD registers
             if ((ErrorState = SD_GetCardInfo()) == SD_OK) {
                 // Select the Card - Send CMD7 SDMMC_SEL_DESEL_CARD
                 ErrorState = SD_TransmitCommand((SD_CMD_SEL_DESEL_CARD | SD_CMD_RESPONSE_SHORT), SD_CardRCA, 1);
+                delay(100);
                 MODIFY_REG(SDMMC1->CLKCR, CLKCR_CLEAR_MASK, (uint32_t) SDMMC_CLK_DIV); // Configure SDMMC1 peripheral interface
             }
         }
@@ -1400,12 +1405,14 @@ bool SD_Init(void)
 
     // Configure SD Bus width
     if (ErrorState == SD_OK) {
+        delay(100);
         // Enable wide operation
 #ifdef SDCARD_SDIO_4BIT
         ErrorState = SD_WideBusOperationConfig(SD_BUS_WIDE_4B);
 #else
         ErrorState = SD_WideBusOperationConfig(SD_BUS_WIDE_1B);
 #endif
+        delay(100);
     }
 
     // Configure the SDCARD device

From d6b6064404f522cbc30fc7160622454e18a3ba03 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 16 Aug 2021 21:12:25 +0100
Subject: [PATCH 204/336] Added icon to VTx power

---
 src/main/drivers/osd_symbols.h | 1 +
 src/main/io/osd.c              | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index e7a4551f55..ee589a8286 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -56,6 +56,7 @@
 #define SYM_AH_MI                   0x24  // 036 Ah/mi
 //                                  0x25  // 037 ASCII %
 //                                  0x26  // 038 ASCII &
+#define SYM_VTX_POWER               0x27  // 039 VTx Power
 //                                  0x28  // 040 to 062 ASCII
 #define SYM_AH_NM       		    0x3F  // 063 Ah/NM
 //                                  0x40  // 064 to 095 ASCII
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 05c87dba47..317d60d8fb 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1965,9 +1965,12 @@ static bool osdDrawSingleElement(uint8_t item)
             vtxDeviceOsdInfo_t osdInfo;
             vtxCommonGetOsdInfo(vtxCommonDevice(), &osdInfo);
 
+            tfp_sprintf(buff, "%c", SYM_VTX_POWER);
+            displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
+
             tfp_sprintf(buff, "%c", osdInfo.powerIndexLetter);
             if (isAdjustmentFunctionSelected(ADJUSTMENT_VTX_POWER_LEVEL)) TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
-            displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY, buff, elemAttr);
+            displayWriteWithAttr(osdDisplayPort, elemPosX+1, elemPosY, buff, elemAttr);
             return true;
         }
 

From 8777ff84db76cc7b4206a38037be9db17b16a96c Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Tue, 27 Jul 2021 14:53:16 -0700
Subject: [PATCH 205/336] BMI270: copied driver from Betaflight

---
 src/main/drivers/accgyro/accgyro_spi_bmi270.c | 452 ++++++++++++++++++
 src/main/drivers/accgyro/accgyro_spi_bmi270.h |  28 ++
 2 files changed, 480 insertions(+)
 create mode 100644 src/main/drivers/accgyro/accgyro_spi_bmi270.c
 create mode 100644 src/main/drivers/accgyro/accgyro_spi_bmi270.h

diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
new file mode 100644
index 0000000000..f77805c6fd
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -0,0 +1,452 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_BMI270
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+// 10 MHz max SPI frequency
+#define BMI270_MAX_SPI_CLK_HZ 10000000
+
+#define BMI270_FIFO_FRAME_SIZE 6
+
+#define BMI270_CONFIG_SIZE 328
+
+// Declaration for the device config (microcode) that must be uploaded to the sensor
+extern const uint8_t bmi270_maximum_fifo_config_file[BMI270_CONFIG_SIZE];
+
+#define BMI270_CHIP_ID 0x24
+
+// BMI270 registers (not the complete list)
+typedef enum {
+    BMI270_REG_CHIP_ID = 0x00,
+    BMI270_REG_ERR_REG = 0x02,
+    BMI270_REG_STATUS = 0x03,
+    BMI270_REG_ACC_DATA_X_LSB = 0x0C,
+    BMI270_REG_GYR_DATA_X_LSB = 0x12,
+    BMI270_REG_SENSORTIME_0 = 0x18,
+    BMI270_REG_SENSORTIME_1 = 0x19,
+    BMI270_REG_SENSORTIME_2 = 0x1A,
+    BMI270_REG_EVENT = 0x1B,
+    BMI270_REG_INT_STATUS_0 = 0x1C,
+    BMI270_REG_INT_STATUS_1 = 0x1D,
+    BMI270_REG_INTERNAL_STATUS = 0x21,
+    BMI270_REG_TEMPERATURE_LSB = 0x22,
+    BMI270_REG_TEMPERATURE_MSB = 0x23,
+    BMI270_REG_FIFO_LENGTH_LSB = 0x24,
+    BMI270_REG_FIFO_LENGTH_MSB = 0x25,
+    BMI270_REG_FIFO_DATA = 0x26,
+    BMI270_REG_ACC_CONF = 0x40,
+    BMI270_REG_ACC_RANGE = 0x41,
+    BMI270_REG_GYRO_CONF = 0x42,
+    BMI270_REG_GYRO_RANGE = 0x43,
+    BMI270_REG_AUX_CONF = 0x44,
+    BMI270_REG_FIFO_DOWNS = 0x45,
+    BMI270_REG_FIFO_WTM_0 = 0x46,
+    BMI270_REG_FIFO_WTM_1 = 0x47,
+    BMI270_REG_FIFO_CONFIG_0 = 0x48,
+    BMI270_REG_FIFO_CONFIG_1 = 0x49,
+    BMI270_REG_SATURATION = 0x4A,
+    BMI270_REG_INT1_IO_CTRL = 0x53,
+    BMI270_REG_INT2_IO_CTRL = 0x54,
+    BMI270_REG_INT_LATCH = 0x55,
+    BMI270_REG_INT1_MAP_FEAT = 0x56,
+    BMI270_REG_INT2_MAP_FEAT = 0x57,
+    BMI270_REG_INT_MAP_DATA = 0x58,
+    BMI270_REG_INIT_CTRL = 0x59,
+    BMI270_REG_INIT_DATA = 0x5E,
+    BMI270_REG_ACC_SELF_TEST = 0x6D,
+    BMI270_REG_GYR_SELF_TEST_AXES = 0x6E,
+    BMI270_REG_PWR_CONF = 0x7C,
+    BMI270_REG_PWR_CTRL = 0x7D,
+    BMI270_REG_CMD = 0x7E,
+} bmi270Register_e;
+
+// BMI270 register configuration values
+typedef enum {
+    BMI270_VAL_CMD_SOFTRESET = 0xB6,
+    BMI270_VAL_CMD_FIFOFLUSH = 0xB0,
+    BMI270_VAL_PWR_CTRL = 0x0E,              // enable gyro, acc and temp sensors
+    BMI270_VAL_PWR_CONF = 0x02,              // disable advanced power save, enable FIFO self-wake
+    BMI270_VAL_ACC_CONF_ODR800 = 0x0B,       // set acc sample rate to 800hz
+    BMI270_VAL_ACC_CONF_ODR1600 = 0x0C,      // set acc sample rate to 1600hz
+    BMI270_VAL_ACC_CONF_BWP = 0x02,          // set acc filter in normal mode
+    BMI270_VAL_ACC_CONF_HP = 0x01,           // set acc in high performance mode
+    BMI270_VAL_ACC_RANGE_8G = 0x02,          // set acc to 8G full scale
+    BMI270_VAL_ACC_RANGE_16G = 0x03,         // set acc to 16G full scale
+    BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D,     // set gyro sample rate to 3200hz
+    BMI270_VAL_GYRO_CONF_BWP = 0x02,         // set gyro filter in normal mode
+    BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01,  // set gyro in high performance noise mode
+    BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode
+
+    BMI270_VAL_GYRO_RANGE_2000DPS = 0x08,    // set gyro to 2000dps full scale
+                                             // for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well
+                                             // or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!)
+
+    BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1
+    BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02,  // enable the FIFO watermark interrupt pin 1
+    BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A,  // active high, push-pull, output enabled, input disabled 
+    BMI270_VAL_FIFO_CONFIG_0 = 0x00,         // don't stop when full, disable sensortime frame
+    BMI270_VAL_FIFO_CONFIG_1 = 0x80,         // only gyro data in FIFO, use headerless mode
+    BMI270_VAL_FIFO_DOWNS = 0x00,            // select unfiltered gyro data with no downsampling (6.4KHz samples)
+    BMI270_VAL_FIFO_WTM_0 = 0x06,            // set the FIFO watermark level to 1 gyro sample (6 bytes)
+    BMI270_VAL_FIFO_WTM_1 = 0x00,            // FIFO watermark MSB
+} bmi270ConfigValues_e;
+
+// BMI270 register reads are 16bits with the first byte a "dummy" value 0
+// that must be ignored. The result is in the second byte.
+static uint8_t bmi270RegisterRead(const extDevice_t *dev, bmi270Register_e registerId)
+{
+    uint8_t data[2] = { 0, 0 };
+
+    if (spiReadRegMskBufRB(dev, registerId, data, 2)) {
+        return data[1];
+    } else {
+        return 0;
+    }
+}
+
+static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registerId, uint8_t value, unsigned delayMs)
+{
+    spiWriteReg(dev, registerId, value);
+    if (delayMs) {
+        delay(delayMs);
+    }
+}
+
+// Toggle the CS to switch the device into SPI mode.
+// Device switches initializes as I2C and switches to SPI on a low to high CS transition
+static void bmi270EnableSPI(const extDevice_t *dev)
+{
+    IOLo(dev->busType_u.spi.csnPin);
+    delay(1);
+    IOHi(dev->busType_u.spi.csnPin);
+    delay(10);
+}
+
+uint8_t bmi270Detect(const extDevice_t *dev)
+{
+    spiSetClkDivisor(dev, spiCalculateDivider(BMI270_MAX_SPI_CLK_HZ));
+    bmi270EnableSPI(dev);
+
+    if (bmi270RegisterRead(dev, BMI270_REG_CHIP_ID) == BMI270_CHIP_ID) {
+        return BMI_270_SPI;
+    }
+
+    return MPU_NONE;
+}
+
+static void bmi270UploadConfig(const extDevice_t *dev)
+{
+    bmi270RegisterWrite(dev, BMI270_REG_PWR_CONF, 0, 1);
+    bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 0, 1);
+
+    // Transfer the config file
+    spiWriteRegBuf(dev, BMI270_REG_INIT_DATA, (uint8_t *)bmi270_maximum_fifo_config_file, sizeof(bmi270_maximum_fifo_config_file));
+
+    delay(10);
+    bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 1, 1);
+}
+
+static void bmi270Config(gyroDev_t *gyro)
+{
+    extDevice_t *dev = &gyro->dev;
+
+    // If running in hardware_lpf experimental mode then switch to FIFO-based,
+    // 6.4KHz sampling, unfiltered data vs. the default 3.2KHz with hardware filtering
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    const bool fifoMode = (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL);
+#else
+    const bool fifoMode = false;
+#endif
+
+    // Perform a soft reset to set all configuration to default
+    // Delay 100ms before continuing configuration
+    bmi270RegisterWrite(dev, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET, 100);
+
+    // Toggle the chip into SPI mode
+    bmi270EnableSPI(dev);
+
+    bmi270UploadConfig(dev);
+
+    // Configure the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(dev, BMI270_REG_FIFO_CONFIG_0, BMI270_VAL_FIFO_CONFIG_0, 1);
+        bmi270RegisterWrite(dev, BMI270_REG_FIFO_CONFIG_1, BMI270_VAL_FIFO_CONFIG_1, 1);
+        bmi270RegisterWrite(dev, BMI270_REG_FIFO_DOWNS, BMI270_VAL_FIFO_DOWNS, 1);
+        bmi270RegisterWrite(dev, BMI270_REG_FIFO_WTM_0, BMI270_VAL_FIFO_WTM_0, 1);
+        bmi270RegisterWrite(dev, BMI270_REG_FIFO_WTM_1, BMI270_VAL_FIFO_WTM_1, 1);
+    }
+
+    // Configure the accelerometer
+    bmi270RegisterWrite(dev, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800, 1);
+
+    // Configure the accelerometer full-scale range
+    bmi270RegisterWrite(dev, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G, 1);
+
+    // Configure the gyro
+    bmi270RegisterWrite(dev, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (BMI270_VAL_GYRO_CONF_BWP << 4) | BMI270_VAL_GYRO_CONF_ODR3200, 1);
+
+    // Configure the gyro full-range scale
+    bmi270RegisterWrite(dev, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS, 1);
+
+    // Configure the gyro data ready interrupt
+    if (fifoMode) {
+        // Interrupt driven by FIFO watermark level
+        bmi270RegisterWrite(dev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_FIFO_WM_INT1, 1);
+    } else {
+        // Interrupt driven by data ready
+        bmi270RegisterWrite(dev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1, 1);
+    }
+
+    // Configure the behavior of the INT1 pin
+    bmi270RegisterWrite(dev, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE, 1);
+
+    // Configure the device for  performance mode
+    bmi270RegisterWrite(dev, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF, 1);
+
+    // Enable the gyro, accelerometer and temperature sensor - disable aux interface
+    bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1);
+
+    // Flush the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(dev, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 1);
+    }
+}
+
+extiCallbackRec_t bmi270IntCallbackRec;
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+void bmi270ExtiHandler(extiCallbackRec_t *cb)
+{
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    gyro->dataReady = true;
+}
+
+static void bmi270IntExtiInit(gyroDev_t *gyro)
+{
+    if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
+        return;
+    }
+
+    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
+
+    IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
+    EXTIHandlerInit(&gyro->exti, bmi270ExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
+    EXTIEnable(mpuIntIO, true);
+}
+#endif
+
+static bool bmi270AccRead(accDev_t *acc)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_ACCEL_XOUT_L,
+        IDX_ACCEL_XOUT_H,
+        IDX_ACCEL_YOUT_L,
+        IDX_ACCEL_YOUT_H,
+        IDX_ACCEL_ZOUT_L,
+        IDX_ACCEL_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    spiReadWriteBuf(&acc->gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+
+    acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
+    acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
+    acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
+
+    return true;
+}
+
+static bool bmi270GyroReadRegister(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    spiReadWriteBuf(&gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+
+    gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+    gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+    gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+    return true;
+}
+
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+static bool bmi270GyroReadFifo(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_FIFO_LENGTH_L,
+        IDX_FIFO_LENGTH_H,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    bool dataRead = false;
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+
+    // Burst read the FIFO length followed by the next 6 bytes containing the gyro axis data for
+    // the first sample in the queue. It's possible for the FIFO to be empty so we need to check the
+    // length before using the sample.
+    spiReadWriteBuf(&gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+
+    int fifoLength = (uint16_t)((bmi270_rx_buf[IDX_FIFO_LENGTH_H] << 8) | bmi270_rx_buf[IDX_FIFO_LENGTH_L]);
+
+    if (fifoLength >= BMI270_FIFO_FRAME_SIZE) {
+
+        const int16_t gyroX = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+        const int16_t gyroY = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+        const int16_t gyroZ = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+        // If the FIFO data is invalid then the returned values will be 0x8000 (-32768) (pg. 43 of datasheet).
+        // This shouldn't happen since we're only using the data if the FIFO length indicates
+        // that data is available, but this safeguard is needed to prevent bad things in
+        // case it does happen.
+        if ((gyroX != INT16_MIN) || (gyroY != INT16_MIN) || (gyroZ != INT16_MIN)) {
+            gyro->gyroADCRaw[X] = gyroX;
+            gyro->gyroADCRaw[Y] = gyroY;
+            gyro->gyroADCRaw[Z] = gyroZ;
+            dataRead = true;
+        }
+        fifoLength -= BMI270_FIFO_FRAME_SIZE;
+    }
+
+    // If there are additional samples in the FIFO then we don't use those for now and simply
+    // flush the FIFO. Under normal circumstances we only expect one sample in the FIFO since
+    // the gyro loop is running at the native sample rate of 6.4KHz.
+    // However the way the FIFO works in the sensor is that if a frame is partially read then
+    // it remains in the queue instead of bein removed. So if we ever got into a state where there
+    // was a partial frame or other unexpected data in the FIFO is may never get cleared and we
+    // would end up in a lock state of always re-reading the same partial or invalid sample.
+    if (fifoLength > 0) {
+        // Partial or additional frames left - flush the FIFO
+        bmi270RegisterWrite(&gyro->dev, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 0);
+    }
+
+    return dataRead;
+}
+#endif
+
+static bool bmi270GyroRead(gyroDev_t *gyro)
+{
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
+        // running in 6.4KHz FIFO mode
+        return bmi270GyroReadFifo(gyro);
+    } else
+#endif
+    {
+        // running in 3.2KHz register mode
+        return bmi270GyroReadRegister(gyro);
+    }
+}
+
+static void bmi270SpiGyroInit(gyroDev_t *gyro)
+{
+    bmi270Config(gyro);
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+    bmi270IntExtiInit(gyro);
+#endif
+}
+
+static void bmi270SpiAccInit(accDev_t *acc)
+{
+    // sensor is configured during gyro init
+    acc->acc_1G = 512 * 4;   // 16G sensor scale
+}
+
+bool bmi270SpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    acc->initFn = bmi270SpiAccInit;
+    acc->readFn = bmi270AccRead;
+
+    return true;
+}
+
+
+bool bmi270SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    gyro->initFn = bmi270SpiGyroInit;
+    gyro->readFn = bmi270GyroRead;
+    gyro->scale = GYRO_SCALE_2000DPS;
+
+    return true;
+}
+
+// Used to query the status register to determine what event caused the EXTI to fire.
+// When in 3.2KHz mode the interrupt is mapped to the data ready state. However the data ready
+// trigger will fire for both gyro and accelerometer. So it's necessary to check this register
+// to determine which event caused the interrupt.
+// When in 6.4KHz mode the interrupt is configured to be the FIFO watermark size of 6 bytes.
+// Since in this mode we only put gyro data in the FIFO it's sufficient to check for the FIFO
+// watermark reason as an idication of gyro data ready.
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro)
+{
+    return bmi270RegisterRead(&gyro->dev, BMI270_REG_INT_STATUS_1);
+}
+#endif // USE_ACCGYRO_BMI270
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.h b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
new file mode 100644
index 0000000000..6059f6c1a9
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
@@ -0,0 +1,28 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+uint8_t bmi270Detect(const extDevice_t *dev);
+bool bmi270SpiAccDetect(accDev_t *acc);
+bool bmi270SpiGyroDetect(gyroDev_t *gyro);
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro);

From a36c7838307642d05bd14f4881b5f41c1a8625cb Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Tue, 27 Jul 2021 14:55:43 -0700
Subject: [PATCH 206/336] BMI270: copied library from Betaflight

---
 .../BoschSensortec/BMI270-Sensor-API/LICENSE  |    30 +
 .../BMI270-Sensor-API/OIS_README.md           |   170 +
 .../BMI270-Sensor-API/README.md               |    14 +
 .../BMI270-Sensor-API/betaflight_info.txt     |     9 +
 .../BoschSensortec/BMI270-Sensor-API/bmi2.c   | 10338 ++++++++++++++++
 .../BoschSensortec/BMI270-Sensor-API/bmi2.h   |  1513 +++
 .../BoschSensortec/BMI270-Sensor-API/bmi270.c |  4451 +++++++
 .../BoschSensortec/BMI270-Sensor-API/bmi270.h |   422 +
 .../BMI270-Sensor-API/bmi270_context.c        |  3122 +++++
 .../BMI270-Sensor-API/bmi270_context.h        |   493 +
 .../BMI270-Sensor-API/bmi270_hc.c             |  3165 +++++
 .../BMI270-Sensor-API/bmi270_hc.h             |   483 +
 .../BMI270-Sensor-API/bmi270_maximum_fifo.c   |   212 +
 .../BMI270-Sensor-API/bmi270_maximum_fifo.h   |   117 +
 .../BMI270-Sensor-API/bmi270_wh.c             |  3431 +++++
 .../BMI270-Sensor-API/bmi270_wh.h             |   402 +
 .../BMI270-Sensor-API/bmi2_defs.h             |  2475 ++++
 .../BMI270-Sensor-API/bmi2_ois.c              |   417 +
 .../BMI270-Sensor-API/bmi2_ois.h              |   387 +
 .../examples/bmi270/accel/Makefile            |    18 +
 .../examples/bmi270/accel/accel.c             |   200 +
 .../examples/bmi270/accel_gyro/Makefile       |    18 +
 .../examples/bmi270/accel_gyro/accel_gyro.c   |   268 +
 .../bmi270/any_motion_interrupt/Makefile      |    18 +
 .../any_motion_interrupt.c                    |   135 +
 .../examples/bmi270/common/common.c           |   372 +
 .../examples/bmi270/common/common.h           |   122 +
 .../examples/bmi270/component_retrim/Makefile |    18 +
 .../component_retrim/component_retrim.c       |    52 +
 .../bmi270/fifo_full_header_mode/Makefile     |    18 +
 .../fifo_full_header_mode.c                   |   315 +
 .../bmi270/fifo_full_headerless_mode/Makefile |    18 +
 .../fifo_full_headerless_mode.c               |   304 +
 .../fifo_watermark_header_mode/Makefile       |    18 +
 .../fifo_watermark_header_mode.c              |   335 +
 .../fifo_watermark_headerless_mode/Makefile   |    18 +
 .../fifo_watermark_headerless_mode.c          |   331 +
 .../examples/bmi270/gyro/Makefile             |    18 +
 .../examples/bmi270/gyro/gyro.c               |   195 +
 .../bmi270/no_motion_interrupt/Makefile       |    18 +
 .../no_motion_interrupt/no_motion_interrupt.c |   134 +
 .../bmi270/read_aux_data_mode/Makefile        |    23 +
 .../read_aux_data_mode/read_aux_data_mode.c   |   327 +
 .../bmi270/read_aux_manual_mode/Makefile      |    23 +
 .../read_aux_manual_mode.c                    |   322 +
 .../examples/bmi270/sig_motion/Makefile       |    18 +
 .../examples/bmi270/sig_motion/sig_motion.c   |    93 +
 .../examples/bmi270/step_activity/Makefile    |    18 +
 .../bmi270/step_activity/step_activity.c      |   110 +
 .../examples/bmi270/step_counter/Makefile     |    18 +
 .../bmi270/step_counter/step_counter.c        |   146 +
 .../examples/bmi270/wrist_gesture/Makefile    |    18 +
 .../bmi270/wrist_gesture/wrist_gesture.c      |   147 +
 .../bmi270/wrist_wear_wakeup/Makefile         |    18 +
 .../wrist_wear_wakeup/wrist_wear_wakeup.c     |   131 +
 .../examples/bmi270_context/accel/Makefile    |    18 +
 .../examples/bmi270_context/accel/accel.c     |   200 +
 .../bmi270_context/accel_gyro/Makefile        |    18 +
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 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE
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 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile
 create mode 100644 lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c

diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE b/lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE
new file mode 100644
index 0000000000..315dfa2309
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/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/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md b/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md
new file mode 100644
index 0000000000..2983d0699f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md
@@ -0,0 +1,170 @@
+# Sensor API for the BMI2's OIS interface
+
+## Table of Contents
+ - [Introduction](#Intro)
+ - [Integration details](#Integration)
+ - [Driver files information](#file)
+ - [Sensor interfaces](#interface)
+ - [Integration Examples](#examples)
+
+### Introduction<a name=Intro></a>
+ This package contains Bosch Sensortec's BMI2 Sensor API.
+ 
+### Integration details<a name=Integration></a>
+- Integrate _bmi2.c_, _bmi2.h_, _bmi2_ois.c_, _bmi2_ois.h_, _bmi2_defs.h_ and the required variant files in your project.
+- User has to include _bmi2_ois.h_ in the code to call OIS related APIs and a _variant header_ for initialization as
+well as BMI2 related API calls, as shown below:
+``` c
+#include "bmi270.h"
+#include "bmi2_ois.h"
+````
+### Driver files information<a name=file></a>
+- *_bmi2_ois.c_*
+   * This file has function definitions of OIS related API interfaces.
+- *_bmi2_ois.h_*
+   * This header file has necessary include files, function declarations, required to make OIS related API calls.
+ 
+### Sensor interfaces<a name=interface></a>
+#### _Host Interface_
+- I2C interface
+- SPI interface  
+_Note: By default, the interface is I2C._
+
+#### _OIS Interface_
+- SPI interface  
+
+### Integration examples<a name=examples></a>
+#### Configuring SPI/I2C for host interface.
+To configure host interface, an instance of the bmi2_dev structure should be
+created for initializing BMI2 sensor. "_Refer **README** for initializing BMI2 
+sensor._"
+
+#### Configuring SPI for OIS interface.
+To configure OIS interface, an instance of the bmi2_ois_dev structure should be
+created. The following parameters are required to be updated in the structure,
+by the user.
+
+Parameters    | Details
+--------------|-----------------------------------
+_intf_ptr_    | device address reference of SPI interface        
+_ois_read_    | read through SPI interface
+_ois_write_   | read through SPI interface
+_ois_delay_us_| delay in micro seconds
+_acc_en_      | for enabling accelerometer
+_gyr_en_      | for enabling gyroscope   
+
+``` c
+int8_t rslt = 0;
+
+struct bmi2_ois_dev ois_dev = {  
+        .intf_ptr = intf_ptr will contain the chip selection info of SPI CS pin,  
+        .ois_read = user_spi_reg_read,
+        .ois_write = user_spi_reg_write,
+        .ois_delay_us = user_delay_us
+};
+```
+>**_Important Note_**: For initializing and configuring BMI2 sensors, which is 
+done through host interface, the API's are to be used from bmi2.c file. Rest 
+of the API's, for OIS configurations and the reading of OIS data, which is done 
+through OIS interface, are to be used from bmi2_ois.c file.
+
+##### Get accelerometer and gyroscope data through OIS interface 
+``` c
+int8_t rslt;
+/* Array to enable sensor through host interface */
+uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
+/* Array to enable sensor through OIS interface */
+uint8_t sens_sel[2] = {BMI2_OIS_ACCEL, BMI2_OIS_GYRO};
+/* Initialize the configuration structure */
+struct bmi2_sens_config sens_cfg = {0};
+
+/* Initialize BMI2 */
+rslt = bmi2_init(&dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Enable accelerometer and gyroscope through host interface */
+rslt = bmi270_sensor_enable(sens_list, 2, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Setting of OIS Range is done through host interface */
+/* Select the gyroscope sensor for OIS Range configuration */
+sens_cfg.type = BMI2_GYRO;
+
+/* Get gyroscope configuration */
+rslt = bmi2_get_sensor_config(&sens_cfg, 1, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Set the desired OIS Range */
+sens_cfg.cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+/* Set gyroscope configuration for default values */
+rslt = bmi2_set_sensor_config(&sens_cfg, 1, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Enable OIS through host interface */
+rslt = bmi2_set_ois_interface(BMI2_ENABLE, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Disable Advance Power Save Mode through host interface */
+rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Get configurations for OIS through OIS interface for default values */
+rslt = bmi2_ois_get_config(&ois_dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Enable accelerometer and gyroscope for reading OIS data */
+ois_dev.acc_en = BMI2_ENABLE;
+ois_dev.gyr_en = BMI2_ENABLE;
+
+/* Set configurations for OIS through OIS interface */
+rslt = bmi2_ois_set_config(&ois_dev);
+if (rslt == BMI2_OK) {
+        /* Get OIS accelerometer and gyroscope data through OIS interface */
+        rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev);
+        if (rslt == BMI2_OK) {
+                /* Print accelerometer data */
+                printf("OIS Accel x-axis = %d\t", ois_dev.acc_data.x);
+                printf("OIS Accel y-axis= %d\t", ois_dev.acc_data.y);
+                printf("OIS Accel z-axis = %d\r\n", ois_dev.acc_data.z);        
+        
+                /* Print gyroscope data */
+                printf("OIS Gyro x-axis = %d\t", ois_dev.gyr_data.x);
+                printf("OIS Gyro y-axis= %d\t", ois_dev.gyr_data.y);
+                printf("OIS Gyro z-axis = %d\r\n", ois_dev.gyr_data.z);
+        }        
+}
+
+if (rslt != BMI2_OK) {
+         printf("Error code: %d\n", rslt);
+         return;
+}
+
+/* Enable Advance Power Save Mode through host interface */
+rslt = bmi2_set_adv_power_save(BMI2_ENABLE, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+```
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/README.md b/lib/main/BoschSensortec/BMI270-Sensor-API/README.md
new file mode 100644
index 0000000000..193b038210
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/README.md
@@ -0,0 +1,14 @@
+BMI2xy Sensor API
+
+> This package contains BMI2xy sensor API
+
+## Sensor Overview
+The BMI2xy is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
+
+### Features
+
+- Indoor navigation, pedestrian dead-reckoning, step-counting
+
+For more information refer product page [Link](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270.html) 
+
+---
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt b/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
new file mode 100644
index 0000000000..9f8947c9d0
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
@@ -0,0 +1,9 @@
+This library is used to support the Bosch BMI270 gyro sensor (see drivers/accgyro/accgyro_spi_bmi270.c).
+
+Library download location:
+    https://github.com/BoschSensortec/BMI270-Sensor-API
+
+Version:
+    2.63.1
+
+The only file that is compiled as part of Betaflight is bmi270_maximum_fifo.c. This file contains the device microcode that must be uploaded during initialization. 
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c
new file mode 100644
index 0000000000..556039a1a4
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c
@@ -0,0 +1,10338 @@
+/**
+* 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       bmi2.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/******************************************************************************/
+
+/*!  @name          Header Files                                  */
+/******************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!         Local structures
+ ****************************************************************************/
+
+/*! @name Structure to define the difference in accelerometer values  */
+struct bmi2_selftest_delta_limit
+{
+    /*! X  data */
+    int32_t x;
+
+    /*! Y  data */
+    int32_t y;
+
+    /*! Z  data */
+    int32_t z;
+};
+
+/*! @name Structure to store temporary accelerometer/gyroscope values */
+struct bmi2_foc_temp_value
+{
+    /*! X data */
+    int32_t x;
+
+    /*! Y data */
+    int32_t y;
+
+    /*! Z data */
+    int32_t z;
+};
+
+/*! @name Structure to store accelerometer data deviation from ideal value */
+struct bmi2_offset_delta
+{
+    /*! X axis */
+    int16_t x;
+
+    /*! Y axis */
+    int16_t y;
+
+    /*! Z axis */
+    int16_t z;
+};
+
+/*! @name Structure to store accelerometer offset values */
+struct bmi2_accel_offset
+{
+    /*! offset X  data */
+    uint8_t x;
+
+    /*! offset Y  data */
+    uint8_t y;
+
+    /*! offset Z  data */
+    uint8_t z;
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API writes the configuration file.
+ *
+ * @param[in]  dev     : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_config_file(struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables the loading of the configuration
+ * file.
+ *
+ * @param[in] enable   : To enable/disable configuration load.
+ * @param[in] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API loads the configuration file.
+ *
+ * @param[in] config_data   : Pointer to the configuration file.
+ * @param[in] index         : Variable to define array index.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev);
+
+/*!
+ * @brief  This internal API sets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ *
+ * @param[in,out] config    : Structure instance of bmi2_accel_config.
+ * @param[in,out] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API validates bandwidth and performance mode of the
+ * accelerometer set by the user.
+ *
+ * @param[in, out] bandwidth : Pointer to bandwidth value set by the user.
+ * @param[in, out] perf_mode : Pointer to performance mode set by the user.
+ * @param[in, out] dev       : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API validates ODR and range of the accelerometer set by
+ * the user.
+ *
+ * @param[in, out] odr    : Pointer to ODR value set by the user.
+ * @param[in, out] range  : Pointer to range value set by the user.
+ * @param[in, out] dev    : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev);
+
+/*!
+ * @brief  This internal API sets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range.
+ *
+ * @param[in,out] config    : Structure instance of bmi2_gyro_config.
+ * @param[in,out] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API validates bandwidth, performance mode, low power/
+ * high performance mode, ODR, and range set by the user.
+ *
+ * @param[in] config   : Structure instance of bmi2_gyro_config.
+ * @param[in] dev      : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API shows the error status when illegal sensor
+ * configuration is set.
+ *
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t cfg_error_status(struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API:
+ * 1) Enables/Disables auxiliary interface.
+ * 2) Sets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
+ *
+ * @param[in] config            : Structure instance of bmi2_aux_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ *
+ * @param[in] config      : Structure instance of bmi2_gyro_user_gain_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ * bmi2_gyro_user_gain_config|
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *      ratio_x             | Gain update value for x-axis
+ * -------------------------|---------------------------------------------------
+ *      ratio_y             | Gain update value for y-axis
+ * -------------------------|---------------------------------------------------
+ *      ratio_z             | Gain update value for z-axis
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables auxiliary interface.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
+ * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API triggers read out offset and sets ODR of the
+ * auxiliary sensor.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API validates auxiliary configuration set by the user.
+ *
+ * @param[in, out] config : Structure instance of bmi2_aux_config.
+ * @param[in, out] dev    : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ *
+ * @param[out] config    : Structure instance of bmi2_accel_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief  This internal API gets gyroscope configurations like ODR, bandwidth,
+ * low power/ high performance mode, performance mode and range.
+ *
+ * @param[out] config    : Structure instance of bmi2_gyro_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API:
+ * 1) Gets the status of auxiliary interface enable.
+ * 2) Gets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3) Gets ODR and offset.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ *
+ * @param[out] config      : Structure instance of bmi2_gyro_user_gain_config.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ * bmi2_gyro_user_gain_config|
+ *  Structure parameters   |                   Description
+ *-------------------------|--------------------------------------------------
+ *      ratio_x            | Gain update value for x-axis
+ * ------------------------|---------------------------------------------------
+ *      ratio_y            | Gain update value for y-axis
+ * ------------------------|---------------------------------------------------
+ *      ratio_z            | Gain update value for z-axis
+ *
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the enable status of auxiliary interface.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @param[out] config   : Structure instance of bmi2_aux_config.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets read out offset and ODR of the auxiliary
+ * sensor.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the saturation status for the gyroscope user
+ * gain update.
+ *
+ * @param[out] user_gain_stat   : Stores the saturation status of the axes.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the cross sensitivity coefficient between
+ * gyroscope's X and Z axes.
+ *
+ * @param[out] cross_sense  : Pointer to the stored cross sensitivity
+ *              coefficient.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the accelerometer data from the register.
+ *
+ * @param[out] data         : Structure instance of sensor_data.
+ * @param[in]  reg_addr     : Register address where data is stored.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the gyroscope data from the register.
+ *
+ * @param[out] data         : Structure instance of sensor_data.
+ * @param[in]  reg_addr     : Register address where data is stored.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the accelerometer/gyroscope data.
+ *
+ * @param[out] data         : Structure instance of sensor_data.
+ * @param[in]  reg_data     : Data stored in the register.
+ *
+ * @return None
+ *
+ * @retval None
+ */
+static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data);
+
+/*!
+ * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
+ *
+ * @param[out] data         : Structure instance of sensor_data.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return None
+ *
+ * @retval None
+ */
+static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in data mode.
+ *
+ * @param[out] aux_data     : Pointer to the stored auxiliary data.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in manual mode.
+ *
+ * @param[in]  reg_addr     : AUX address from where data is read.
+ * @param[out] aux_data     : Pointer to the stored auxiliary data.
+ * @param[in]   len         : Total bytes to be read.
+ * @param[in]   burst_len   : Bytes of data to be read in bursts.
+ * @param[in]   dev         : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API checks the busy status of auxiliary sensor and sets
+ * the auxiliary register addresses when not busy.
+ *
+ * @param[in]  reg_addr     : Address in which AUX register address is
+ *                              set.
+ * @param[in]  reg_data     : Auxiliary register address to be set when AUX is
+ *                              not busy.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
+
+/*!
+ * @brief his internal API maps the actual burst read length with that of the
+ * register value set by user.
+ *
+ * @param[out] len      : Actual burst length.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API writes AUX write address and the user-defined bytes
+ * of data to the AUX sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @param[in]  reg_addr   : AUX address in which data is to be written.
+ * @param[in]  reg_data   : Data to be written
+ * @param[in]  dev        : Structure instance of bmi2_dev.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API maps/unmaps feature interrupts to that of interrupt
+ * pins.
+ *
+ * @param[in] int_pin      : Interrupt pin selected.
+ * @param[in] feat_int     : Type of feature interrupt to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask);
+
+/*!
+ * @brief This internal API computes the number of bytes of accelerometer FIFO
+ * data which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[in]  acc_count   : Number of accelerometer frames to be read.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_accel_len(uint16_t *start_idx,
+                                   uint16_t *len,
+                                   const uint16_t *acc_count,
+                                   const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the FIFO
+ * data in header mode.
+ *
+ * @param[out] acc          : Structure instance of bmi2_sens_axes_data where
+ *                            the parsed accelerometer data bytes are stored.
+ * @param[in] accel_length  : Number of accelerometer frames (x,y,z data).
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
+                                        uint16_t *accel_length,
+                                        struct bmi2_fifo_frame *fifo,
+                                        const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in both header and header-less mode. It updates the current data
+ * byte to be parsed.
+ *
+ * @param[in,out] acc       : Structure instance of bmi2_sens_axes_data where
+ *                            where the parsed data bytes are stored.
+ * @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)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
+                                 uint16_t *idx,
+                                 uint16_t *acc_idx,
+                                 uint8_t frame,
+                                 const struct bmi2_fifo_frame *fifo,
+                                 const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the FIFO
+ * data.
+ *
+ * @param[out] acc              : Structure instance of bmi2_sens_axes_data
+ *                                where the parsed data bytes are stored.
+ * @param[in]  data_start_index : Index value of the accelerometer data bytes
+ *                                which is to be parsed from the FIFO data.
+ * @param[in]  fifo             : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
+                              uint16_t data_start_index,
+                              const struct bmi2_fifo_frame *fifo,
+                              const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API computes the number of bytes of gyroscope FIFO data
+ * which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[in]  gyr_count   : Number of gyroscope frames to be read.
+ * @param[in]  frame       : Either data enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
+                                  uint16_t(*len),
+                                  const uint16_t *gyr_count,
+                                  const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in both header and header-less mode It updates the current data byte to
+ * be parsed.
+ *
+ * @param[in,out] gyr       : Structure instance of bmi2_sens_axes_data.
+ * @param[in,out] idx       : Index value of number of bytes parsed
+ * @param[in,out] gyr_idx   : Index value of gyroscope data (x,y,z axes)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
+                                uint16_t *idx,
+                                uint16_t *gyr_idx,
+                                uint8_t frame,
+                                const struct bmi2_fifo_frame *fifo,
+                                const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse gyroscope data from the FIFO data.
+ *
+ * @param[out] gyr             : Structure instance of bmi2_sens_axes_data where
+ *                               the parsed gyroscope data bytes are stored.
+ * @param[in] data_start_index : Index value of the gyroscope data bytes
+ *                               which is to be parsed from the FIFO data.
+ * @param[in] fifo             : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev             : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
+                             uint16_t data_start_index,
+                             const struct bmi2_fifo_frame *fifo,
+                             const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the
+ * FIFO data in header mode.
+ *
+ * @param[out] gyr            : Structure instance of bmi2_sens_axes_data where
+ *                              the parsed gyroscope data bytes are stored.
+ * @param[in] gyro_length     : Number of gyroscope frames (x,y,z data).
+ * @param[in] fifo            : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
+                                       uint16_t *gyro_length,
+                                       struct bmi2_fifo_frame *fifo,
+                                       const struct bmi2_dev *dev);
+
+/*!
+ * @brief This API computes the number of bytes of auxiliary FIFO data
+ * which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[in]  aux_count   : Number of accelerometer frames to be read.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_aux_len(uint16_t *start_idx,
+                                 uint16_t(*len),
+                                 const uint16_t *aux_count,
+                                 const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This API is used to parse auxiliary data from the FIFO data.
+ *
+ * @param[out] aux         : Pointer to buffer where the parsed auxiliary data
+ *                           bytes are stored.
+ * @param[in] aux_length   : Number of auxiliary frames (x,y,z data).
+ * @param[in] fifo         : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
+                                      uint16_t *aux_length,
+                                      struct bmi2_fifo_frame *fifo,
+                                      const struct bmi2_dev *dev);
+
+/*!
+ * @brief This API is used to parse the auxiliary data from the FIFO data in
+ * both header and header-less mode. It updates the current data byte to be
+ * parsed.
+ *
+ * @param[out]    aux     : Pointer to structure where the parsed auxiliary data
+ *                          bytes are stored.
+ * @param[in,out] idx     : Index value of number of bytes parsed
+ * @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
+ *                          frame to be parsed
+ * @param[in]     frame   : Either data is enabled by user in header-less
+ *                          mode or header frame value in header mode.
+ * @param[in]     fifo    : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev     : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
+                               uint16_t *idx,
+                               uint16_t *aux_idx,
+                               uint8_t frame,
+                               const struct bmi2_fifo_frame *fifo,
+                               const struct bmi2_dev *dev);
+
+/*!
+ * @brief This API is used to parse auxiliary data from the FIFO data.
+ *
+ * @param[out] aux              : Pointer to structure where the parsed
+ *                              auxiliary data bytes are stored.
+ * @param[in] data_start_index  : Index value of the auxiliary data bytes which
+ *                              is to be parsed from the FIFO data.
+ * @param[in] fifo              : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
+                            uint16_t data_start_index,
+                            const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API is used to reset the FIFO related configurations
+ * in the FIFO frame structure for the next FIFO read.
+ *
+ * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
+ * @param[in]      dev      : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API checks whether the FIFO data read is an empty frame.
+ * If empty frame, index is moved to the last byte.
+ *
+ * @param[in,out] data_index   : The index of the current data to be parsed from
+ *                               FIFO data.
+ * @param[in]     fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ *
+ * @retval BMI2_OK - Success.
+ * @retval BMI2_W_FIFO_EMPTY - Warning : FIFO is empty
+ * @retval BMI2_W_PARTIAL_READ - Warning : There are more frames to be read
+ */
+static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal 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 the current frame.
+ * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API is used to parse and store the sensor time from the
+ * FIFO data.
+ *
+ * @param[in,out] data_index : Index of the FIFO data which has the sensor time.
+ * @param[in]     fifo       : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API is used to parse and store the skipped frame count
+ * from the FIFO data.
+ *
+ * @param[in,out] data_index : Index of the FIFO data which contains skipped
+ *                             frame count.
+ * @param[in] fifo           : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API enables and configures the accelerometer which is
+ * needed for self-test operation. It also sets the amplitude for the self-test.
+ *
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t pre_self_test_config(struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API performs the steps needed for self-test operation
+ * before reading the accelerometer self-test data.
+ *
+ * @param[in] sign      : Selects sign of self-test excitation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | positive excitation
+ * BMI2_DISABLE | negative excitation
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables or disables the accelerometer self-test
+ * feature in the sensor.
+ *
+ * @param[in] enable            : Enables/ Disables self-test.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enables self-test
+ * BMI2_DISABLE | Disables self-test
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sign for accelerometer self-test
+ * excitation.
+ *
+ * @param[in] sign      : Selects sign of self-test excitation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | positive excitation
+ * BMI2_DISABLE | negative excitation
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets the amplitude of the accelerometer self-test
+ * deflection in the sensor.
+ *
+ * @param[in] amp       : Select amplitude of the self-test deflection.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * amp          |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | self-test amplitude is high
+ * BMI2_DISABLE | self-test amplitude is low
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API reads the accelerometer data for x,y and z axis from
+ * the sensor. The data units is in LSB format.
+ *
+ * @param[out] accel        : Buffer to store the acceleration value.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API converts LSB value of accelerometer axes to form
+ * 'g' to 'mg' for self-test.
+ *
+ * @param[in] acc_data_diff    : Stores the acceleration value difference in g.
+ * @param[out]acc_data_diff_mg : Stores the acceleration value difference in mg.
+ * @param[in]  dev             : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
+                          struct bmi2_selftest_delta_limit *acc_data_diff_mg,
+                          const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to calculate the power of a value.
+ *
+ * @param[in] base          : base for power calculation.
+ * @param[in] resolution    : exponent for power calculation.
+ *
+ * @return the calculated power
+ * @retval the power value
+ */
+static int32_t power(int16_t base, uint8_t resolution);
+
+/*!
+ * @brief This internal API validates the accelerometer self-test data and
+ * decides the result of self-test operation.
+ *
+ * @param[in] accel_data_diff   : Stores the acceleration value difference.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff);
+
+/*!
+ * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
+ *
+ * @param[out] remap    : Structure that stores local copy of re-mapped axes.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
+ *
+ * @param[in] remap     : Structure that stores local copy of re-mapped axes.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
+
+/*!
+ * @brief Interface to get max burst length
+ *
+ * @param[in] max_burst_len : Pointer to store max burst length
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets the max burst length.
+ *
+ * @param[in] write_len_byte    : read & write length
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API parses virtual frame header from the FIFO data.
+ *
+ * @param[in, out] frame_header : FIFO frame header.
+ * @param[in, out] data_index   : Index value of the FIFO data bytes
+ *                                from which sensor frame header is to be parsed
+ * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API gets sensor time from the accelerometer and
+ * gyroscope virtual frames and updates in the data structure.
+ *
+ * @param[out] sens       : Sensor data structure
+ * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
+ * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx,
+                                    const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API gets sensor time from the auxiliary virtual
+ * frames and updates in the data structure.
+ *
+ * @param[out] aux        : Auxiliary sensor data structure
+ * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
+ * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
+                                        uint16_t *idx,
+                                        const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ *
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ * @param[out] gyr_data         : Structure instance of gyroscope data
+ *
+ * @return Result of API execution status
+ *
+ * @return None
+ * @retval None
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API saves the configurations before performing FOC.
+ *
+ * @param[out] acc_cfg      : Accelerometer configuration value
+ * @param[out] aps          : Advance power mode value
+ * @param[out] acc_en       : Accelerometer enable value
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
+                                    uint8_t *aps,
+                                    uint8_t *acc_en,
+                                    struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API performs Fast Offset Compensation for accelerometer.
+ *
+ * @param[in] accel_g_value : This parameter selects the accel foc
+ * axis to be performed
+ *
+ * input format is {x, y, z, sign}. '1' to enable. '0' to disable
+ *
+ * eg to choose x axis  {1, 0, 0, 0}
+ * eg to choose -x axis {1, 0, 0, 1}
+ *
+ * @param[in] acc_cfg       : Accelerometer configuration value
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
+                                const struct bmi2_accel_config *acc_cfg,
+                                struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal sets configurations for performing accelerometer FOC.
+ *
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_foc_config(struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables the offset compensation for
+ * filtered and un-filtered accelerometer data.
+ *
+ * @param[in] offset_en     : enables/disables offset compensation.
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API converts the range value into accelerometer
+ * corresponding integer value.
+ *
+ * @param[in] range_in      : Input range value.
+ * @param[out] range_out    : Stores the integer value of range.
+ *
+ * @return None
+ * @retval None
+ */
+static void map_accel_range(uint8_t range_in, uint8_t *range_out);
+
+/*!
+ * @brief This internal API compensate the accelerometer data against gravity.
+ *
+ * @param[in] lsb_per_g     : LSB value pre 1g.
+ * @param[in] g_val         : G reference value of all axis.
+ * @param[in] data          : Accelerometer data
+ * @param[out] comp_data    : Stores the data that is compensated by taking the
+ *                            difference in accelerometer data and lsb_per_g
+ *                            value.
+ *
+ * @return None
+ * @retval None
+ */
+static void comp_for_gravity(uint16_t lsb_per_g,
+                             const struct bmi2_accel_foc_g_value *g_val,
+                             const struct bmi2_sens_axes_data *data,
+                             struct bmi2_offset_delta *comp_data);
+
+/*!
+ * @brief This internal API scales the compensated accelerometer data according
+ * to the offset register resolution.
+ *
+ * @param[in] range         : G-range of the accelerometer.
+ * @param[out] comp_data    : Data that is compensated by taking the
+ *                            difference in accelerometer data and lsb_per_g
+ *                            value.
+ * @param[out] data         : Stores offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data,
+                               struct bmi2_accel_offset *data);
+
+/*!
+ * @brief This internal API finds the bit position of 3.9mg according to given
+ * range and resolution.
+ *
+ * @param[in] range     : G-range of the accelerometer.
+ *
+ * @return Result of API execution status
+ * @retval Bit position of 3.9mg
+ */
+static int8_t get_bit_pos_3_9mg(uint8_t range);
+
+/*!
+ * @brief This internal API inverts the accelerometer offset data.
+ *
+ * @param[out] offset_data  : Stores the inverted offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void invert_accel_offset(struct bmi2_accel_offset *offset_data);
+
+/*!
+ * @brief This internal API writes the offset data in the offset compensation
+ * register.
+ *
+ * @param[in] offset        : offset data
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API restores the configurations saved before performing
+ * accelerometer FOC.
+ *
+ * @param[in] acc_cfg       : Accelerometer configuration value
+ * @param[in] acc_en        : Accelerometer enable value
+ * @param[in] aps           : Advance power mode value
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
+                                       uint8_t aps,
+                                       uint8_t acc_en,
+                                       struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API saves the configurations before performing gyroscope
+ * FOC.
+ *
+ * @param[out] gyr_cfg  : Gyroscope configuration value
+ * @param[out] gyr_en   : Gyroscope enable value
+ * @param[out] aps      : Advance power mode value
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal sets configurations for performing gyroscope FOC.
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_foc_config(struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API inverts the gyroscope offset data.
+ *
+ * @param[out] offset_data  : Stores the inverted offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data);
+
+/*!
+ * @brief This internal API restores the gyroscope configurations saved
+ * before performing FOC.
+ *
+ * @param[in] gyr_cfg   : Gyroscope configuration value
+ * @param[in] gyr_en    : Gyroscope enable value
+ * @param[in] aps       : Advance power mode value
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API saturates the gyroscope data value before writing to
+ * to 10 bit offset register.
+ *
+ * @param[in, out] gyr_off  : Gyroscope data to be stored in offset register
+ *
+ * @return None
+ * @retval None
+ */
+static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off);
+
+/*!
+ * @brief This internal API reads the gyroscope data for x, y and z axis from
+ * the sensor.
+ *
+ * @param[out] gyro         : Buffer to store the gyroscope value.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to check the boundary conditions.
+ *
+ * @param[in]     dev    : Structure instance of bmi2_dev.
+ * @param[in,out] val    : Pointer to the value to be validated.
+ * @param[in]     min    : minimum value.
+ * @param[in]     max    : maximum value.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/*!
+ * @brief This updates the result for CRT or gyro self-test.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to get the st_status status.
+ *
+ * @param[in] *st_status: gets the crt running status
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to set crt bit to running.
+ *
+ * @param[in] enable
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to make the initial changes for CRT.
+ * Disable the gyro, OIS, aps
+ * Note: For the purpose of preparing CRT Gyro, OIS and APS are disabled
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t crt_prepare_setup(struct bmi2_dev *dev);
+
+static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to get the rdy for dl bit status
+ * this will toggle from 0 to 1 and visevers according to the
+ * dowload status
+ *
+ * @param[in] *rdy_for_dl: gets the rdy_for_dl status
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to write the config file in the given location for crt.
+ * which inter checks the status of the rdy_for_dl bit and also the crt running, and
+ * wirtes the given size.
+ *
+ * @param[in] write_len: length of the words to be written
+ * @param[in] config_file_size: length of the words to be written
+ * @param[in] start_index: provide the start index from where config file has to written
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_crt_config_file(uint16_t write_len,
+                                    uint16_t config_file_size,
+                                    uint16_t start_index,
+                                    struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to check for rdy_for_dl bit to toggle for CRT process
+ *
+ * @param[in] retry_complete: wait for given time to toggle
+ * @param[in] download_ready:  get the status for rdy_for_dl
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to wait till the CRT or gyro self-test process is completed
+ *
+ * @param[in] retry_complete: wait for given time to complete the crt process
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev);
+
+/*!
+ * @brief This function is to complete the crt process if max burst length is not zero
+ * this checks for the crt status and rdy_for_dl bit to toggle
+ *
+ * @param[in] last_byte_flag: to provide the last toggled state
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api is used to enable the gyro self-test or crt.
+ *
+ * @param[in] dev        : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api is used to enable/disable abort.
+ *
+ * @param[in] abort_enable  : variable to enable the abort feature.
+ * @param[in] dev        : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
+ * self-test.
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api is used to trigger the preparation for system for NVM programming.
+ *
+ * @param[out] nvm_prep : pointer to variable to store the status of nvm_prep_prog.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api validates accel foc position as per the range
+ *
+ * @param[in] sens_list : Sensor type
+ * @param[in] accel_g_axis : accel axis to foc. NA for gyro foc
+ * @param[in] avg_foc_data : average value of sensor sample datas
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_foc_position(uint8_t sens_list,
+                                    const struct bmi2_accel_foc_g_value *accel_g_axis,
+                                    struct bmi2_sens_axes_data avg_foc_data,
+                                    struct bmi2_dev *dev);
+
+/*!
+ * @brief This api validates accel foc axis given as input
+ *
+ * @param[in] avg_foc_data : average value of sensor sample datas
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev);
+
+/*!
+ * @brief This api is used to verify the right position of the sensor before doing accel foc
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ * @param[in] sens_list: Sensor type
+ * @param[in] accel_g_axis: Accel Foc axis and sign input
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t verify_foc_position(uint8_t sens_list,
+                                  const struct bmi2_accel_foc_g_value *accel_g_axis,
+                                  struct bmi2_dev *dev);
+
+/*!
+ * @brief This API reads and provides average for 128 samples of sensor data for foc operation
+ * gyro.
+ *
+ * @param[in] sens_list : Sensor type.
+ * @param[in] bmi2_dev: Structure instance of bmi2_dev.
+ * @param[in] temp_foc_data: to store data samples
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_average_of_sensor_data(uint8_t sens_list,
+                                         struct bmi2_foc_temp_value *temp_foc_data,
+                                         struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal api gets major and minor version for config file
+ *
+ * @param[out] config_major     :   Pointer to store the major version
+ * @param[out] config_minor     :   Pointer to store the minor version
+ * @param[in]  dev              :   Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to map the interrupts to the sensor.
+ *
+ * @param[in] map_int        : Structure instance of bmi2_map_int.
+ * @param[in] type           : Type of feature or sensor.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!  @name      User Interface Definitions                            */
+/******************************************************************************/
+
+/*!
+ * @brief This API is the entry point for bmi2 sensor. It selects between
+ * I2C/SPI interface, based on user selection. It reads and validates the
+ * chip-id of the sensor.
+ */
+int8_t bmi2_sec_init(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to assign chip id */
+    uint8_t chip_id = 0;
+
+    /* Structure to define the default values for axes re-mapping */
+    struct bmi2_axes_remap axes_remap = {
+        .x_axis = BMI2_MAP_X_AXIS, .x_axis_sign = BMI2_POS_SIGN, .y_axis = BMI2_MAP_Y_AXIS,
+        .y_axis_sign = BMI2_POS_SIGN, .z_axis = BMI2_MAP_Z_AXIS, .z_axis_sign = BMI2_POS_SIGN
+    };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Perform soft-reset to bring all register values to their
+         * default values
+         */
+        rslt = bmi2_soft_reset(dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Read chip-id of the BMI2 sensor */
+            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Validate chip-id */
+                if (chip_id == dev->chip_id)
+                {
+                    /* Assign resolution to the structure */
+                    dev->resolution = 16;
+
+                    /* Set manual enable flag */
+                    dev->aux_man_en = 1;
+
+                    /* Set the default values for axis
+                     *  re-mapping in the device structure
+                     */
+                    dev->remap = axes_remap;
+                }
+                else
+                {
+                    /* Storing the chip-id value read from
+                     * the register to identify the sensor
+                     */
+                    dev->chip_id = chip_id;
+                    rslt = BMI2_E_DEV_NOT_FOUND;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from the given register address of bmi2
+ * sensor.
+ *
+ * @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 - 0x26, 0x5E.
+ */
+int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint16_t index = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (data != NULL))
+    {
+        /* Variable to define temporary length */
+        uint16_t temp_len = len + dev->dummy_byte;
+
+        /* Variable to define temporary buffer */
+        uint8_t temp_buf[temp_len];
+
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            reg_addr = (reg_addr | BMI2_SPI_RD_MASK);
+        }
+
+        dev->intf_rslt = dev->read(reg_addr, temp_buf, temp_len, dev->intf_ptr);
+
+        if (dev->aps_status == BMI2_ENABLE)
+        {
+            dev->delay_us(450, dev->intf_ptr);
+        }
+        else
+        {
+            dev->delay_us(2, dev->intf_ptr);
+        }
+
+        if (dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
+        {
+            /* Read the data from the position next to dummy byte */
+            while (index < len)
+            {
+                data[index] = temp_buf[index + dev->dummy_byte];
+                index++;
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes data to the given register address of bmi2 sensor.
+ */
+int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (data != NULL))
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            reg_addr = (reg_addr & BMI2_SPI_WR_MASK);
+        }
+
+        dev->intf_rslt = dev->write(reg_addr, data, len, dev->intf_ptr);
+
+        /* Delay for Low power mode of the sensor is 450 us */
+        if (dev->aps_status == BMI2_ENABLE)
+        {
+            dev->delay_us(450, dev->intf_ptr);
+        }
+        /* Delay for Normal mode of the sensor is 2 us */
+        else
+        {
+            dev->delay_us(2, dev->intf_ptr);
+        }
+
+        /* updating the advance power saver flag */
+        if (reg_addr == BMI2_PWR_CONF_ADDR)
+        {
+            if (*data & BMI2_ADV_POW_EN_MASK)
+            {
+                dev->aps_status = BMI2_ENABLE;
+            }
+            else
+            {
+                dev->aps_status = BMI2_DISABLE;
+            }
+        }
+
+        if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
+        {
+            rslt = BMI2_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API resets bmi2 sensor. All registers are overwritten with
+ * their default values.
+ */
+int8_t bmi2_soft_reset(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define soft reset value */
+    uint8_t data = BMI2_SOFT_RESET_CMD;
+
+    /* Variable to read the dummy byte */
+    uint8_t dummy_read = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Reset bmi2 device */
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev);
+        dev->delay_us(2000, dev->intf_ptr);
+
+        /* set APS flag as after soft reset the sensor is on advance power save mode */
+        dev->aps_status = BMI2_ENABLE;
+
+        /* Performing a dummy read to bring interface back to SPI from
+         * I2C after a soft-reset
+         */
+        if ((rslt == BMI2_OK) && (dev->intf == BMI2_SPI_INTF))
+        {
+            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &dummy_read, 1, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Write the configuration file */
+            rslt = bmi2_write_config_file(dev);
+        }
+
+        /* Reset the sensor status flag in the device structure */
+        if (rslt == BMI2_OK)
+        {
+            dev->sens_en_stat = 0;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to get the config file major and minor version information.
+ */
+int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* NULL pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config_major != NULL) && (config_minor != NULL))
+    {
+        /* Extract the config file identification from the dmr page and get the major and minor version */
+        rslt = extract_config_file(config_major, config_minor, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables the advance power save mode in the sensor.
+ */
+int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ADV_POW_EN, enable);
+            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+
+            if (rslt != BMI2_OK)
+            {
+                /* Return error if enable/disable APS fails */
+                rslt = BMI2_E_SET_APS_FAIL;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                dev->aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of advance power save mode in the sensor.
+ */
+int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aps_status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            *aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
+            dev->aps_status = *aps_status;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API loads the configuration file into the bmi2 sensor.
+ */
+int8_t bmi2_write_config_file(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to know the load status */
+    uint8_t load_status = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (dev->config_size != 0))
+    {
+        /* Bytes written are multiples of 2 */
+        if ((dev->read_write_len % 2) != 0)
+        {
+            dev->read_write_len = dev->read_write_len - 1;
+        }
+
+        if (dev->read_write_len < 2)
+        {
+            dev->read_write_len = 2;
+        }
+
+        /* Write the configuration file */
+        rslt = write_config_file(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Check the configuration load status */
+            rslt = bmi2_get_internal_status(&load_status, dev);
+
+            /* Return error if loading not successful */
+            if ((rslt == BMI2_OK) && (!(load_status & BMI2_CONFIG_LOAD_SUCCESS)))
+            {
+                rslt = BMI2_E_CONFIG_LOAD;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ */
+int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data array */
+    uint8_t data_array[3] = { 0 };
+
+    /* Variable to store register data */
+    uint8_t reg_data = 0;
+
+    /* Variable to define type of interrupt pin  */
+    uint8_t int_pin = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_cfg != NULL))
+    {
+        /* Copy the pin type to a local variable */
+        int_pin = int_cfg->pin_type;
+        if ((int_pin > BMI2_INT_NONE) && (int_pin < BMI2_INT_PIN_MAX))
+        {
+            /* Get the previous configuration data */
+            rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Set interrupt pin 1 configuration */
+                if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
+                {
+                    /* Configure active low or high */
+                    reg_data = BMI2_SET_BITS(data_array[0], BMI2_INT_LEVEL, int_cfg->pin_cfg[0].lvl);
+
+                    /* Configure push-pull or open drain */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[0].od);
+
+                    /* Configure output enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[0].output_en);
+
+                    /* Configure input enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[0].input_en);
+
+                    /* Copy the data to be written in the respective array */
+                    data_array[0] = reg_data;
+                }
+
+                /* Set interrupt pin 2 configuration */
+                if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
+                {
+                    /* Configure active low or high */
+                    reg_data = BMI2_SET_BITS(data_array[1], BMI2_INT_LEVEL, int_cfg->pin_cfg[1].lvl);
+
+                    /* Configure push-pull or open drain */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[1].od);
+
+                    /* Configure output enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[1].output_en);
+
+                    /* Configure input enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[1].input_en);
+
+                    /* Copy the data to be written in the respective array */
+                    data_array[1] = reg_data;
+                }
+
+                /* Configure the interrupt mode */
+                data_array[2] = BMI2_SET_BIT_POS0(data_array[2], BMI2_INT_LATCH, int_cfg->int_latch);
+
+                /* Set the configurations simultaneously as
+                 * INT1_IO_CTRL, INT2_IO_CTRL, and INT_LATCH lie
+                 * in consecutive addresses
+                 */
+                rslt = bmi2_set_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ */
+int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data array */
+    uint8_t data_array[3] = { 0 };
+
+    /* Variable to define type of interrupt pin  */
+    uint8_t int_pin = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_cfg != NULL))
+    {
+        /* Copy the pin type to a local variable */
+        int_pin = int_cfg->pin_type;
+
+        /* Get the previous configuration data */
+        rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get interrupt pin 1 configuration */
+            if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
+            {
+                /* Get active low or high */
+                int_cfg->pin_cfg[0].lvl = BMI2_GET_BITS(data_array[0], BMI2_INT_LEVEL);
+
+                /* Get push-pull or open drain */
+                int_cfg->pin_cfg[0].od = BMI2_GET_BITS(data_array[0], BMI2_INT_OPEN_DRAIN);
+
+                /* Get output enable */
+                int_cfg->pin_cfg[0].output_en = BMI2_GET_BITS(data_array[0], BMI2_INT_OUTPUT_EN);
+
+                /* Get input enable */
+                int_cfg->pin_cfg[0].input_en = BMI2_GET_BITS(data_array[0], BMI2_INT_INPUT_EN);
+            }
+
+            /* Get interrupt pin 2 configuration */
+            if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
+            {
+                /* Get active low or high */
+                int_cfg->pin_cfg[1].lvl = BMI2_GET_BITS(data_array[1], BMI2_INT_LEVEL);
+
+                /* Get push-pull or open drain */
+                int_cfg->pin_cfg[1].od = BMI2_GET_BITS(data_array[1], BMI2_INT_OPEN_DRAIN);
+
+                /* Get output enable */
+                int_cfg->pin_cfg[1].output_en = BMI2_GET_BITS(data_array[1], BMI2_INT_OUTPUT_EN);
+
+                /* Get input enable */
+                int_cfg->pin_cfg[1].input_en = BMI2_GET_BITS(data_array[1], BMI2_INT_INPUT_EN);
+            }
+
+            /* Get interrupt mode */
+            int_cfg->int_latch = BMI2_GET_BIT_POS0(data_array[2], BMI2_INT_LATCH);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the interrupt status of both feature and data
+ * interrupts
+ */
+int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_status != NULL))
+    {
+        /* Get the interrupt status */
+        rslt = bmi2_get_regs(BMI2_INT_STATUS_0_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            *int_status = (uint16_t) data_array[0] | ((uint16_t) data_array[1] << 8);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for auxiliary
+             * and feature configurations
+             */
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if
+                 * enabled
+                 */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (sens_cfg[loop].type)
+                {
+                    /* Set accelerometer configuration */
+                    case BMI2_ACCEL:
+                        rslt = set_accel_config(&sens_cfg[loop].cfg.acc, dev);
+                        break;
+
+                    /* Set gyroscope configuration */
+                    case BMI2_GYRO:
+                        rslt = set_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
+                        break;
+
+                    /* Set auxiliary configuration */
+                    case BMI2_AUX:
+                        rslt = set_aux_config(&sens_cfg[loop].cfg.aux, dev);
+                        break;
+
+                    /* Set gyroscope user gain configuration */
+                    case BMI2_GYRO_GAIN_UPDATE:
+                        rslt = set_gyro_user_gain_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
+                        break;
+
+                    default:
+                        rslt = BMI2_E_INVALID_SENSOR;
+                        break;
+                }
+            }
+
+            /* Return error if any of the set configurations fail */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for auxiliary
+             * and feature configurations
+             */
+            if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+            {
+
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (sens_cfg[loop].type)
+                {
+                    /* Get accelerometer configuration */
+                    case BMI2_ACCEL:
+                        rslt = get_accel_config(&sens_cfg[loop].cfg.acc, dev);
+                        break;
+
+                    /* Get gyroscope configuration */
+                    case BMI2_GYRO:
+                        rslt = get_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
+                        break;
+
+                    /* Get auxiliary configuration */
+                    case BMI2_AUX:
+                        rslt = get_aux_config(&sens_cfg[loop].cfg.aux, dev);
+                        break;
+
+                    /* Get gyroscope user gain configuration */
+                    case BMI2_GYRO_GAIN_UPDATE:
+                        rslt = get_gyro_gain_update_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
+                        break;
+
+                    default:
+                        rslt = BMI2_E_INVALID_SENSOR;
+                        break;
+                }
+            }
+
+            /* Return error if any of the get configurations fail */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ */
+int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for feature
+             * configurations
+             */
+            if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+            {
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (sensor_data[loop].type)
+                {
+                    case BMI2_ACCEL:
+
+                        /* Get accelerometer data */
+                        rslt = get_accel_sensor_data(&sensor_data[loop].sens_data.acc, BMI2_ACC_X_LSB_ADDR, dev);
+                        break;
+                    case BMI2_GYRO:
+
+                        /* Get gyroscope data */
+                        rslt = get_gyro_sensor_data(&sensor_data[loop].sens_data.gyr, BMI2_GYR_X_LSB_ADDR, dev);
+                        break;
+                    case BMI2_AUX:
+
+                        /* Get auxiliary sensor data in data mode */
+                        rslt = read_aux_data_mode(sensor_data[loop].sens_data.aux_data, dev);
+                        break;
+
+                    case BMI2_GYRO_CROSS_SENSE:
+
+                        /* Get Gyroscope cross sense value of z axis */
+                        rslt = get_gyro_cross_sense(&sensor_data[loop].sens_data.correction_factor_zx, dev);
+                        break;
+
+                    case BMI2_GYRO_GAIN_UPDATE:
+
+                        /* Get saturation status of gyroscope user gain update  */
+                        rslt = get_gyro_gain_update_status(&sensor_data[loop].sens_data.gyro_user_gain_status, dev);
+                        break;
+                    default:
+                        rslt = BMI2_E_INVALID_SENSOR;
+                        break;
+                }
+
+                /* Return error if any of the get sensor data fails */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
+ */
+int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+    uint8_t max_burst_len = 0;
+
+    /* Variable to store data of FIFO configuration register 0 */
+    uint8_t fifo_config_0 = (uint8_t)(config & BMI2_FIFO_CONFIG_0_MASK);
+
+    /* Variable to store data of FIFO configuration register 1 */
+    uint8_t fifo_config_1 = (uint8_t)((config & BMI2_FIFO_CONFIG_1_MASK) >> 8);
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get data to set FIFO configuration register 0 */
+            if (fifo_config_0 > 0)
+            {
+                if (enable == BMI2_ENABLE)
+                {
+                    data[0] = data[0] | fifo_config_0;
+                }
+                else
+                {
+                    data[0] = data[0] & (~fifo_config_0);
+                }
+            }
+
+            /* Get data to set FIFO configuration register 1 */
+            if (enable == BMI2_ENABLE)
+            {
+                data[1] = data[1] | fifo_config_1;
+                if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
+                {
+
+                    /* Burst length is needed for CRT
+                     *  FIFO enable will reset the default values
+                     *  So configure the max burst length again.
+                     */
+                    rslt = get_maxburst_len(&max_burst_len, dev);
+                    if (rslt == BMI2_OK && max_burst_len == 0)
+                    {
+                        rslt = set_maxburst_len(BMI2_CRT_MIN_BURST_WORD_LENGTH, dev);
+                    }
+                }
+            }
+            else
+            {
+                data[1] = data[1] & (~fifo_config_1);
+            }
+
+            /* Set the FIFO configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_regs(BMI2_FIFO_CONFIG_0_ADDR, data, 2, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO configuration from the sensor.
+ */
+int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_config != NULL))
+    {
+        /* Get the FIFO configuration value */
+        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_config) = (uint16_t)((uint16_t) data[0] & BMI2_FIFO_CONFIG_0_MASK);
+            (*fifo_config) |= (uint16_t)(((uint16_t) data[1] << 8) & BMI2_FIFO_CONFIG_1_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO data.
+ */
+int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store FIFO configuration data */
+    uint8_t config_data[2] = { 0 };
+
+    /* Variable to define FIFO address */
+    uint8_t addr = BMI2_FIFO_DATA_ADDR;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo != NULL))
+    {
+        /* Clear the FIFO data structure */
+        reset_fifo_frame_structure(fifo, dev);
+
+        /* Read FIFO data */
+        rslt = bmi2_get_regs(addr, fifo->data, fifo->length, dev);
+
+        if (rslt == BMI2_OK)
+        {
+
+            /* Get the set FIFO frame configurations */
+            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Get FIFO header status */
+                fifo->header_enable = (uint8_t)((config_data[1]) & (BMI2_FIFO_HEADER_EN >> 8));
+
+                /* Get sensor enable status, of which the data is to be read */
+                fifo->data_enable =
+                    (uint16_t)(((config_data[0]) | ((uint16_t) config_data[1] << 8)) & BMI2_FIFO_ALL_EN);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the accelerometer frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in the "accel_data"
+ * structure instance.
+ */
+int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
+                          uint16_t *accel_length,
+                          struct bmi2_fifo_frame *fifo,
+                          const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to index accelerometer frames */
+    uint16_t accel_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL))
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+
+            /* Get the number of accelerometer bytes to be read */
+            rslt = parse_fifo_accel_len(&data_index, &data_read_length, accel_length, fifo);
+
+            /* Convert word to byte since all sensor enables are in a byte */
+            data_enable = (uint8_t)(fifo->data_enable >> 8);
+            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+            {
+                /* Unpack frame to get the accelerometer data */
+                rslt = unpack_accel_frame(accel_data, &data_index, &accel_index, data_enable, fifo, dev);
+
+                if (rslt != BMI2_W_FIFO_EMPTY)
+                {
+                    /* Check for the availability of next two bytes of FIFO data */
+                    rslt = check_empty_fifo(&data_index, fifo);
+                }
+            }
+
+            /* Update number of accelerometer frames to be read */
+            (*accel_length) = accel_index;
+
+            /* Update the accelerometer byte index */
+            fifo->acc_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_accel_header_mode(accel_data, accel_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the gyroscope frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in the "gyro_data"
+ * structure instance.
+ */
+int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
+                         uint16_t *gyro_length,
+                         struct bmi2_fifo_frame *fifo,
+                         const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to index gyroscope frames */
+    uint16_t gyro_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyro_data != NULL) && (gyro_length != NULL) && (fifo != NULL))
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+            /* Get the number of gyro bytes to be read */
+            rslt = parse_fifo_gyro_len(&data_index, &data_read_length, gyro_length, fifo);
+
+            /* Convert word to byte since all sensor enables are in a byte */
+            data_enable = (uint8_t)(fifo->data_enable >> 8);
+            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+            {
+                /* Unpack frame to get gyroscope data */
+                rslt = unpack_gyro_frame(gyro_data, &data_index, &gyro_index, data_enable, fifo, dev);
+                if (rslt != BMI2_W_FIFO_EMPTY)
+                {
+                    /* Check for the availability of next two bytes of FIFO data */
+                    rslt = check_empty_fifo(&data_index, fifo);
+                }
+            }
+
+            /* Update number of gyroscope frames to be read */
+            (*gyro_length) = gyro_index;
+
+            /* Update the gyroscope byte index */
+            fifo->acc_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_gyro_header_mode(gyro_data, gyro_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the auxiliary frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
+ */
+int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
+                        uint16_t *aux_length,
+                        struct bmi2_fifo_frame *fifo,
+                        const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to index auxiliary frames */
+    uint16_t aux_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux != NULL) && (aux_length != NULL) && (fifo != NULL))
+    {
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+            rslt = parse_fifo_aux_len(&data_index, &data_read_length, aux_length, fifo);
+
+            /* Convert word to byte since all sensor enables are in
+             * a byte
+             */
+            data_enable = (uint8_t)(fifo->data_enable >> 8);
+            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+            {
+                /* Unpack frame to get auxiliary data */
+                rslt = unpack_aux_frame(aux, &data_index, &aux_index, data_enable, fifo, dev);
+                if (rslt != BMI2_W_FIFO_EMPTY)
+                {
+                    /* Check for the availability of next
+                     * two bytes of FIFO data
+                     */
+                    rslt = check_empty_fifo(&data_index, fifo);
+                }
+            }
+
+            /* Update number of auxiliary frames to be read */
+            *aux_length = aux_index;
+
+            /* Update the auxiliary byte index */
+            fifo->aux_byte_start_idx = data_index;
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_aux_header_mode(aux, aux_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the available sensor specific commands to the sensor.
+ */
+int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set the command in the command register */
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &command, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the FIFO self wake up functionality in the sensor.
+ */
+int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set FIFO self wake-up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            data = BMI2_SET_BITS(data, BMI2_FIFO_SELF_WAKE_UP, fifo_self_wake_up);
+            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of FIFO self wake up functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_self_wake_up != NULL))
+    {
+        /* Get the status of FIFO self wake-up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_self_wake_up) = BMI2_GET_BITS(data, BMI2_FIFO_SELF_WAKE_UP);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO water-mark level in the sensor.
+ */
+int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get LSB value of FIFO water-mark */
+        data[0] = BMI2_GET_LSB(fifo_wm);
+
+        /* Get MSB value of FIFO water-mark */
+        data[1] = BMI2_GET_MSB(fifo_wm);
+
+        /* Set the FIFO water-mark level */
+        rslt = bmi2_set_regs(BMI2_FIFO_WTM_0_ADDR, data, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO water mark level set in the sensor.
+ */
+int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to to store data */
+    uint8_t data[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_wm != NULL))
+    {
+        /* Read the FIFO water mark level */
+        rslt = bmi2_get_regs(BMI2_FIFO_WTM_0_ADDR, data, BMI2_FIFO_WM_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_wm) = (uint16_t)((uint16_t) data[1] << 8) | (data[0]);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets either filtered or un-filtered FIFO accelerometer or
+ * gyroscope data.
+ */
+int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        switch (sens_sel)
+        {
+            case BMI2_ACCEL:
+
+                /* Validate filter mode */
+                if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
+                {
+                    /* Set the accelerometer FIFO filter data */
+                    rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_FILT_DATA, fifo_filter_data);
+                        rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                    }
+                }
+                else
+                {
+                    rslt = BMI2_E_OUT_OF_RANGE;
+                }
+
+                break;
+            case BMI2_GYRO:
+
+                /* Validate filter mode */
+                if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
+                {
+                    /* Set the gyroscope FIFO filter data */
+                    rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        data = BMI2_SET_BITS(data, BMI2_GYR_FIFO_FILT_DATA, fifo_filter_data);
+                        rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                    }
+                }
+                else
+                {
+                    rslt = BMI2_E_OUT_OF_RANGE;
+                }
+
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the FIFO accelerometer or gyroscope filter data.
+ */
+int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store FIFO filter mode */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_filter_data != NULL))
+    {
+        switch (sens_sel)
+        {
+            case BMI2_ACCEL:
+
+                /* Read the accelerometer FIFO filter data */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_FILT_DATA);
+                }
+
+                break;
+            case BMI2_GYRO:
+
+                /* Read the gyroscope FIFO filter data */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_GYR_FIFO_FILT_DATA);
+                }
+
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the down-sampling rates for accelerometer or gyroscope
+ * FIFO data.
+ */
+int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store sampling rate */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        switch (sens_sel)
+        {
+            case BMI2_ACCEL:
+
+                /* Set the accelerometer FIFO down sampling rate */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_DOWNS, fifo_down_samp);
+                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                }
+
+                break;
+            case BMI2_GYRO:
+
+                /* Set the gyroscope FIFO down sampling rate */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    data = BMI2_SET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS, fifo_down_samp);
+                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                }
+
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the down sampling rates which is configured for
+ * accelerometer or gyroscope FIFO data.
+ */
+int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store sampling rate */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_down_samp != NULL))
+    {
+        switch (sens_sel)
+        {
+            case BMI2_ACCEL:
+
+                /* Read the accelerometer FIFO down data sampling rate */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    (*fifo_down_samp) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_DOWNS);
+                }
+
+                break;
+            case BMI2_GYRO:
+
+                /* Read the gyroscope FIFO down data sampling rate */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    (*fifo_down_samp) = BMI2_GET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS);
+                }
+
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the length of FIFO data available in the sensor in
+ * bytes.
+ */
+int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define byte index */
+    uint8_t index = 0;
+
+    /* Array to store FIFO data length */
+    uint8_t data[BMI2_FIFO_DATA_LENGTH] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_length != NULL))
+    {
+        /* Read FIFO length */
+        rslt = bmi2_get_regs(BMI2_FIFO_LENGTH_0_ADDR, data, BMI2_FIFO_DATA_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the MSB byte index */
+            index = BMI2_FIFO_LENGTH_MSB_BYTE;
+
+            /* Get the MSB byte of FIFO length */
+            data[index] = BMI2_GET_BIT_POS0(data[index], BMI2_FIFO_BYTE_COUNTER_MSB);
+
+            /* Get total FIFO length */
+            (*fifo_length) = ((data[index] << 8) | data[index - 1]);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the user-defined bytes of data from the given register
+ * address of auxiliary sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
+ */
+int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store burst length */
+    uint8_t burst_len = 0;
+
+    /* Variable to define APS status */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux_data != NULL))
+    {
+        /* Validate if manual mode */
+        if (dev->aux_man_en)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable APS if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the register value set to that of burst
+                 * length
+                 */
+                rslt = map_read_len(&burst_len, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Read auxiliary data */
+                    rslt = read_aux_data(reg_addr, aux_data, len, burst_len, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled for reading
+             * data and not when already disabled
+             */
+            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_AUX_INVALID_CFG;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the user-defined bytes of data and the address of
+ * auxiliary sensor where data is to be written in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ */
+int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to define APS status */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux_data != NULL))
+    {
+        /* Validate if manual mode */
+        if (dev->aux_man_en)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable APS if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Byte write data in the corresponding address */
+            if (rslt == BMI2_OK)
+            {
+                for (; ((loop < len) && (rslt == BMI2_OK)); loop++)
+                {
+                    rslt = write_aux_data((reg_addr + loop), aux_data[loop], dev);
+                    dev->delay_us(1000, dev->intf_ptr);
+                }
+            }
+
+            /* Enable Advance power save if disabled for writing
+             * data and not when already disabled
+             */
+            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_AUX_INVALID_CFG;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the user-defined bytes of data and the address of
+ * auxiliary sensor where data is to be written, from an interleaved input,
+ * in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ */
+int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to define APS status */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux_data != NULL))
+    {
+        /* Validate if manual mode */
+        if (dev->aux_man_en)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable APS if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Write the start register address extracted
+                 * from the interleaved data
+                 */
+                rslt = write_aux_data(reg_addr, aux_data[0], dev);
+
+                /* Extract the remaining address and data from
+                 * the interleaved data and write it in the
+                 * corresponding addresses byte by byte
+                 */
+                for (; ((loop < len) && (rslt == BMI2_OK)); loop += 2)
+                {
+                    rslt = write_aux_data(aux_data[loop], aux_data[loop + 1], dev);
+                    dev->delay_us(1000, dev->intf_ptr);
+                }
+
+                /* Enable Advance power save if disabled for
+                 * writing data and not when already disabled
+                 */
+                if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+                {
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_AUX_INVALID_CFG;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the data ready status of accelerometer, gyroscope,
+ * auxiliary, command decoder and busy status of auxiliary.
+ */
+int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_STATUS_ADDR, status, 1, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables OIS interface.
+ */
+int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable/Disable OIS interface */
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_OIS_IF_EN, enable);
+            if (enable)
+            {
+                /* Disable auxiliary interface if OIS is enabled */
+                reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_IF_EN);
+            }
+
+            /* Set the OIS interface configurations */
+            rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API can be used to write sync commands like ODR, sync period,
+ * frequency and phase, resolution ratio, sync time and delay time.
+ */
+int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (command != NULL))
+    {
+        rslt = bmi2_set_regs(BMI2_SYNC_COMMAND_ADDR, command, n_comm, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs self-test to check the proper functionality of the
+ * accelerometer sensor.
+ */
+int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store self-test result */
+    int8_t st_rslt = 0;
+
+    /* Structure to define positive accelerometer axes */
+    struct bmi2_sens_axes_data positive = { 0, 0, 0, 0 };
+
+    /* Structure to define negative accelerometer axes */
+    struct bmi2_sens_axes_data negative = { 0, 0, 0, 0 };
+
+    /* Structure for difference of accelerometer values in g */
+    struct bmi2_selftest_delta_limit accel_data_diff = { 0, 0, 0 };
+
+    /* Structure for difference of accelerometer values in mg */
+    struct bmi2_selftest_delta_limit accel_data_diff_mg = { 0, 0, 0 };
+
+    /* Initialize the polarity of self-test as positive */
+    int8_t sign = BMI2_ENABLE;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Sets the configuration required before enabling self-test */
+        rslt = pre_self_test_config(dev);
+
+        /* Wait for greater than 2 milliseconds */
+        dev->delay_us(3000, dev->intf_ptr);
+        if (rslt == BMI2_OK)
+        {
+            do
+            {
+                /* Select positive first, then negative polarity
+                 * after enabling self-test
+                 */
+                rslt = self_test_config((uint8_t) sign, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Wait for greater than 50 milli-sec */
+                    dev->delay_us(51000, dev->intf_ptr);
+
+                    /* If polarity is positive */
+                    if (sign == BMI2_ENABLE)
+                    {
+                        /* Read and store positive acceleration value */
+                        rslt = read_accel_xyz(&positive, dev);
+                    }
+                    /* If polarity is negative */
+                    else if (sign == BMI2_DISABLE)
+                    {
+                        /* Read and store negative acceleration value */
+                        rslt = read_accel_xyz(&negative, dev);
+                    }
+                }
+                else
+                {
+                    /* Break if error */
+                    break;
+                }
+
+                /* Break if error */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+
+                /* Turn the polarity of self-test negative */
+                sign--;
+            } while (sign >= 0);
+            if (rslt == BMI2_OK)
+            {
+                /* Subtract -ve acceleration values from that of +ve values */
+                accel_data_diff.x = (positive.x) - (negative.x);
+                accel_data_diff.y = (positive.y) - (negative.y);
+                accel_data_diff.z = (positive.z) - (negative.z);
+
+                /* Convert differences of acceleration values
+                 * from 'g' to 'mg'
+                 */
+                convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev);
+
+                /* Validate self-test for acceleration values
+                 * in mg and get the self-test result
+                 */
+                st_rslt = validate_self_test(&accel_data_diff_mg);
+
+                /* Trigger a soft reset after performing self-test */
+                rslt = bmi2_soft_reset(dev);
+
+                /* Return the self-test result */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = st_rslt;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define the value of feature interrupts */
+    uint8_t feat_int = 0;
+
+    /* Array to store the interrupt mask bits */
+    uint8_t data_array[2] = { 0 };
+
+    /* Structure to define map the interrupts */
+    struct bmi2_map_int map_int = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Read interrupt map1 and map2 and register */
+        rslt = bmi2_get_regs(BMI2_INT1_MAP_FEAT_ADDR, data_array, 2, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the value of the feature interrupt to be mapped */
+            extract_feat_int_map(&map_int, type, dev);
+
+            feat_int = map_int.sens_map_int;
+
+            /* Map the interrupts */
+            rslt = map_feat_int(data_array, hw_int_pin, feat_int);
+
+            /* Map the interrupts to INT1 and INT2 map register */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_regs(BMI2_INT1_MAP_FEAT_ADDR, &data_array[0], 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    rslt = bmi2_set_regs(BMI2_INT2_MAP_FEAT_ADDR, &data_array[1], 1, dev);
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/un-maps data interrupts to that of interrupt pins.
+ */
+int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to mask interrupt pin 1 - lower nibble */
+    uint8_t int1_mask = data_int;
+
+    /* Variable to mask interrupt pin 2 - higher nibble */
+    uint8_t int2_mask = (uint8_t)(data_int << 4);
+
+    /* Variable to store register data */
+    uint8_t reg_data = 0;
+
+    /* Read interrupt map1 and map2 and register */
+    rslt = bmi2_get_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        if (int_pin < BMI2_INT_PIN_MAX)
+        {
+            switch (int_pin)
+            {
+                case BMI2_INT_NONE:
+
+                    /* Un-Map the corresponding data
+                     * interrupt to both interrupt pin 1 and 2
+                     */
+                    reg_data &= ~(int1_mask | int2_mask);
+                    break;
+                case BMI2_INT1:
+
+                    /* Map the corresponding data interrupt to
+                     * interrupt pin 1
+                     */
+                    reg_data |= int1_mask;
+                    break;
+                case BMI2_INT2:
+
+                    /* Map the corresponding data interrupt to
+                     * interrupt pin 2
+                     */
+                    reg_data |= int2_mask;
+                    break;
+                case BMI2_INT_BOTH:
+
+                    /* Map the corresponding data
+                     * interrupt to both interrupt pin 1 and 2
+                     */
+                    reg_data |= (int1_mask | int2_mask);
+                    break;
+                default:
+                    break;
+            }
+
+            /* Set the interrupts in the map register */
+            rslt = bmi2_set_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
+        }
+        else
+        {
+            /* Return error if invalid pin selection */
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the re-mapped x, y and z axes from the sensor and
+ * updates the values in the device structure.
+ */
+int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Initialize the local structure for axis re-mapping */
+    struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
+    {
+        /* Get the re-mapped axes from the sensor */
+        rslt = get_remap_axes(&remap, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Store the re-mapped x-axis value in device structure
+             * and its user-value in the interface structure
+             */
+            switch (remap.x_axis)
+            {
+                case BMI2_MAP_X_AXIS:
+
+                    /* If mapped to x-axis */
+                    dev->remap.x_axis = BMI2_MAP_X_AXIS;
+                    remapped_axis->x = BMI2_X;
+                    break;
+                case BMI2_MAP_Y_AXIS:
+
+                    /* If mapped to y-axis */
+                    dev->remap.x_axis = BMI2_MAP_Y_AXIS;
+                    remapped_axis->x = BMI2_Y;
+                    break;
+                case BMI2_MAP_Z_AXIS:
+
+                    /* If mapped to z-axis */
+                    dev->remap.x_axis = BMI2_MAP_Z_AXIS;
+                    remapped_axis->x = BMI2_Z;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped x-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.x_axis_sign)
+            {
+                /* If x-axis is mapped to -ve sign */
+                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->x |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.x_axis_sign = BMI2_POS_SIGN;
+            }
+
+            /* Store the re-mapped y-axis value in device structure
+             *  and its user-value in the interface structure
+             */
+            switch (remap.y_axis)
+            {
+                case BMI2_MAP_X_AXIS:
+
+                    /* If mapped to x-axis */
+                    dev->remap.y_axis = BMI2_MAP_X_AXIS;
+                    remapped_axis->y = BMI2_X;
+                    break;
+                case BMI2_MAP_Y_AXIS:
+
+                    /* If mapped to y-axis */
+                    dev->remap.y_axis = BMI2_MAP_Y_AXIS;
+                    remapped_axis->y = BMI2_Y;
+                    break;
+                case BMI2_MAP_Z_AXIS:
+
+                    /* If mapped to z-axis */
+                    dev->remap.y_axis = BMI2_MAP_Z_AXIS;
+                    remapped_axis->y = BMI2_Z;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped y-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.y_axis_sign)
+            {
+                /* If y-axis is mapped to -ve sign */
+                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->y |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.y_axis_sign = BMI2_POS_SIGN;
+            }
+
+            /* Store the re-mapped z-axis value in device structure
+             *  and its user-value in the interface structure
+             */
+            switch (remap.z_axis)
+            {
+                case BMI2_MAP_X_AXIS:
+
+                    /* If mapped to x-axis */
+                    dev->remap.z_axis = BMI2_MAP_X_AXIS;
+                    remapped_axis->z = BMI2_X;
+                    break;
+                case BMI2_MAP_Y_AXIS:
+
+                    /* If mapped to y-axis */
+                    dev->remap.z_axis = BMI2_MAP_Y_AXIS;
+                    remapped_axis->z = BMI2_Y;
+                    break;
+                case BMI2_MAP_Z_AXIS:
+
+                    /* If mapped to z-axis */
+                    dev->remap.z_axis = BMI2_MAP_Z_AXIS;
+                    remapped_axis->z = BMI2_Z;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped z-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.z_axis_sign)
+            {
+                /* If z-axis is mapped to -ve sign */
+                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->z |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.z_axis_sign = BMI2_POS_SIGN;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the re-mapped x, y and z axes to the sensor and
+ * updates the them in the device structure.
+ */
+int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store all the re-mapped axes */
+    uint8_t remap_axes = 0;
+
+    /* Variable to store the re-mapped x-axes */
+    uint8_t remap_x = 0;
+
+    /* Variable to store the re-mapped y-axes */
+    uint8_t remap_y = 0;
+
+    /* Variable to store the re-mapped z-axes */
+    uint8_t remap_z = 0;
+
+    /* Initialize the local structure for axis re-mapping */
+    struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
+    {
+        /* Check whether all the axes are re-mapped */
+        remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z;
+
+        /* If all the axes are re-mapped */
+        if ((remap_axes & BMI2_AXIS_MASK) == BMI2_AXIS_MASK)
+        {
+            /* Get the re-mapped value of x, y and z axis */
+            remap_x = remapped_axis->x & BMI2_AXIS_MASK;
+            remap_y = remapped_axis->y & BMI2_AXIS_MASK;
+            remap_z = remapped_axis->z & BMI2_AXIS_MASK;
+
+            /* Store the value of re-mapped x-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_x)
+            {
+                case BMI2_X:
+
+                    /* If mapped to x-axis */
+                    dev->remap.x_axis = BMI2_MAP_X_AXIS;
+                    remap.x_axis = BMI2_MAP_X_AXIS;
+                    break;
+                case BMI2_Y:
+
+                    /* If mapped to y-axis */
+                    dev->remap.x_axis = BMI2_MAP_Y_AXIS;
+                    remap.x_axis = BMI2_MAP_Y_AXIS;
+                    break;
+                case BMI2_Z:
+
+                    /* If mapped to z-axis */
+                    dev->remap.x_axis = BMI2_MAP_Z_AXIS;
+                    remap.x_axis = BMI2_MAP_Z_AXIS;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped x-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->x & BMI2_AXIS_SIGN)
+            {
+                /* If x-axis is mapped to -ve sign */
+                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
+                remap.x_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.x_axis_sign = BMI2_POS_SIGN;
+                remap.x_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Store the value of re-mapped y-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_y)
+            {
+                case BMI2_X:
+
+                    /* If mapped to x-axis */
+                    dev->remap.y_axis = BMI2_MAP_X_AXIS;
+                    remap.y_axis = BMI2_MAP_X_AXIS;
+                    break;
+                case BMI2_Y:
+
+                    /* If mapped to y-axis */
+                    dev->remap.y_axis = BMI2_MAP_Y_AXIS;
+                    remap.y_axis = BMI2_MAP_Y_AXIS;
+                    break;
+                case BMI2_Z:
+
+                    /* If mapped to z-axis */
+                    dev->remap.y_axis = BMI2_MAP_Z_AXIS;
+                    remap.y_axis = BMI2_MAP_Z_AXIS;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped y-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->y & BMI2_AXIS_SIGN)
+            {
+                /* If y-axis is mapped to -ve sign */
+                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
+                remap.y_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.y_axis_sign = BMI2_POS_SIGN;
+                remap.y_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Store the value of re-mapped z-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_z)
+            {
+                case BMI2_X:
+
+                    /* If mapped to x-axis */
+                    dev->remap.z_axis = BMI2_MAP_X_AXIS;
+                    remap.z_axis = BMI2_MAP_X_AXIS;
+                    break;
+                case BMI2_Y:
+
+                    /* If mapped to y-axis */
+                    dev->remap.z_axis = BMI2_MAP_Y_AXIS;
+                    remap.z_axis = BMI2_MAP_Y_AXIS;
+                    break;
+                case BMI2_Z:
+
+                    /* If mapped to z-axis */
+                    dev->remap.z_axis = BMI2_MAP_Z_AXIS;
+                    remap.z_axis = BMI2_MAP_Z_AXIS;
+                    break;
+                default:
+                    break;
+            }
+
+            /* Store the re-mapped z-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->z & BMI2_AXIS_SIGN)
+            {
+                /* If z-axis is mapped to -ve sign */
+                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
+                remap.z_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.z_axis_sign = BMI2_POS_SIGN;
+                remap.z_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Set the re-mapped axes in the sensor */
+            rslt = set_remap_axes(&remap, dev);
+        }
+        else
+        {
+            rslt = BMI2_E_REMAP_ERROR;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables gyroscope offset compensation. It adds the
+ * offsets defined in the offset register with gyroscope data.
+ */
+int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of gyroscope offset enable */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN, enable);
+
+            /* Enable/Disable gyroscope offset compensation */
+            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ */
+int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[4] = { 0 };
+
+    /* Variable to store LSB value of offset compensation for x-axis */
+    uint8_t gyr_off_lsb_x;
+
+    /* Variable to store LSB value of offset compensation for y-axis */
+    uint8_t gyr_off_lsb_y;
+
+    /* Variable to store LSB value of offset compensation for z-axis */
+    uint8_t gyr_off_lsb_z;
+
+    /* Variable to store MSB value of offset compensation for x-axis */
+    uint8_t gyr_off_msb_x;
+
+    /* Variable to store MSB value of offset compensation for y-axis */
+    uint8_t gyr_off_msb_y;
+
+    /* Variable to store MSB value of offset compensation for z-axis */
+    uint8_t gyr_off_msb_z;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
+    {
+        /* Get the gyroscope compensated offset values */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get LSB and MSB values of offset compensation for
+             * x, y and z axis
+             */
+            gyr_off_lsb_x = reg_data[0];
+            gyr_off_lsb_y = reg_data[1];
+            gyr_off_lsb_z = reg_data[2];
+            gyr_off_msb_x = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_X_MASK;
+            gyr_off_msb_y = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Y_MASK;
+            gyr_off_msb_z = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Z_MASK;
+
+            /* Gyroscope offset compensation value for x-axis */
+            gyr_off_comp_axes->x = (int16_t)(((uint16_t) gyr_off_msb_x << 8) | gyr_off_lsb_x);
+
+            /* Gyroscope offset compensation value for y-axis */
+            gyr_off_comp_axes->y = (int16_t)(((uint16_t) gyr_off_msb_y << 6) | gyr_off_lsb_y);
+
+            /* Gyroscope offset compensation value for z-axis */
+            gyr_off_comp_axes->z = (int16_t)(((uint16_t) gyr_off_msb_z << 4) | gyr_off_lsb_z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ */
+int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[4] = { 0 };
+
+    /* Variable to store MSB value of offset compensation for x-axis */
+    uint8_t gyr_off_msb_x;
+
+    /* Variable to store MSB value of offset compensation for y-axis */
+    uint8_t gyr_off_msb_y;
+
+    /* Variable to store MSB value of offset compensation for z-axis */
+    uint8_t gyr_off_msb_z;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
+    {
+        /* Get the MSB values of gyroscope compensated offset values */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data[3], 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get MSB value of x-axis from user-input */
+            gyr_off_msb_x = (uint8_t)((gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get MSB value of y-axis from user-input */
+            gyr_off_msb_y = (uint8_t)((gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get MSB value of z-axis from user-input */
+            gyr_off_msb_z = (uint8_t)((gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get LSB value of x-axis from user-input */
+            reg_data[0] = (uint8_t)(gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get LSB value of y-axis from user-input */
+            reg_data[1] = (uint8_t)(gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get LSB value of z-axis from user-input */
+            reg_data[2] = (uint8_t)(gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get MSB value of x-axis to be set */
+            reg_data[3] = BMI2_SET_BIT_POS0(reg_data[3], BMI2_GYR_OFF_COMP_MSB_X, gyr_off_msb_x);
+
+            /* Get MSB value of y-axis to be set */
+            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Y, gyr_off_msb_y);
+
+            /* Get MSB value of z-axis to be set */
+            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Z, gyr_off_msb_z);
+
+            /* Set the offset compensation values of axes */
+            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the cross sensitivity coefficient between gyroscope's
+ * X and Z axes.
+ */
+int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+    struct bmi2_sensor_data data;
+
+    /* Check if the feature is supported by this variant */
+    if (dev->variant_feature & BMI2_GYRO_CROSS_SENS_ENABLE)
+    {
+        rslt = null_ptr_check(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Select the feature whose data is to be acquired */
+            data.type = BMI2_GYRO_CROSS_SENSE;
+
+            /* Get the respective data */
+            rslt = bmi2_get_sensor_data(&data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Update the gyroscope cross sense value of z axis
+                 * in the device structure
+                 */
+                dev->gyr_cross_sens_zx = data.sens_data.correction_factor_zx;
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_NULL_PTR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets Error bits and message indicating internal status.
+ */
+int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_stat != NULL))
+    {
+        /* Delay to read the internal status */
+        dev->delay_us(20000, dev->intf_ptr);
+
+        /* Get the error bits and message */
+        rslt = bmi2_get_regs(BMI2_INTERNAL_STATUS_ADDR, int_stat, 1, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*! @cond DOXYGEN_SUPRESS */
+
+/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
+ * directories */
+
+/*!
+ * @brief This API verifies and allows only the correct position to do Fast Offset Compensation for
+ * accelerometer & gyro.
+ */
+static int8_t verify_foc_position(uint8_t sens_list,
+                                  const struct bmi2_accel_foc_g_value *accel_g_axis,
+                                  struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    struct bmi2_sens_axes_data avg_foc_data = { 0 };
+    struct bmi2_foc_temp_value temp_foc_data = { 0 };
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable sensor */
+        rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+
+        rslt = get_average_of_sensor_data(sens_list, &temp_foc_data, dev);
+        if (rslt == BMI2_OK)
+        {
+            if (sens_list == BMI2_ACCEL)
+            {
+
+                /* Taking modulus to make negative values as positive */
+                if ((accel_g_axis->x == 1) && (accel_g_axis->sign == 1))
+                {
+                    temp_foc_data.x = temp_foc_data.x * -1;
+                }
+                else if ((accel_g_axis->y == 1) && (accel_g_axis->sign == 1))
+                {
+                    temp_foc_data.y = temp_foc_data.y * -1;
+                }
+                else if ((accel_g_axis->z == 1) && (accel_g_axis->sign == 1))
+                {
+                    temp_foc_data.z = temp_foc_data.z * -1;
+                }
+            }
+
+            /* Typecasting into 16bit */
+            avg_foc_data.x = (int16_t)(temp_foc_data.x);
+            avg_foc_data.y = (int16_t)(temp_foc_data.y);
+            avg_foc_data.z = (int16_t)(temp_foc_data.z);
+
+            rslt = validate_foc_position(sens_list, accel_g_axis, avg_foc_data, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*! @endcond */
+
+/*!
+ * @brief This API performs Fast Offset Compensation for accelerometer.
+ */
+int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define the accelerometer configurations */
+    struct bmi2_accel_config acc_cfg = { 0, 0, 0, 0 };
+
+    /* Variable to store status of advance power save */
+    uint8_t aps = 0;
+
+    /* Variable to store status of accelerometer enable */
+    uint8_t acc_en = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (accel_g_value != NULL))
+    {
+        /* Check for input validity */
+        if ((((BMI2_ABS(accel_g_value->x)) + (BMI2_ABS(accel_g_value->y)) + (BMI2_ABS(accel_g_value->z))) == 1) &&
+            ((accel_g_value->sign == 1) || (accel_g_value->sign == 0)))
+        {
+            rslt = verify_foc_position(BMI2_ACCEL, accel_g_value, dev);
+            if (rslt == BMI2_OK)
+            {
+
+                /* Save accelerometer configurations, accelerometer
+                 * enable status and advance power save status
+                 */
+                rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev);
+            }
+
+            /* Set configurations for FOC */
+            if (rslt == BMI2_OK)
+            {
+                rslt = set_accel_foc_config(dev);
+            }
+
+            /* Perform accelerometer FOC */
+            if (rslt == BMI2_OK)
+            {
+                rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev);
+            }
+
+            /* Restore the saved configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_INPUT;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs Fast Offset Compensation for gyroscope.
+ */
+int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define the gyroscope configurations */
+    struct bmi2_gyro_config gyr_cfg = { 0, 0, 0, 0, 0, 0 };
+
+    /* Variable to store status of advance power save */
+    uint8_t aps = 0;
+
+    /* Variable to store status of gyroscope enable */
+    uint8_t gyr_en = 0;
+
+    /* Array of structure to store gyroscope data */
+    struct bmi2_sens_axes_data gyr_value[128];
+
+    /* Structure to store gyroscope data temporarily */
+    struct bmi2_foc_temp_value temp = { 0, 0, 0 };
+
+    /* Variable to store status read from the status register */
+    uint8_t reg_status = 0;
+
+    /* Variable to define count */
+    uint8_t loop = 0;
+
+    /* Structure to store the offset values to be stored in the register */
+    struct bmi2_sens_axes_data gyro_offset = { 0, 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Argument2 is not applicable for gyro */
+        rslt = verify_foc_position(BMI2_GYRO, 0, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Save gyroscope configurations, gyroscope enable
+             * status and advance power save status
+             */
+            rslt = save_gyro_config(&gyr_cfg, &aps, &gyr_en, dev);
+
+            /* Set configurations for gyroscope FOC */
+            if (rslt == BMI2_OK)
+            {
+                rslt = set_gyro_foc_config(dev);
+            }
+
+            /* Perform FOC */
+            if (rslt == BMI2_OK)
+            {
+                for (loop = 0; loop < 128; loop++)
+                {
+                    /* Giving a delay of more than 40ms since ODR is configured as 25Hz */
+                    dev->delay_us(50000, dev->intf_ptr);
+
+                    /* Get gyroscope data ready interrupt status */
+                    rslt = bmi2_get_status(&reg_status, dev);
+
+                    /* Read 128 samples of gyroscope data on data ready interrupt */
+                    if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_GYR))
+                    {
+                        rslt = read_gyro_xyz(&gyr_value[loop], dev);
+                        if (rslt == BMI2_OK)
+                        {
+                            /* Store the data in a temporary structure */
+                            temp.x = temp.x + (int32_t)gyr_value[loop].x;
+                            temp.y = temp.y + (int32_t)gyr_value[loop].y;
+                            temp.z = temp.z + (int32_t)gyr_value[loop].z;
+                        }
+                    }
+
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                    else if ((reg_status & BMI2_DRDY_GYR) != BMI2_DRDY_GYR)
+                    {
+                        rslt = BMI2_E_INVALID_STATUS;
+                        break;
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    /* Take average of x, y and z data for lesser
+                     * noise. It is same as offset data since lsb/dps
+                     * is same for both data and offset register
+                     */
+                    gyro_offset.x = (int16_t)(temp.x / 128);
+                    gyro_offset.y = (int16_t)(temp.y / 128);
+                    gyro_offset.z = (int16_t)(temp.z / 128);
+
+                    /* Saturate gyroscope data since the offset
+                     * registers are of 10 bit value where as the
+                     * gyroscope data is of 16 bit value
+                     */
+                    saturate_gyro_data(&gyro_offset);
+
+                    /* Invert the gyroscope offset  data */
+                    invert_gyro_offset(&gyro_offset);
+
+                    /* Write offset data in the gyroscope offset
+                     * compensation register
+                     */
+                    rslt = bmi2_write_gyro_offset_comp_axes(&gyro_offset, dev);
+                }
+
+                /* Enable gyroscope offset compensation */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = bmi2_set_gyro_offset_comp(BMI2_ENABLE, dev);
+                }
+
+                /* Restore the saved gyroscope configurations */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = restore_gyro_config(&gyr_cfg, aps, gyr_en, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to get the feature configuration from the
+ * selected page.
+ */
+int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define bytes remaining to read */
+    uint8_t bytes_remain = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable to define the read-write length */
+    uint8_t read_write_len = 0;
+
+    /* Variable to define the feature configuration address */
+    uint8_t addr = BMI2_FEATURES_REG_ADDR;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    if ((feat_config == NULL) || (dev == NULL))
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+    else
+    {
+        /* Check whether the page is valid */
+        if (sw_page < dev->page_max)
+        {
+            /* Switch page */
+            rslt = bmi2_set_regs(BMI2_FEAT_PAGE_ADDR, &sw_page, 1, dev);
+
+            /* If user length is less than feature length */
+            if ((rslt == BMI2_OK) && (dev->read_write_len < BMI2_FEAT_SIZE_IN_BYTES))
+            {
+                /* Read-write should be even */
+                if ((dev->read_write_len % 2) != 0)
+                {
+                    dev->read_write_len--;
+                }
+
+                while (bytes_remain > 0)
+                {
+                    if (bytes_remain >= dev->read_write_len)
+                    {
+                        /* Read from the page */
+                        rslt = bmi2_get_regs(addr, &feat_config[index], dev->read_write_len, dev);
+
+                        /* Update index */
+                        index += (uint8_t) dev->read_write_len;
+
+                        /* Update address */
+                        addr += (uint8_t) dev->read_write_len;
+
+                        /* Update read-write length */
+                        read_write_len += (uint8_t) dev->read_write_len;
+                    }
+                    else
+                    {
+                        /* Read from the page */
+                        rslt = bmi2_get_regs(addr, (uint8_t *) (feat_config + index), (uint16_t) bytes_remain, dev);
+
+                        /* Update read-write length */
+                        read_write_len += bytes_remain;
+                    }
+
+                    /* Remaining bytes */
+                    bytes_remain = BMI2_FEAT_SIZE_IN_BYTES - read_write_len;
+
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+            else if (rslt == BMI2_OK)
+            {
+                /* Get configuration from the page */
+                rslt = bmi2_get_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_PAGE;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to extract the input feature configuration
+ * details from the look-up table.
+ */
+uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
+                                       const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the input feature from the input configuration array */
+    while (loop < dev->input_sens)
+    {
+        if (dev->feat_config[loop].type == type)
+        {
+            *feat_config = dev->feat_config[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*! @cond DOXYGEN_SUPRESS */
+
+/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
+ * directories */
+
+/*!
+ * @brief This internal API writes the configuration file.
+ */
+static int8_t write_config_file(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to update the configuration file index */
+    uint16_t index = 0;
+
+    /* config file size */
+    uint16_t config_size = dev->config_size;
+
+    /* Variable to get the remainder */
+    uint8_t remain = (uint8_t)(config_size % dev->read_write_len);
+
+    /* Variable to get the balance bytes */
+    uint16_t bal_byte = 0;
+
+    /* Variable to define temporary read/write length */
+    uint16_t read_write_len = 0;
+
+    /* Disable advanced power save mode */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable loading of the configuration */
+        rslt = set_config_load(BMI2_DISABLE, dev);
+        if (rslt == BMI2_OK)
+        {
+            if (!remain)
+            {
+                /* Write the configuration file */
+                for (index = 0; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len)
+                {
+                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                }
+            }
+            else
+            {
+                /* Get the balance bytes */
+                bal_byte = (uint16_t) config_size - (uint16_t) remain;
+
+                /* Write the configuration file for the balancem bytes */
+                for (index = 0; (index < bal_byte) && (rslt == BMI2_OK); index += dev->read_write_len)
+                {
+                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    /* Update length in a temporary variable */
+                    read_write_len = dev->read_write_len;
+
+                    /* Write the remaining bytes in 2 bytes length */
+                    dev->read_write_len = 2;
+
+                    /* Write the configuration file for the remaining bytes */
+                    for (index = bal_byte;
+                         (index < config_size) && (rslt == BMI2_OK);
+                         index += dev->read_write_len)
+                    {
+                        rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                    }
+
+                    /* Restore the user set length back from the temporary variable */
+                    dev->read_write_len = read_write_len;
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Enable loading of the configuration */
+                rslt = set_config_load(BMI2_ENABLE, dev);
+
+                /* Wait till ASIC is initialized */
+                dev->delay_us(150000, dev->intf_ptr);
+                if (rslt == BMI2_OK)
+                {
+                    /* Enable advanced power save mode */
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables the loading of the configuration
+ * file.
+ */
+static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_CONF_LOAD_EN, enable);
+        rslt = bmi2_set_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API loads the configuration file.
+ */
+static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store address */
+    uint8_t addr_array[2] = { 0 };
+
+    if (config_data != NULL)
+    {
+        /* Store 0 to 3 bits of address in first byte */
+        addr_array[0] = (uint8_t)((index / 2) & 0x0F);
+
+        /* Store 4 to 11 bits of address in the second byte */
+        addr_array[1] = (uint8_t)((index / 2) >> 4);
+
+        /* Write the 2 bytes of address in consecutive locations */
+        rslt = bmi2_set_regs(BMI2_INIT_ADDR_0, addr_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Burst write configuration file data corresponding to user set length */
+            rslt = bmi2_set_regs(BMI2_INIT_DATA_ADDR, (uint8_t *)config_data, write_len, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates bandwidth and performance mode of the
+ * accelerometer set by the user.
+ */
+static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto-correct performance mode */
+    rslt = check_boundary_val(perf_mode, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto-correct bandwidth parameter */
+        if (*perf_mode == BMI2_PERF_OPT_MODE)
+        {
+            /* Validate for continuous filter mode */
+            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_CIC_AVG8, dev);
+        }
+        else
+        {
+            /* Validate for CIC averaging mode */
+            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_RES_AVG128, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates ODR and range of the accelerometer set by
+ * the user.
+ */
+static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto correct ODR */
+    rslt = check_boundary_val(odr, BMI2_ACC_ODR_0_78HZ, BMI2_ACC_ODR_1600HZ, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto correct Range */
+        rslt = check_boundary_val(range, BMI2_ACC_RANGE_2G, BMI2_ACC_RANGE_16G, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates bandwidth, performance mode, low power/
+ * high performance mode, ODR, and range set by the user.
+ */
+static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto-correct performance mode */
+    rslt = check_boundary_val(&config->filter_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto-correct bandwidth parameter */
+        rslt = check_boundary_val(&config->bwp, BMI2_GYR_OSR4_MODE, BMI2_GYR_CIC_MODE, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Validate and auto-correct low power/high-performance parameter */
+            rslt = check_boundary_val(&config->noise_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Validate and auto-correct ODR parameter */
+                rslt = check_boundary_val(&config->odr, BMI2_GYR_ODR_25HZ, BMI2_GYR_ODR_3200HZ, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Validate and auto-correct OIS range */
+                    rslt = check_boundary_val(&config->ois_range, BMI2_GYR_OIS_250, BMI2_GYR_OIS_2000, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        /* Validate and auto-correct range parameter */
+                        rslt = check_boundary_val(&config->range, BMI2_GYR_RANGE_2000, BMI2_GYR_RANGE_125, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API shows the error status when illegal sensor
+ * configuration is set.
+ */
+static int8_t cfg_error_status(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Get error status of the set sensor configuration */
+    rslt = bmi2_get_regs(BMI2_EVENT_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_GET_BITS(reg_data, BMI2_EVENT_FLAG);
+        switch (reg_data)
+        {
+            case BMI2_NO_ERROR:
+                rslt = BMI2_OK;
+                break;
+            case BMI2_ACC_ERROR:
+                rslt = BMI2_E_ACC_INVALID_CFG;
+                break;
+            case BMI2_GYR_ERROR:
+                rslt = BMI2_E_GYRO_INVALID_CFG;
+                break;
+            case BMI2_ACC_GYR_ERROR:
+                rslt = BMI2_E_ACC_GYR_INVALID_CFG;
+                break;
+            default:
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API:
+ * 1) Enables/Disables auxiliary interface.
+ * 2) Sets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
+ */
+static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate auxiliary configurations */
+    rslt = validate_aux_config(config, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable/Disable auxiliary interface */
+        rslt = set_aux_interface(config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set the auxiliary interface configurations */
+            rslt = config_aux_interface(config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Set read out offset and ODR */
+                rslt = config_aux(config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ */
+static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for user-gain */
+    struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for user-gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user-gain feature resides */
+        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for user-gain select */
+            idx = user_gain_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set ratio_x */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_X, config->ratio_x);
+
+            /* Increment offset by 1 word to set ratio_y */
+            idx++;
+
+            /* Set ratio_y */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Y, config->ratio_y);
+
+            /* Increment offset by 1 word to set ratio_z */
+            idx++;
+
+            /* Set ratio_z */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Z, config->ratio_z);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - user_gain_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[user_gain_config.start_addr +
+                            index] = *((uint8_t *) data_p + user_gain_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables auxiliary interface.
+ */
+static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_IF_EN, config->aux_en);
+
+        /* Enable/Disable auxiliary interface */
+        rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
+ * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
+ */
+static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data[2] = { 0 };
+
+    /* Variable to store status */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 0;
+
+    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set I2C address for AUX sensor */
+        reg_data[0] = BMI2_SET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR, config->i2c_device_addr);
+
+        /* Set the AUX IF to either manual or auto mode */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN, config->manual_en);
+
+        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN, config->fcu_write_en);
+
+        /* Set the burst read length for manual mode */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST, config->man_rd_burst);
+
+        /* Set the burst read length for data mode */
+        reg_data[1] = BMI2_SET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST, config->aux_rd_burst);
+        for (;;)
+        {
+            /* Check if auxiliary sensor is busy */
+            rslt = bmi2_get_status(&status, dev);
+            if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
+            {
+                /* Set the configurations if AUX is not busy */
+                rslt = bmi2_set_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+                dev->delay_us(1000, dev->intf_ptr);
+                if (rslt == BMI2_OK)
+                {
+                    /* If data mode */
+                    if (!config->manual_en)
+                    {
+                        /* Disable manual enable flag in device structure */
+                        dev->aux_man_en = 0;
+
+                        /* Set the read address of the AUX sensor */
+                        rslt = bmi2_set_regs(BMI2_AUX_RD_ADDR, (uint8_t *) &config->read_addr, 1, dev);
+                        dev->delay_us(1000, dev->intf_ptr);
+                    }
+                    else
+                    {
+                        /* Enable manual enable flag in device structure */
+                        dev->aux_man_en = 1;
+
+                        /* Update manual read burst length in device structure */
+                        dev->aux_man_rd_burst_len = config->man_rd_burst;
+                    }
+                }
+
+                /* Break after setting the register */
+                break;
+            }
+
+            /* Increment count after every 10 seconds */
+            dev->delay_us(10000, dev->intf_ptr);
+            count++;
+
+            /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
+            if (count > 20)
+            {
+                rslt = BMI2_E_AUX_BUSY;
+                break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API triggers read out offset and sets ODR of the
+ * auxiliary sensor.
+ */
+static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Trigger read out offset */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT, config->offset);
+
+        /* Set ODR */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN, config->odr);
+
+        /* Set auxiliary configuration register */
+        rslt = bmi2_set_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+        dev->delay_us(1000, dev->intf_ptr);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API checks the busy status of auxiliary sensor and sets
+ * the auxiliary register addresses when not busy.
+ */
+static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get status of AUX_BUSY */
+    uint8_t status = 0;
+
+    /* Variable to define count for time-out */
+    uint8_t count = 0;
+
+    for (;;)
+    {
+        /* Check if AUX is busy */
+        rslt = bmi2_get_status(&status, dev);
+
+        /* Set the registers if not busy */
+        if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
+        {
+            rslt = bmi2_set_regs(reg_addr, &reg_data, 1, dev);
+            dev->delay_us(1000, dev->intf_ptr);
+
+            /* Break after setting the register */
+            break;
+        }
+
+        /* Increment count after every 10 seconds */
+        dev->delay_us(10000, dev->intf_ptr);
+        count++;
+
+        /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
+        if (count > 20)
+        {
+            rslt = BMI2_E_AUX_BUSY;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates auxiliary configuration set by the user.
+ */
+static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate ODR for auxiliary sensor */
+    rslt = check_boundary_val(&config->odr, BMI2_AUX_ODR_0_78HZ, BMI2_AUX_ODR_800HZ, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ */
+static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Read the sensor configuration details */
+        rslt = bmi2_get_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get accelerometer performance mode */
+            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE);
+
+            /* Get accelerometer bandwidth */
+            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_ACC_BW_PARAM);
+
+            /* Get accelerometer ODR */
+            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_ACC_ODR);
+
+            /* Get accelerometer range */
+            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_ACC_RANGE);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range.
+ */
+static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Read the sensor configuration details */
+        rslt = bmi2_get_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get gyroscope performance mode */
+            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE);
+
+            /* Get gyroscope noise performance mode */
+            config->noise_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_NOISE_PERF_MODE);
+
+            /* Get gyroscope bandwidth */
+            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_GYR_BW_PARAM);
+
+            /* Get gyroscope ODR */
+            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_GYR_ODR);
+
+            /* Get gyroscope OIS range */
+            config->ois_range = BMI2_GET_BITS(data_array[1], BMI2_GYR_OIS_RANGE);
+
+            /* Get gyroscope range */
+            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_GYR_RANGE);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API:
+ * 1) Gets the status of auxiliary interface enable.
+ * 2) Gets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3) Gets ODR and offset.
+ */
+static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Get enable status of auxiliary interface */
+        rslt = get_aux_interface(config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the auxiliary interface configurations */
+            rslt = get_aux_interface_config(config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Get read out offset and ODR */
+                rslt = get_aux_cfg(config, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ */
+static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for user-gain */
+    struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
+
+    /* Search for user-gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user-gain feature resides */
+        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for user-gain select */
+            idx = user_gain_config.start_addr;
+
+            /* Get word to calculate ratio_x */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_x */
+            config->ratio_x = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_X_MASK;
+
+            /* Get word to calculate ratio_y */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_y */
+            config->ratio_y = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Y_MASK;
+
+            /* Get word to calculate ratio_z */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_z */
+            config->ratio_z = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Z_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the enable status of auxiliary interface.
+ */
+static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Get the enable status of auxiliary interface */
+    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        config->aux_en = BMI2_GET_BITS(reg_data, BMI2_AUX_IF_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ */
+static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data[2] = { 0 };
+
+    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get I2C address for auxiliary sensor */
+        config->i2c_device_addr = BMI2_GET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR);
+
+        /* Get the AUX IF to either manual or auto mode */
+        config->manual_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN);
+
+        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
+        config->fcu_write_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN);
+
+        /* Get the burst read length for manual mode */
+        config->man_rd_burst = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST);
+
+        /* Get the burst read length for data mode */
+        config->aux_rd_burst = BMI2_GET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST);
+
+        /* If data mode, get the read address of the auxiliary sensor from where data is to be read */
+        if (!config->manual_en)
+        {
+            rslt = bmi2_get_regs(BMI2_AUX_RD_ADDR, &config->read_addr, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets read out offset and ODR of the auxiliary
+ * sensor.
+ */
+static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get read out offset */
+        config->offset = BMI2_GET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT);
+
+        /* Get ODR */
+        config->odr = BMI2_GET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API maps/un-maps feature interrupts to that of interrupt
+ * pins.
+ */
+static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Check for NULL error */
+    if (reg_data_array != NULL)
+    {
+        /* Check validity on interrupt pin selection */
+        if (int_pin < BMI2_INT_PIN_MAX)
+        {
+            switch (int_pin)
+            {
+                case BMI2_INT_NONE:
+
+                    /* Un-Map the corresponding feature interrupt to interrupt pin 1 and 2 */
+                    reg_data_array[0] &= ~(int_mask);
+                    reg_data_array[1] &= ~(int_mask);
+                    break;
+                case BMI2_INT1:
+
+                    /* Map the corresponding feature interrupt to interrupt pin 1 */
+                    reg_data_array[0] |= int_mask;
+
+                    /* Un-map the corresponding feature interrupt to interrupt pin 2 */
+                    reg_data_array[1] &= ~(int_mask);
+                    break;
+                case BMI2_INT2:
+
+                    /* Map the corresponding feature interrupt to interrupt pin 2 */
+                    reg_data_array[1] |= int_mask;
+
+                    /* Un-map the corresponding feature interrupt to interrupt pin 1 */
+                    reg_data_array[0] &= ~(int_mask);
+                    break;
+                case BMI2_INT_BOTH:
+
+                    /* Map the corresponding feature interrupt to interrupt pin 1 and 2 */
+                    reg_data_array[0] |= int_mask;
+                    reg_data_array[1] |= int_mask;
+                    break;
+                default:
+                    break;
+            }
+        }
+        else
+        {
+            /* Return error if invalid pin selection */
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the accelerometer data from the register.
+ */
+static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define data stored in register */
+    uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
+
+    /* Read the sensor data */
+    rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get accelerometer data from the register */
+        get_acc_gyr_data(data, reg_data);
+
+        /* Get the re-mapped accelerometer data */
+        get_remapped_data(data, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the gyroscope data from the register.
+ */
+static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define data stored in register */
+    uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
+
+    /* Read the sensor data */
+    rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get gyroscope data from the register */
+        get_acc_gyr_data(data, reg_data);
+
+        /* Get the compensated gyroscope data */
+        comp_gyro_cross_axis_sensitivity(data, dev);
+
+        /* Get the re-mapped gyroscope data */
+        get_remapped_data(data, dev);
+
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the accelerometer/gyroscope data.
+ */
+static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data)
+{
+    /* Variables to store msb value */
+    uint8_t msb;
+
+    /* Variables to store lsb value */
+    uint8_t lsb;
+
+    /* Variables to store both msb and lsb value */
+    uint16_t msb_lsb;
+
+    /* Variables to define index */
+    uint8_t index = 0;
+
+    /* Read x-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
+    data->x = (int16_t) msb_lsb;
+
+    /* Read y-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
+    data->y = (int16_t) msb_lsb;
+
+    /* Read z-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
+    data->z = (int16_t) msb_lsb;
+}
+
+/*!
+ * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
+ */
+static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev)
+{
+    /* Array to defined the re-mapped sensor data */
+    int16_t remap_data[3] = { 0 };
+    int16_t pos_multiplier = INT16_C(1);
+    int16_t neg_multiplier = INT16_C(-1);
+
+    /* Fill the array with the un-mapped sensor data */
+    remap_data[0] = data->x;
+    remap_data[1] = data->y;
+    remap_data[2] = data->z;
+
+    /* Get the re-mapped x axis data */
+    if (dev->remap.x_axis_sign == BMI2_POS_SIGN)
+    {
+        data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier);
+    }
+
+    /* Get the re-mapped y axis data */
+    if (dev->remap.y_axis_sign == BMI2_POS_SIGN)
+    {
+        data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier);
+    }
+
+    /* Get the re-mapped z axis data */
+    if (dev->remap.z_axis_sign == BMI2_POS_SIGN)
+    {
+        data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier);
+    }
+}
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in manual mode.
+ */
+static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to store the register data */
+    uint8_t reg_data[15] = { 0 };
+
+    /* Variable to define number of bytes to read */
+    uint16_t read_length = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to define counts to get the correct array index */
+    uint8_t count = 0;
+
+    /* Variable to define index for the array */
+    uint8_t idx = 0;
+
+    while (len > 0)
+    {
+        /* Set the read address if AUX is not busy */
+        rslt = set_if_aux_not_busy(BMI2_AUX_RD_ADDR, reg_addr, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Read data from bmi2 data register */
+            rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, (uint16_t) burst_len, dev);
+            dev->delay_us(1000, dev->intf_ptr);
+            if (rslt == BMI2_OK)
+            {
+                /* Get number of bytes to be read */
+                if (len < burst_len)
+                {
+                    read_length = (uint8_t) len;
+                }
+                else
+                {
+                    read_length = burst_len;
+                }
+
+                /* Update array index and store the data */
+                for (loop = 0; loop < read_length; loop++)
+                {
+                    idx = loop + count;
+                    aux_data[idx] = reg_data[loop];
+                }
+            }
+        }
+
+        /* Update address for the next read */
+        reg_addr += burst_len;
+
+        /* Update count for the array index */
+        count += burst_len;
+
+        /* Update no of bytes left to read */
+        len -= read_length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API writes AUX write address and the user-defined bytes
+ * of data to the AUX sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ */
+static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Write data to be written to the AUX sensor in bmi2 register */
+    rslt = bmi2_set_regs(BMI2_AUX_WR_DATA_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Write the AUX address where data is to be stored when AUX is not busy */
+        rslt = set_if_aux_not_busy(BMI2_AUX_WR_ADDR, reg_addr, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in data mode.
+ */
+static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variables to define loop */
+    uint8_t count = 0;
+
+    /* Variables to define index */
+    uint8_t index = 0;
+
+    /* Array to define data stored in register */
+    uint8_t reg_data[BMI2_AUX_NUM_BYTES] = { 0 };
+
+    /* Check if data mode */
+    if (!dev->aux_man_en)
+    {
+        /* Read the auxiliary sensor data */
+        rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, BMI2_AUX_NUM_BYTES, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the 8 bytes of auxiliary data */
+            do
+            {
+                *(aux_data + count++) = *(reg_data + index++);
+            } while (count < BMI2_AUX_NUM_BYTES);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_AUX_INVALID_CFG;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API maps the actual burst read length with that of the
+ * register value set by user.
+ */
+static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Get the burst read length against the values set by the user */
+    switch (dev->aux_man_rd_burst_len)
+    {
+        case BMI2_AUX_READ_LEN_0:
+            *len = 1;
+            break;
+        case BMI2_AUX_READ_LEN_1:
+            *len = 2;
+            break;
+        case BMI2_AUX_READ_LEN_2:
+            *len = 6;
+            break;
+        case BMI2_AUX_READ_LEN_3:
+            *len = 8;
+            break;
+        default:
+            rslt = BMI2_E_AUX_INVALID_CFG;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API computes the number of bytes of accelerometer FIFO
+ * data which is to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_accel_len(uint16_t *start_idx,
+                                   uint16_t *len,
+                                   const uint16_t *acc_count,
+                                   const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    (*start_idx) = fifo->acc_byte_start_idx;
+
+    /* If only accelerometer is enabled */
+    if (fifo->data_enable == BMI2_FIFO_ACC_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_LENGTH);
+    }
+    /* If only accelerometer and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_AUX_LENGTH);
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_GYR_LENGTH);
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ALL_LENGTH);
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion when
+         * no sensors or sensors apart from accelerometer are enabled
+         */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if ((*len) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO in header mode.
+ */
+static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
+                                        uint16_t *accel_length,
+                                        struct bmi2_fifo_frame *fifo,
+                                        const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index accelerometer frames */
+    uint16_t accel_index = 0;
+
+    /* Variable to indicate accelerometer frames read */
+    uint16_t frame_to_read = *accel_length;
+
+    for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+            /* If header defines accelerometer frame */
+            case BMI2_FIFO_HEADER_ACC_FRM:
+            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+            case BMI2_FIFO_HEADER_ALL_FRM:
+
+                /* Unpack from normal frames */
+                rslt = unpack_accel_frame(acc, &data_index, &accel_index, frame_header, fifo, dev);
+                break;
+
+            /* If header defines only gyroscope frame */
+            case BMI2_FIFO_HEADER_GYR_FRM:
+                rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+                break;
+
+            /* If header defines only auxiliary frame */
+            case BMI2_FIFO_HEADER_AUX_FRM:
+                rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+                break;
+
+            /* If header defines only auxiliary and gyroscope frame */
+            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+                rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
+                break;
+
+            /* If header defines sensor time frame */
+            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+                rslt = unpack_sensortime_frame(&data_index, fifo);
+                break;
+
+            /* If header defines skip frame */
+            case BMI2_FIFO_HEADER_SKIP_FRM:
+                rslt = unpack_skipped_frame(&data_index, fifo);
+                break;
+
+            /* If header defines Input configuration frame */
+            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+                break;
+
+            /* If header defines invalid frame or end of valid data */
+            case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+                /* Move the data index to the last byte to mark completion */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+                break;
+            default:
+
+                /* Move the data index to the last byte in case of invalid values */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+        }
+
+        /* Break if Number of frames to be read is complete or FIFO is mpty */
+        if ((frame_to_read == accel_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the accelerometer frame index */
+    (*accel_length) = accel_index;
+
+    /* Update the accelerometer byte index */
+    fifo->acc_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in both header and header-less mode. It updates the current data
+ * byte to be parsed.
+ */
+static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
+                                 uint16_t *idx,
+                                 uint16_t *acc_idx,
+                                 uint8_t frame,
+                                 const struct bmi2_fifo_frame *fifo,
+                                 const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+        /* If frame contains only accelerometer data */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->acc_frm_len) > fifo->length)
+            {
+                /* Update the data index as complete*/
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the accelerometer data */
+            unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+            }
+
+            /* Update accelerometer frame index */
+            (*acc_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the accelerometer data */
+            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_LENGTH), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+            }
+
+            /* Update accelerometer frame index */
+            (*acc_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the accelerometer data */
+            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+            }
+
+            /* Update accelerometer frame index */
+            (*acc_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer, gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_ALL_FRM:
+        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+            /* Partially read, then skip the data*/
+            if ((*idx + fifo->all_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the accelerometer data */
+            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_AUX_LENGTH), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+            }
+
+            /* Update accelerometer frame index */
+            (*acc_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->aux_gyr_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->aux_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->gyr_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+        default:
+
+            /* Move the data index to the last byte in case of invalid values */
+            (*idx) = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the
+ * FIFO data.
+ */
+static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
+                              uint16_t data_start_index,
+                              const struct bmi2_fifo_frame *fifo,
+                              const struct bmi2_dev *dev)
+{
+    /* Variables to store LSB value */
+    uint16_t data_lsb;
+
+    /* Variables to store MSB value */
+    uint16_t data_msb;
+
+    /* Accelerometer raw x data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accelerometer raw y data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accelerometer raw z data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->z = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Get the re-mapped accelerometer data */
+    get_remapped_data(acc, dev);
+}
+
+/*!
+ * @brief This internal API computes the number of bytes of gyroscope FIFO data
+ * which is to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
+                                  uint16_t(*len),
+                                  const uint16_t *gyr_count,
+                                  const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    (*start_idx) = fifo->gyr_byte_start_idx;
+
+    /* If only gyroscope is enabled */
+    if (fifo->data_enable == BMI2_FIFO_GYR_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_LENGTH);
+    }
+    /* If only gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_AUX_LENGTH);
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ACC_GYR_LENGTH);
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ALL_LENGTH);
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion when
+         * no sensors or sensors apart from gyroscope are enabled
+         */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if (((*len)) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to parse the gyroscope data from the
+ *  FIFO data in header mode.
+ */
+static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
+                                       uint16_t *gyro_length,
+                                       struct bmi2_fifo_frame *fifo,
+                                       const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index gyroscope frames */
+    uint16_t gyro_index = 0;
+
+    /* Variable to indicate gyroscope frames read */
+    uint16_t frame_to_read = (*gyro_length);
+
+    for (data_index = fifo->gyr_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+            /* If header defines gyroscope frame */
+            case BMI2_FIFO_HEADER_GYR_FRM:
+            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+            case BMI2_FIFO_HEADER_ALL_FRM:
+
+                /* Unpack from normal frames */
+                rslt = unpack_gyro_frame(gyr, &data_index, &gyro_index, frame_header, fifo, dev);
+                break;
+
+            /* If header defines only accelerometer frame */
+            case BMI2_FIFO_HEADER_ACC_FRM:
+                rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+                break;
+
+            /* If header defines only auxiliary frame */
+            case BMI2_FIFO_HEADER_AUX_FRM:
+                rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+                break;
+
+            /* If header defines only auxiliary and accelerometer frame */
+            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+                rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
+                break;
+
+            /* If header defines sensor time frame */
+            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+                rslt = unpack_sensortime_frame(&data_index, fifo);
+                break;
+
+            /* If header defines skip frame */
+            case BMI2_FIFO_HEADER_SKIP_FRM:
+                rslt = unpack_skipped_frame(&data_index, fifo);
+                break;
+
+            /* If header defines Input configuration frame */
+            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+                break;
+
+            /* If header defines invalid frame or end of valid data */
+            case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+                /* Move the data index to the last byte */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+                break;
+            default:
+
+                /* Move the data index to the last byte in case of invalid values */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+        }
+
+        /* Break if number of frames to be read is complete or FIFO is empty */
+        if ((frame_to_read == gyro_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the gyroscope frame index */
+    (*gyro_length) = gyro_index;
+
+    /* Update the gyroscope byte index */
+    fifo->gyr_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in both header and header-less mode. It updates the current data byte to
+ * be parsed.
+ */
+static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
+                                uint16_t *idx,
+                                uint16_t *gyr_idx,
+                                uint8_t frame,
+                                const struct bmi2_fifo_frame *fifo,
+                                const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+        /* If frame contains only gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->gyr_frm_len) > fifo->length)
+            {
+                /* Update the data index as complete*/
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the gyroscope data */
+            unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+            }
+
+            /* Update gyroscope frame index */
+            (*gyr_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the gyroscope data */
+            unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+            }
+
+            /* Update gyroscope frame index */
+            (*gyr_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the gyroscope data */
+            unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+            }
+
+            /* Update gyroscope frame index */
+            (*gyr_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer, gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_ALL_FRM:
+        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+            /* Partially read, then skip the data*/
+            if ((*idx + fifo->all_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the gyroscope data */
+            unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+            }
+
+            /* Update gyroscope frame index */
+            (*gyr_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->acc_aux_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->aux_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only accelerometer data */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->acc_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+        default:
+
+            /* Move the data index to the last byte in case of invalid values */
+            (*idx) = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse gyroscope data from the FIFO data.
+ */
+static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
+                             uint16_t data_start_index,
+                             const struct bmi2_fifo_frame *fifo,
+                             const struct bmi2_dev *dev)
+{
+    /* Variables to store LSB value */
+    uint16_t data_lsb;
+
+    /* Variables to store MSB value */
+    uint16_t data_msb;
+
+    /* Gyroscope raw x data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyroscope raw y data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyroscope raw z data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->z = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Get the compensated gyroscope data */
+    comp_gyro_cross_axis_sensitivity(gyr, dev);
+
+    /* Get the re-mapped gyroscope data */
+    get_remapped_data(gyr, dev);
+}
+
+/*!
+ * @brief This API computes the number of bytes of auxiliary FIFO data which is
+ * to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_aux_len(uint16_t *start_idx,
+                                 uint16_t(*len),
+                                 const uint16_t *aux_count,
+                                 const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    *start_idx = fifo->aux_byte_start_idx;
+
+    /* If only auxiliary is enabled */
+    if (fifo->data_enable == BMI2_FIFO_AUX_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_AUX_LENGTH);
+    }
+    /* If only accelerometer and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ACC_AUX_LENGTH);
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_GYR_AUX_LENGTH);
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ALL_LENGTH);
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion when
+         * no sensors or sensors apart from gyroscope are enabled
+         */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if (((*len)) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to parse the auxiliary data from the FIFO data in
+ * header mode.
+ */
+static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
+                                      uint16_t *aux_len,
+                                      struct bmi2_fifo_frame *fifo,
+                                      const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index gyroscope frames */
+    uint16_t aux_index = 0;
+
+    /* Variable to indicate auxiliary frames read */
+    uint16_t frame_to_read = *aux_len;
+
+    for (data_index = fifo->aux_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+            /* If header defines auxiliary frame */
+            case BMI2_FIFO_HEADER_AUX_FRM:
+            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+            case BMI2_FIFO_HEADER_ALL_FRM:
+
+                /* Unpack from normal frames */
+                rslt = unpack_aux_frame(aux, &data_index, &aux_index, frame_header, fifo, dev);
+                break;
+
+            /* If header defines only accelerometer frame */
+            case BMI2_FIFO_HEADER_ACC_FRM:
+                rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+                break;
+
+            /* If header defines only gyroscope frame */
+            case BMI2_FIFO_HEADER_GYR_FRM:
+                rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+                break;
+
+            /* If header defines only gyroscope and accelerometer frame */
+            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+                rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
+                break;
+
+            /* If header defines sensor time frame */
+            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+                rslt = unpack_sensortime_frame(&data_index, fifo);
+                break;
+
+            /* If header defines skip frame */
+            case BMI2_FIFO_HEADER_SKIP_FRM:
+                rslt = unpack_skipped_frame(&data_index, fifo);
+                break;
+
+            /* If header defines Input configuration frame */
+            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+                break;
+
+            /* If header defines invalid frame or end of valid data */
+            case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+                /* Move the data index to the last byte */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+                break;
+            default:
+
+                /* Move the data index to the last byte in case
+                 * of invalid values
+                 */
+                data_index = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+        }
+
+        /* Break if number of frames to be read is complete or FIFO is
+         * empty
+         */
+        if ((frame_to_read == aux_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the gyroscope frame index */
+    (*aux_len) = aux_index;
+
+    /* Update the gyroscope byte index */
+    fifo->aux_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to parse the auxiliary frame from the FIFO data in
+ * both header mode and header-less mode and update the data_index value which
+ * is used to store the index of the current data byte which is parsed.
+ */
+static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
+                               uint16_t *idx,
+                               uint16_t *aux_idx,
+                               uint8_t frame,
+                               const struct bmi2_fifo_frame *fifo,
+                               const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+        /* If frame contains only auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->aux_frm_len) > fifo->length)
+            {
+                /* Update the data index as complete*/
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the auxiliary data */
+            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_AUX_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
+            }
+
+            /* Update auxiliary frame index */
+            (*aux_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the auxiliary data */
+            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
+            }
+
+            /* Update auxiliary frame index */
+            (*aux_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+            /* Partially read, then skip the data */
+            if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the auxiliary data */
+            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
+            }
+
+            /* Update auxiliary frame index */
+            (*aux_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer, gyroscope and auxiliary data */
+        case BMI2_FIFO_HEADER_ALL_FRM:
+        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+            /* Partially read, then skip the data */
+            if ((*idx + fifo->all_frm_len) > fifo->length)
+            {
+                /* Move the data index to the last byte */
+                (*idx) = fifo->length;
+
+                /* FIFO is empty */
+                rslt = BMI2_W_FIFO_EMPTY;
+                break;
+            }
+
+            /* Get the auxiliary data */
+            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+            /* Update data index */
+            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
+
+            /* Get virtual sensor time if S4S is enabled */
+            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+            {
+                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
+            }
+
+            /* Update auxiliary frame index */
+            (*aux_idx)++;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only accelerometer data */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->acc_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains only gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->gyr_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+
+        /* If frame contains accelerometer and gyroscope data */
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+            /* Update data index */
+            (*idx) = (*idx) + fifo->acc_gyr_frm_len;
+
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+            break;
+        default:
+
+            /* Move the data index to the last byte in case of
+             * invalid values
+             */
+            (*idx) = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse auxiliary data from the FIFO data.
+ */
+static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
+                            uint16_t data_start_index,
+                            const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to store index */
+    uint16_t idx = 0;
+
+    /* Get auxiliary data */
+    for (; idx < 8; idx++)
+    {
+        aux->data[idx] = fifo->data[data_start_index++];
+    }
+}
+
+/*!
+ * @brief This internal API parses virtual frame header from the FIFO data.
+ */
+static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to extract virtual header byte */
+    uint8_t virtual_header_mode;
+
+    /* Extract virtual header mode from the frame header */
+    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
+
+    /* If the extracted header byte is a virtual header */
+    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
+    {
+        /* If frame header is not activity recognition header */
+        if (*frame_header != 0xC8)
+        {
+            /* Index shifted to next byte where sensor frame is present */
+            (*data_index) = (*data_index) + 1;
+
+            /* Get the sensor frame header */
+            *frame_header = fifo->data[*data_index] & BMI2_FIFO_TAG_INTR_MASK;
+        }
+    }
+}
+
+/*!
+ * @brief This internal API gets sensor time from the accelerometer and
+ * gyroscope virtual frames and updates in the data structure.
+ */
+static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3;
+    uint16_t sensor_time_byte2;
+    uint8_t sensor_time_byte1;
+
+    /* Get sensor time from the FIFO data */
+    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
+    sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+    sensor_time_byte1 = fifo->data[(*idx)];
+
+    /* Store sensor time in the sensor data structure */
+    sens->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+    /* Move the data index by 3 bytes */
+    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
+}
+
+/*!
+ * @brief This internal API gets sensor time from the auxiliary virtual
+ * frames and updates in the data structure.
+ */
+static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
+                                        uint16_t *idx,
+                                        const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3;
+    uint16_t sensor_time_byte2;
+    uint8_t sensor_time_byte1;
+
+    /* Get sensor time from the FIFO data */
+    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
+    sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+    sensor_time_byte1 = fifo->data[(*idx)];
+
+    /* Store sensor time in the sensor data structure */
+    aux->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+    /* Move the data index by 3 bytes */
+    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
+}
+
+/*!
+ * @brief This internal API is used to reset the FIFO related configurations in
+ * the FIFO frame structure for the next FIFO read.
+ */
+static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev)
+{
+    /* Reset FIFO data structure */
+    fifo->acc_byte_start_idx = 0;
+    fifo->aux_byte_start_idx = 0;
+    fifo->gyr_byte_start_idx = 0;
+    fifo->sensor_time = 0;
+    fifo->skipped_frame_count = 0;
+    fifo->act_recog_byte_start_idx = 0;
+
+    /* If S4S is enabled */
+    if ((dev->sens_en_stat & BMI2_EXT_SENS_SEL) == BMI2_EXT_SENS_SEL)
+    {
+        fifo->acc_frm_len = BMI2_FIFO_VIRT_ACC_LENGTH;
+        fifo->gyr_frm_len = BMI2_FIFO_VIRT_GYR_LENGTH;
+        fifo->aux_frm_len = BMI2_FIFO_VIRT_AUX_LENGTH;
+        fifo->acc_gyr_frm_len = BMI2_FIFO_VIRT_ACC_GYR_LENGTH;
+        fifo->acc_aux_frm_len = BMI2_FIFO_VIRT_ACC_AUX_LENGTH;
+        fifo->aux_gyr_frm_len = BMI2_FIFO_VIRT_GYR_AUX_LENGTH;
+        fifo->all_frm_len = BMI2_FIFO_VIRT_ALL_LENGTH;
+
+        /* If S4S is not enabled */
+    }
+    else
+    {
+        fifo->acc_frm_len = BMI2_FIFO_ACC_LENGTH;
+        fifo->gyr_frm_len = BMI2_FIFO_GYR_LENGTH;
+        fifo->aux_frm_len = BMI2_FIFO_AUX_LENGTH;
+        fifo->acc_gyr_frm_len = BMI2_FIFO_ACC_GYR_LENGTH;
+        fifo->acc_aux_frm_len = BMI2_FIFO_ACC_AUX_LENGTH;
+        fifo->aux_gyr_frm_len = BMI2_FIFO_GYR_AUX_LENGTH;
+        fifo->all_frm_len = BMI2_FIFO_ALL_LENGTH;
+    }
+}
+
+/*!
+ * @brief This API internal checks whether the FIFO data read is an empty frame.
+ * If empty frame, index is moved to the last byte.
+ */
+static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + 6) < fifo->length)
+    {
+        /* Check if FIFO is empty */
+        if (((fifo->data[(*data_index)] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 1] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
+            ((fifo->data[(*data_index) + 2] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 3] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
+            ((fifo->data[(*data_index) + 4] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 5] == BMI2_FIFO_LSB_CONFIG_CHECK)))
+        {
+            /* Move the data index to the last byte to mark completion */
+            (*data_index) = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+        }
+        else
+        {
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + current_frame_length) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Move the data index to next frame */
+        (*data_index) = (*data_index) + current_frame_length;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the sensor time from the
+ * FIFO data.
+ */
+static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    /* Validate data index */
+    if (((*data_index) + BMI2_SENSOR_TIME_LENGTH) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Get sensor time from the FIFO data */
+        sensor_time_byte3 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = fifo->data[(*data_index)];
+
+        /* Update sensor time in the FIFO structure */
+        fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+        /* Move the data index by 3 bytes */
+        (*data_index) = (*data_index) + BMI2_SENSOR_TIME_LENGTH;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the skipped frame count
+ * from the FIFO data.
+ */
+static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if ((*data_index) >= fifo->length)
+    {
+        /* Update the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Update skipped frame count in the FIFO structure */
+        fifo->skipped_frame_count = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + 1;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables and configures the accelerometer which is
+ * needed for self-test operation. It also sets the amplitude for the self-test.
+ */
+static int8_t pre_self_test_config(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* List the sensors to be selected */
+    uint8_t sens_sel = BMI2_ACCEL;
+
+    /* Enable accelerometer */
+    rslt = bmi2_sensor_enable(&sens_sel, 1, dev);
+    dev->delay_us(1000, dev->intf_ptr);
+
+    /* Enable self-test amplitude */
+    if (rslt == BMI2_OK)
+    {
+        rslt = set_accel_self_test_amp(BMI2_ENABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Select accelerometer for sensor configurations */
+        sens_cfg.type = BMI2_ACCEL;
+
+        /* Get the default values */
+        rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set the configurations required for self-test */
+            sens_cfg.cfg.acc.odr = BMI2_ACC_ODR_1600HZ;
+            sens_cfg.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+            sens_cfg.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+            sens_cfg.cfg.acc.range = BMI2_ACC_RANGE_16G;
+
+            /* Set accelerometer configurations */
+            rslt = bmi2_set_sensor_config(&sens_cfg, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API performs the steps needed for self-test operation
+ * before reading the accelerometer self-test data.
+ */
+static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Enable the accelerometer self-test feature */
+    rslt = set_accel_self_test_enable(BMI2_ENABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Selects the sign of accelerometer self-test excitation */
+        rslt = set_acc_self_test_sign(sign, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables or disables the accelerometer self-test
+ * feature in the sensor.
+ */
+static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Enable/Disable self-test feature */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BIT_POS0(data, BMI2_ACC_SELF_TEST_EN, enable);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sign for accelerometer self-test
+ * excitation.
+ */
+static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Select the sign for self-test excitation */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_SIGN, sign);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the amplitude of the accelerometer self-test
+ * deflection in the sensor.
+ */
+static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Select amplitude of the self-test deflection */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_AMP, amp);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the accelerometer data for x,y and z axis from
+ * the sensor. The data units is in LSB format.
+ */
+static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Array to define data buffer */
+    uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
+
+    rslt = bmi2_get_regs(BMI2_ACC_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Accelerometer data x axis */
+        msb = data[1];
+        lsb = data[0];
+        accel->x = (int16_t)((msb << 8) | lsb);
+
+        /* Accelerometer data y axis */
+        msb = data[3];
+        lsb = data[2];
+        accel->y = (int16_t)((msb << 8) | lsb);
+
+        /* Accelerometer data z axis */
+        msb = data[5];
+        lsb = data[4];
+        accel->z = (int16_t)((msb << 8) | lsb);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the gyroscope data for x, y and z axis from
+ * the sensor. The data units is in LSB format.
+ */
+static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Array to define data buffer */
+    uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
+
+    rslt = bmi2_get_regs(BMI2_GYR_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Gyroscope data x axis */
+        msb = data[1];
+        lsb = data[0];
+        gyro->x = (int16_t)((msb << 8) | lsb);
+
+        /* Gyroscope data y axis */
+        msb = data[3];
+        lsb = data[2];
+        gyro->y = (int16_t)((msb << 8) | lsb);
+
+        /* Gyroscope data z axis */
+        msb = data[5];
+        lsb = data[4];
+        gyro->z = (int16_t)((msb << 8) | lsb);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API converts LSB value of accelerometer axes to form
+ * 'g' to 'mg' for self-test.
+ */
+static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
+                          struct bmi2_selftest_delta_limit *acc_data_diff_mg,
+                          const struct bmi2_dev *dev)
+{
+    /* Variable to define LSB/g value of axes */
+    uint32_t lsb_per_g;
+
+    /* Range considered for self-test is +/-16g */
+    uint8_t range = BMI2_ACC_SELF_TEST_RANGE;
+
+    /* lsb_per_g for the respective resolution and 16g range */
+    lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range));
+
+    /* Accelerometer x value in mg */
+    acc_data_diff_mg->x = (acc_data_diff->x / (int32_t) lsb_per_g) * 1000;
+
+    /* Accelerometer y value in mg */
+    acc_data_diff_mg->y = (acc_data_diff->y / (int32_t) lsb_per_g) * 1000;
+
+    /* Accelerometer z value in mg */
+    acc_data_diff_mg->z = (acc_data_diff->z / (int32_t) lsb_per_g) * 1000;
+}
+
+/*!
+ * @brief This internal API is used to calculate the power of a value.
+ */
+static int32_t power(int16_t base, uint8_t resolution)
+{
+    /* Initialize loop */
+    uint8_t loop = 1;
+
+    /* Initialize variable to store the power of 2 value */
+    int32_t value = 1;
+
+    for (; loop <= resolution; loop++)
+    {
+        value = (int32_t)(value * base);
+    }
+
+    return value;
+}
+
+/*!
+ * @brief This internal API validates the accelerometer self-test data and
+ * decides the result of self-test operation.
+ */
+static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* As per the data sheet, The actually measured signal differences should be significantly
+     * larger than the minimum differences for each axis in order for the self-test to pass.
+     */
+    if ((accel_data_diff->x > BMI2_ST_ACC_X_SIG_MIN_DIFF) && (accel_data_diff->y < BMI2_ST_ACC_Y_SIG_MIN_DIFF) &&
+        (accel_data_diff->z > BMI2_ST_ACC_Z_SIG_MIN_DIFF))
+    {
+        /* Self-test pass */
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        /* Self-test fail*/
+        rslt = BMI2_E_SELF_TEST_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
+ */
+static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for axis re-mapping */
+    struct bmi2_feature_config remap_config = { 0, 0, 0 };
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
+        if (feat_found)
+        {
+            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for axis re-mapping */
+                idx = remap_config.start_addr;
+
+                /* Get the re-mapped x-axis */
+                remap->x_axis = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_X_AXIS);
+
+                /* Get the re-mapped x-axis polarity */
+                remap->x_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_X_AXIS_SIGN);
+
+                /* Get the re-mapped y-axis */
+                remap->y_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS);
+
+                /* Get the re-mapped y-axis polarity */
+                remap->y_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS_SIGN);
+
+                /* Get the re-mapped z-axis */
+                remap->z_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Z_AXIS);
+
+                /* Increment byte to fetch the next data */
+                idx++;
+
+                /* Get the re-mapped z-axis polarity */
+                remap->z_axis_sign = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
+ */
+static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define the register address */
+    uint8_t reg_addr = 0;
+
+    /* Variable to set the re-mapped x-axes in the sensor */
+    uint8_t x_axis = 0;
+
+    /* Variable to set the re-mapped y-axes in the sensor */
+    uint8_t y_axis = 0;
+
+    /* Variable to set the re-mapped z-axes in the sensor */
+    uint8_t z_axis = 0;
+
+    /* Variable to set the re-mapped x-axes sign in the sensor */
+    uint8_t x_axis_sign = 0;
+
+    /* Variable to set the re-mapped y-axes sign in the sensor */
+    uint8_t y_axis_sign = 0;
+
+    /* Variable to set the re-mapped z-axes sign in the sensor */
+    uint8_t z_axis_sign = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for axis re-mapping */
+    struct bmi2_feature_config remap_config = { 0, 0, 0 };
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis-re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where axis re-mapping feature resides */
+            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = remap_config.start_addr;
+
+                /* Set the value of re-mapped x-axis */
+                x_axis = remap->x_axis & BMI2_X_AXIS_MASK;
+
+                /* Set the value of re-mapped x-axis sign */
+                x_axis_sign = ((remap->x_axis_sign << BMI2_X_AXIS_SIGN_POS) & BMI2_X_AXIS_SIGN_MASK);
+
+                /* Set the value of re-mapped y-axis */
+                y_axis = ((remap->y_axis << BMI2_Y_AXIS_POS) & BMI2_Y_AXIS_MASK);
+
+                /* Set the value of re-mapped y-axis sign */
+                y_axis_sign = ((remap->y_axis_sign << BMI2_Y_AXIS_SIGN_POS) & BMI2_Y_AXIS_SIGN_MASK);
+
+                /* Set the value of re-mapped z-axis */
+                z_axis = ((remap->z_axis << BMI2_Z_AXIS_POS) & BMI2_Z_AXIS_MASK);
+
+                /* Set the value of re-mapped z-axis sign */
+                z_axis_sign = remap->z_axis_sign & BMI2_Z_AXIS_SIGN_MASK;
+
+                /* Arrange axes in the first byte */
+                feat_config[idx] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis;
+
+                /* Increment the index */
+                idx++;
+
+                /* Cannot OR in the second byte since it holds
+                 * gyroscope self-offset correction bit
+                 */
+                feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN, z_axis_sign);
+
+                /* Update the register address */
+                reg_addr = BMI2_FEATURES_REG_ADDR + remap_config.start_addr;
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(reg_addr, &feat_config[remap_config.start_addr], 2, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev)
+{
+    /* Get the compensated gyroscope x-axis */
+    gyr_data->x = gyr_data->x - (int16_t)(((int32_t) dev->gyr_cross_sens_zx * (int32_t) gyr_data->z) / 512);
+}
+
+/*!
+ * @brief This internal API is used to validate the boundary conditions.
+ */
+static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if (val != NULL)
+    {
+        /* Check if value is below minimum value */
+        if (*val < min)
+        {
+            /* Auto correct the invalid value to minimum value */
+            *val = min;
+            dev->info |= BMI2_I_MIN_VALUE;
+        }
+
+        /* Check if value is above maximum value */
+        if (*val > max)
+        {
+            /* Auto correct the invalid value to maximum value */
+            *val = max;
+            dev->info |= BMI2_I_MAX_VALUE;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saves the configurations before performing FOC.
+ */
+static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
+                                    uint8_t *aps,
+                                    uint8_t *acc_en,
+                                    struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Get accelerometer configurations to be saved */
+    rslt = get_accel_config(acc_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get accelerometer enable status to be saved */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        *acc_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_ACC_EN);
+
+        /* Get advance power save mode to be saved */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_adv_power_save(aps, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal sets configurations for performing accelerometer FOC.
+ */
+static int8_t set_accel_foc_config(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_ACCEL;
+
+    /* Variable to set the accelerometer configuration value */
+    uint8_t acc_conf_data = BMI2_FOC_ACC_CONF_VAL;
+
+    /* Disabling offset compensation */
+    rslt = set_accel_offset_comp(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */
+        rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, &acc_conf_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set accelerometer to normal mode by enabling it */
+            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Disable advance power save mode */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API performs Fast Offset Compensation for accelerometer.
+ */
+static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
+                                const struct bmi2_accel_config *acc_cfg,
+                                struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_E_INVALID_STATUS;
+
+    /* Variable to define count */
+    uint8_t loop;
+
+    /* Variable to store status read from the status register */
+    uint8_t reg_status = 0;
+
+    /* Array of structure to store accelerometer data */
+    struct bmi2_sens_axes_data accel_value[128] = { { 0 } };
+
+    /* Structure to store accelerometer data temporarily */
+    struct bmi2_foc_temp_value temp = { 0, 0, 0 };
+
+    /* Structure to store the average of accelerometer data */
+    struct bmi2_sens_axes_data accel_avg = { 0, 0, 0, 0 };
+
+    /* Variable to define LSB per g value */
+    uint16_t lsb_per_g = 0;
+
+    /* Variable to define range */
+    uint8_t range = 0;
+
+    /* Structure to store accelerometer data deviation from ideal value */
+    struct bmi2_offset_delta delta = { 0, 0, 0 };
+
+    /* Structure to store accelerometer offset values */
+    struct bmi2_accel_offset offset = { 0, 0, 0 };
+
+    /* Variable tries max 5 times for interrupt then generates timeout */
+    uint8_t try_cnt;
+
+    for (loop = 0; loop < 128; loop++)
+    {
+        try_cnt = 5;
+        while (try_cnt && (!(reg_status & BMI2_DRDY_ACC)))
+        {
+            /* 20ms delay for 50Hz ODR */
+            dev->delay_us(20000, dev->intf_ptr);
+            rslt = bmi2_get_status(&reg_status, dev);
+            try_cnt--;
+        }
+
+        if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_ACC))
+        {
+            rslt = read_accel_xyz(&accel_value[loop], dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = read_accel_xyz(&accel_value[loop], dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Store the data in a temporary structure */
+            temp.x = temp.x + (int32_t)accel_value[loop].x;
+            temp.y = temp.y + (int32_t)accel_value[loop].y;
+            temp.z = temp.z + (int32_t)accel_value[loop].z;
+        }
+        else
+        {
+            break;
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Take average of x, y and z data for lesser noise */
+        accel_avg.x = (int16_t)(temp.x / 128);
+        accel_avg.y = (int16_t)(temp.y / 128);
+        accel_avg.z = (int16_t)(temp.z / 128);
+
+        /* Get the exact range value */
+        map_accel_range(acc_cfg->range, &range);
+
+        /* Get the smallest possible measurable acceleration level given the range and
+         * resolution */
+        lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range));
+
+        /* Compensate acceleration data against gravity */
+        comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta);
+
+        /* Scale according to offset register resolution */
+        scale_accel_offset(range, &delta, &offset);
+
+        /* Invert the accelerometer offset data */
+        invert_accel_offset(&offset);
+
+        /* Write offset data in the offset compensation register */
+        rslt = write_accel_offset(&offset, dev);
+
+        /* Enable offset compensation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = set_accel_offset_comp(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables the offset compensation for
+ * filtered and un-filtered accelerometer data.
+ */
+static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Enable/Disable offset compensation */
+    rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_NV_ACC_OFFSET, offset_en);
+        rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API converts the accelerometer range value into
+ * corresponding integer value.
+ */
+static void map_accel_range(uint8_t range_in, uint8_t *range_out)
+{
+    switch (range_in)
+    {
+        case BMI2_ACC_RANGE_2G:
+            *range_out = 2;
+            break;
+        case BMI2_ACC_RANGE_4G:
+            *range_out = 4;
+            break;
+        case BMI2_ACC_RANGE_8G:
+            *range_out = 8;
+            break;
+        case BMI2_ACC_RANGE_16G:
+            *range_out = 16;
+            break;
+        default:
+
+            /* By default RANGE 8G is set */
+            *range_out = 8;
+            break;
+    }
+}
+
+/*!
+ * @brief This internal API compensate the accelerometer data against gravity.
+ */
+static void comp_for_gravity(uint16_t lsb_per_g,
+                             const struct bmi2_accel_foc_g_value *g_val,
+                             const struct bmi2_sens_axes_data *data,
+                             struct bmi2_offset_delta *comp_data)
+{
+    /* Array to store the accelerometer values in LSB */
+    int16_t accel_value_lsb[3] = { 0 };
+
+    /* Convert g-value to LSB */
+    accel_value_lsb[BMI2_X_AXIS] = (int16_t)(lsb_per_g * g_val->x);
+    accel_value_lsb[BMI2_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y);
+    accel_value_lsb[BMI2_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z);
+
+    /* Get the compensated values for X, Y and Z axis */
+    comp_data->x = (data->x - accel_value_lsb[BMI2_X_AXIS]);
+    comp_data->y = (data->y - accel_value_lsb[BMI2_Y_AXIS]);
+    comp_data->z = (data->z - accel_value_lsb[BMI2_Z_AXIS]);
+}
+
+/*!
+ * @brief This internal API scales the compensated accelerometer data according
+ * to the offset register resolution.
+ *
+ * @note The bit position is always greater than 0 since accelerometer data is
+ * 16 bit wide.
+ */
+static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data, struct bmi2_accel_offset *data)
+{
+    /* Variable to store the position of bit having 3.9mg resolution */
+    int8_t bit_pos_3_9mg;
+
+    /* Variable to store the position previous of bit having 3.9mg resolution */
+    int8_t bit_pos_3_9mg_prev_bit;
+
+    /* Variable to store the round-off value */
+    uint8_t round_off;
+
+    /* Find the bit position of 3.9mg */
+    bit_pos_3_9mg = get_bit_pos_3_9mg(range);
+
+    /* Round off, consider if the next bit is high */
+    bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1;
+    round_off = (uint8_t)(power(2, ((uint8_t) bit_pos_3_9mg_prev_bit)));
+
+    /* Scale according to offset register resolution */
+    data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
+    data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
+    data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
+}
+
+/*!
+ * @brief This internal API finds the bit position of 3.9mg according to given
+ * range and resolution.
+ */
+static int8_t get_bit_pos_3_9mg(uint8_t range)
+{
+    /* Variable to store the bit position of 3.9mg resolution */
+    int8_t bit_pos_3_9mg;
+
+    /* Variable to shift the bits according to the resolution  */
+    uint32_t divisor = 1;
+
+    /* Scaling factor to get the bit position of 3.9 mg resolution */
+    int16_t scale_factor = -1;
+
+    /* Variable to store temporary value */
+    uint16_t temp;
+
+    /* Shift left by the times of resolution */
+    divisor = divisor << 16;
+
+    /* Get the bit position to be shifted */
+    temp = (uint16_t)(divisor / (range * 256));
+
+    /* Get the scaling factor until bit position is shifted to last bit */
+    while (temp != 1)
+    {
+        scale_factor++;
+        temp = temp >> 1;
+    }
+
+    /* Scaling factor is the bit position of 3.9 mg resolution */
+    bit_pos_3_9mg = (int8_t) scale_factor;
+
+    return bit_pos_3_9mg;
+}
+
+/*!
+ * @brief This internal API inverts the accelerometer offset data.
+ */
+static void invert_accel_offset(struct bmi2_accel_offset *offset_data)
+{
+    /* Get the offset data */
+    offset_data->x = (uint8_t)((offset_data->x) * (-1));
+    offset_data->y = (uint8_t)((offset_data->y) * (-1));
+    offset_data->z = (uint8_t)((offset_data->z) * (-1));
+}
+
+/*!
+ * @brief This internal API writes the offset data in the offset compensation
+ * register.
+ */
+static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store the offset data */
+    uint8_t data_array[3] = { 0 };
+
+    data_array[0] = offset->x;
+    data_array[1] = offset->y;
+    data_array[2] = offset->z;
+
+    /* Offset values are written in the offset register */
+    rslt = bmi2_set_regs(BMI2_ACC_OFF_COMP_0_ADDR, data_array, 3, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API restores the configurations saved before performing
+ * accelerometer FOC.
+ */
+static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
+                                       uint8_t aps,
+                                       uint8_t acc_en,
+                                       struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Restore the saved accelerometer configurations */
+    rslt = set_accel_config(acc_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Restore the saved accelerometer enable status */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_ACC_EN, acc_en);
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+
+            /* Restore the saved advance power save */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_adv_power_save(aps, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ */
+static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Array to store the default value of accelerometer configuration
+     * reserved registers
+     */
+    uint8_t data_array[2] = { 0 };
+
+    /* Validate bandwidth and performance mode */
+    rslt = validate_bw_perf_mode(&config->bwp, &config->filter_perf, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate ODR and range */
+        rslt = validate_odr_range(&config->odr, &config->range, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set accelerometer performance mode */
+            reg_data = BMI2_SET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE, config->filter_perf);
+
+            /* Set accelerometer bandwidth */
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_BW_PARAM, config->bwp);
+
+            /* Set accelerometer ODR */
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ACC_ODR, config->odr);
+
+            /* Copy the register data to the array */
+            data_array[0] = reg_data;
+
+            /* Set accelerometer range */
+            reg_data = BMI2_SET_BIT_POS0(data_array[1], BMI2_ACC_RANGE, config->range);
+
+            /* Copy the register data to the array */
+            data_array[1] = reg_data;
+
+            /* Write accelerometer configuration to ACC_CONFand
+             * ACC_RANGE registers simultaneously as they lie in consecutive places
+             */
+            rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
+
+            /* Get error status to check for invalid configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = cfg_error_status(dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range. It also
+ * maps/un-maps data interrupts to that of hardware interrupt line.
+ */
+static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Array to store the default value of gyroscope configuration reserved registers  */
+    uint8_t data_array[2] = { 0 };
+
+    /* Validate gyroscope configurations */
+    rslt = validate_gyro_config(config, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set gyroscope performance mode */
+        reg_data = BMI2_SET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE, config->filter_perf);
+
+        /* Set gyroscope noise performance mode */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_NOISE_PERF_MODE, config->noise_perf);
+
+        /* Set gyroscope bandwidth */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_BW_PARAM, config->bwp);
+
+        /* Set gyroscope ODR */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_ODR, config->odr);
+
+        /* Copy the register data to the array */
+        data_array[0] = reg_data;
+
+        /* Set gyroscope OIS range */
+        reg_data = BMI2_SET_BITS(data_array[1], BMI2_GYR_OIS_RANGE, config->ois_range);
+
+        /* Set gyroscope range */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_RANGE, config->range);
+
+        /* Copy the register data to the array */
+        data_array[1] = reg_data;
+
+        /* Write accelerometer configuration to GYR_CONF and GYR_RANGE
+         * registers simultaneously as they lie in consecutive places
+         */
+        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
+
+        /* Get error status to check for invalid configurations */
+        if (rslt == BMI2_OK)
+        {
+            rslt = cfg_error_status(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saves the configurations before performing gyroscope
+ * FOC.
+ */
+static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Get gyroscope configurations to be saved */
+    rslt = get_gyro_config(gyr_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get gyroscope enable status to be saved */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        *gyr_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_GYR_EN);
+
+        /* Get advance power save mode to be saved */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_adv_power_save(aps, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal sets configurations for performing gyroscope FOC.
+ */
+static int8_t set_gyro_foc_config(struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Array to set the gyroscope configuration value (ODR, Performance mode
+     * and bandwidth) and gyroscope range
+     */
+    uint8_t gyr_conf_data[2] = { BMI2_FOC_GYR_CONF_VAL, BMI2_GYR_RANGE_2000 };
+
+    /* Disabling gyroscope offset compensation */
+    rslt = bmi2_set_gyro_offset_comp(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set gyroscope configurations to 25Hz, continuous mode,
+         * CIC mode, and 2000 dps range
+         */
+        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, gyr_conf_data, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set gyroscope to normal mode by enabling it */
+            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Disable advance power save mode */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API inverts the gyroscope offset data.
+ */
+static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data)
+{
+    /* Invert the values */
+    offset_data->x = (int16_t)((offset_data->x) * (-1));
+    offset_data->y = (int16_t)((offset_data->y) * (-1));
+    offset_data->z = (int16_t)((offset_data->z) * (-1));
+}
+
+/*!
+ * @brief This internal API restores the gyroscope configurations saved
+ * before performing FOC.
+ */
+static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Restore the saved gyroscope configurations */
+    rslt = set_gyro_config(gyr_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Restore the saved gyroscope enable status */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_GYR_EN, gyr_en);
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+
+            /* Restore the saved advance power save */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_adv_power_save(aps, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saturates the gyroscope data value before writing to
+ * to 10 bit offset register.
+ */
+static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off)
+{
+    if (gyr_off->x > 511)
+    {
+        gyr_off->x = 511;
+    }
+
+    if (gyr_off->x < -512)
+    {
+        gyr_off->x = -512;
+    }
+
+    if (gyr_off->y > 511)
+    {
+        gyr_off->y = 511;
+    }
+
+    if (gyr_off->y < -512)
+    {
+        gyr_off->y = -512;
+    }
+
+    if (gyr_off->z > 511)
+    {
+        gyr_off->z = 511;
+    }
+
+    if (gyr_off->z < -512)
+    {
+        gyr_off->z = -512;
+    }
+}
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is to get the status of st_status from gry_crt_conf register
+ */
+static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of crt running */
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*st_status) = BMI2_GET_BITS(reg_data, BMI2_GYR_CRT_RUNNING);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables the CRT running.
+ */
+static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_CRT_RUNNING, st_status);
+            rslt = bmi2_set_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of rdy for dl bit.
+ */
+static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of rdy_fo_dl */
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*rdy_for_dl) = BMI2_GET_BITS(reg_data, BMI2_GYR_RDY_FOR_DL);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API does the crt process if max burst length is not zero.
+ */
+static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t rdy_for_dl = 0;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_rdy_for_dl(&rdy_for_dl, dev);
+    }
+
+    /* Trigger next CRT command */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+    }
+
+    if ((!last_byte_flag) && (rslt == BMI2_OK))
+    {
+        rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, rdy_for_dl, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API to write the 2kb size of crt configuration
+ */
+static int8_t write_crt_config_file(uint16_t write_len,
+                                    uint16_t config_file_size,
+                                    uint16_t start_index,
+                                    struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint16_t index = 0;
+    uint8_t last_byte_flag = 0;
+    uint8_t remain = (uint8_t)(config_file_size % write_len);
+    uint16_t balance_byte = 0;
+
+    if (!remain)
+    {
+
+        /* Write the configuration file */
+        for (index = start_index;
+             (index < (start_index + config_file_size)) && (rslt == BMI2_OK);
+             index += write_len)
+        {
+            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+            if (index >= ((start_index + config_file_size) - (write_len)))
+            {
+                last_byte_flag = 1;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                rslt = process_crt_download(last_byte_flag, dev);
+            }
+        }
+    }
+    else
+    {
+        /* Get the balance bytes */
+        balance_byte = (uint16_t)start_index + (uint16_t)config_file_size - (uint16_t)remain;
+
+        /* Write the configuration file for the balance bytes */
+        for (index = start_index; (index < balance_byte) && (rslt == BMI2_OK); index += write_len)
+        {
+            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+            if (rslt == BMI2_OK)
+            {
+                rslt = process_crt_download(last_byte_flag, dev);
+            }
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Write the remaining bytes in 2 bytes length */
+            write_len = 2;
+            rslt = set_maxburst_len(write_len, dev);
+
+            /* Write the configuration file for the remaining bytes */
+            for (index = balance_byte;
+                 (index < (start_index + config_file_size)) && (rslt == BMI2_OK);
+                 index += write_len)
+            {
+                rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+                if (index < ((start_index + config_file_size) - write_len))
+                {
+                    last_byte_flag = 1;
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    rslt = process_crt_download(last_byte_flag, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to wait till the rdy for dl bit toggles after every pack of bytes.
+ */
+static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t dl_ready = 0;
+    uint8_t st_status = 0;
+
+    while ((rslt == BMI2_OK) && (retry_complete--))
+    {
+        rslt = get_rdy_for_dl(&dl_ready, dev);
+        if (download_ready != dl_ready)
+        {
+            break;
+        }
+
+        dev->delay_us(BMI2_CRT_READY_FOR_DOWNLOAD_US, dev->intf_ptr);
+    }
+
+    if ((rslt == BMI2_OK) && (download_ready == dl_ready))
+    {
+        rslt = BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT;
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_st_running(&st_status, dev);
+        if ((rslt == BMI2_OK) && (st_status == 0))
+        {
+            rslt = BMI2_E_ST_ALREADY_RUNNING;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to wait till crt status complete.
+ */
+static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev)
+{
+    uint8_t st_status = 1;
+    int8_t rslt = BMI2_OK;
+
+    while (retry_complete--)
+    {
+        rslt = get_st_running(&st_status, dev);
+        if ((rslt == BMI2_OK) && (st_status == 0))
+        {
+            break;
+        }
+
+        dev->delay_us(BMI2_CRT_WAIT_RUNNING_US, dev->intf_ptr);
+    }
+
+    if ((rslt == BMI2_OK) && (st_status == 1))
+    {
+        rslt = BMI2_E_ST_ALREADY_RUNNING;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to perform gyroscope self-test.
+ */
+int8_t bmi2_do_gyro_st(struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    rslt = do_gtrigger_test(BMI2_SELECT_GYRO_SELF_TEST, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to run the CRT process for both max burst length 0 and non zero condition.
+ */
+int8_t bmi2_do_crt(struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    rslt = do_gtrigger_test(BMI2_SELECT_CRT, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to run the crt process for both max burst length 0 and non zero condition.
+ */
+static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    int8_t rslt_crt = BMI2_OK;
+    uint8_t st_status = 0;
+    uint8_t max_burst_length = 0;
+    uint8_t download_ready = 0;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+    struct bmi2_gyro_self_test_status gyro_st_result = { 0 };
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Check if the variant supports this feature */
+        if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Get max burst length */
+            if (rslt == BMI2_OK)
+            {
+                rslt = get_maxburst_len(&max_burst_length, dev);
+            }
+
+            /* Checking for CRT running status */
+            if (rslt == BMI2_OK)
+            {
+                rslt = get_st_running(&st_status, dev);
+            }
+
+            /* CRT is not running  and Max burst length is zero */
+            if (st_status == 0)
+            {
+                if (rslt == BMI2_OK)
+                {
+                    rslt = set_st_running(BMI2_ENABLE, dev);
+                }
+
+                /* Preparing the setup */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = crt_prepare_setup(dev);
+                }
+
+                /* Enable the gyro self-test, CRT */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = select_self_test(gyro_st_crt, dev);
+                }
+
+                /* Check if FIFO is unchanged by checking the max burst length */
+                if ((rslt == BMI2_OK) && (max_burst_length == 0))
+                {
+                    /* Trigger CRT */
+                    rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        /* Wait until st_status = 0 or time out is 2 seconds */
+                        rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+
+                        /* CRT Running wait & check is successful */
+                        if (rslt == BMI2_OK)
+                        {
+                            rslt = crt_gyro_st_update_result(dev);
+                        }
+                    }
+                }
+                else
+                {
+                    /* FIFO may be used */
+                    if (rslt == BMI2_OK)
+                    {
+                        if (dev->read_write_len < 2)
+                        {
+                            dev->read_write_len = 2;
+                        }
+
+                        if (dev->read_write_len > (BMI2_CRT_MAX_BURST_WORD_LENGTH * 2))
+                        {
+                            dev->read_write_len = BMI2_CRT_MAX_BURST_WORD_LENGTH * 2;
+                        }
+
+                        /* Reset the max burst length to default value */
+                        rslt = set_maxburst_len(dev->read_write_len, dev);
+                    }
+
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = get_rdy_for_dl(&download_ready, dev);
+                    }
+
+                    /* Trigger CRT  */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+                    }
+
+                    /* Wait till either ready for download toggle or crt running = 0 */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, download_ready, dev);
+                        if (rslt == BMI2_OK)
+                        {
+                            rslt = write_crt_config_file(dev->read_write_len, BMI2_CRT_CONFIG_FILE_SIZE, 0x1800, dev);
+                        }
+
+                        if (rslt == BMI2_OK)
+                        {
+                            rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+                            rslt_crt = crt_gyro_st_update_result(dev);
+                            if (rslt == BMI2_OK)
+                            {
+                                rslt = rslt_crt;
+                            }
+                        }
+                    }
+                }
+            }
+            else
+            {
+                rslt = BMI2_E_ST_ALREADY_RUNNING;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                if (gyro_st_crt == BMI2_SELECT_GYRO_SELF_TEST)
+                {
+                    rslt = gyro_self_test_completed(&gyro_st_result, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled while configuring and
+             * not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API to set up environment for processing the crt.
+ */
+static int8_t crt_prepare_setup(struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_GYRO;
+
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Disable gyroscope */
+        rslt = bmi2_sensor_disable(&sens_list, 1, dev);
+    }
+
+    /* Disable FIFO for all sensors */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        sens_list = BMI2_ACCEL;
+        rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Disable Abort after 1 msec */
+        dev->delay_us(1000, dev->intf_ptr);
+        rslt = abort_bmi2(BMI2_DISABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to update the CRT or gyro self-test final result.
+ */
+static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    struct bmi2_gyr_user_gain_status user_gain_stat = { 0, 0, 0, 0 };
+
+    rslt = null_ptr_check(dev);
+
+    /* CRT status has to be read from the config register map */
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_gyro_gain_update_status(&user_gain_stat, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        switch (user_gain_stat.g_trigger_status)
+        {
+            case BMI2_G_TRIGGER_NO_ERROR:
+
+                /* CRT is successful - Reset the Max Burst Length */
+                rslt = set_maxburst_len(0, dev);
+                break;
+
+            case BMI2_G_TRIGGER_DL_ERROR:
+
+                /* CRT is Download Error - Keep non zero value for Max Burst Length */
+                rslt = set_maxburst_len(dev->read_write_len, dev);
+                if (rslt == BMI2_OK)
+                {
+                    rslt = BMI2_E_DL_ERROR;
+                }
+
+                break;
+            case BMI2_G_TRIGGER_ABORT_ERROR:
+
+                /* Command is aborted either by host via the block bit or due to motion
+                 * detection. Keep non zero value for Max Burst Length
+                 */
+                rslt = set_maxburst_len(dev->read_write_len, dev);
+                if (rslt == BMI2_OK)
+                {
+                    rslt = BMI2_E_ABORT_ERROR;
+                }
+
+                break;
+
+            case BMI2_G_TRIGGER_PRECON_ERROR:
+
+                /* Pre-condition to start the feature was not completed. */
+                rslt = BMI2_E_PRECON_ERROR;
+                break;
+
+            default:
+                rslt = BMI2_E_INVALID_STATUS;
+
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the max burst length.
+ */
+static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+    uint8_t idx = 0;
+    uint8_t feat_found = 0;
+    struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
+    uint8_t aps_stat;
+
+    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
+    {
+        *max_burst_len = 0;
+
+        return BMI2_OK;
+    }
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for max burst length */
+        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
+        if (feat_found)
+        {
+            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for max burst length */
+                idx = maxburst_length_bytes.start_addr;
+
+                /* Get the max burst length */
+                *max_burst_len = feat_config[idx];
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the max burst length.
+ */
+static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+    uint8_t idx = 0;
+    uint8_t reg_addr = 0;
+    uint8_t max_burst_len = 0;
+    uint8_t feat_found = 0;
+    struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
+    uint8_t aps_stat;
+    uint16_t burst_len = write_len_byte / 2;
+
+    /* for variant that support crt outside fifo, do not modify the max burst len */
+    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
+    {
+        return BMI2_OK;
+    }
+
+    /* Max burst length is only 1 byte */
+    if (burst_len > BMI2_CRT_MAX_BURST_WORD_LENGTH)
+    {
+        max_burst_len = UINT8_C(0xFF);
+    }
+    else
+    {
+        max_burst_len = (uint8_t)burst_len;
+    }
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis-re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where axis
+             * re-mapping feature resides
+             */
+            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = maxburst_length_bytes.start_addr;
+
+                /* update Max burst length */
+                feat_config[idx] = max_burst_len;
+
+                /* Update the register address */
+                reg_addr = BMI2_FEATURES_REG_ADDR + maxburst_length_bytes.start_addr;
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(reg_addr, &feat_config[maxburst_length_bytes.start_addr], 2, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to trigger the preparation for system for NVM programming.
+ */
+static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    /* Initialize feature configuration for nvm preparation*/
+    struct bmi2_feature_config nvm_config = { 0, 0, 0 };
+
+    /* Search for bmi2 gyro self offset correction feature as nvm program preparation feature is
+     * present in the same Word and extract its configuration details
+     */
+    feat_found = bmi2_extract_input_feat_config(&nvm_config, BMI2_NVM_PROG_PREP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where nvm preparation feature enable feature
+         * resides */
+        rslt = bmi2_get_feat_config(nvm_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for nvm preparation feature enable */
+            idx = nvm_config.start_addr;
+
+            /* update nvm_prog_prep  enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_NVM_PREP_FEATURE_EN, nvm_prep);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + nvm_config.start_addr - 1;
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[nvm_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to enable the CRT.
+ */
+static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    uint8_t idx = 0;
+
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    struct bmi2_feature_config gyro_self_test_crt_config = { 0, 0, 0 };
+
+    /* Search for bmi2 crt gyro self-test feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyro_self_test_crt_config, BMI2_CRT_GYRO_SELF_TEST, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where gyro self-test and crt enable feature
+         * resides */
+        rslt = bmi2_get_feat_config(gyro_self_test_crt_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = gyro_self_test_crt_config.start_addr;
+
+            /* update the gyro self-test crt enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_GYRO_SELF_TEST_CRT_EN, gyro_st_crt);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + (gyro_self_test_crt_config.start_addr - 1);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[gyro_self_test_crt_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to abort ongoing crt or gyro self-test.
+ */
+int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t aps_stat;
+    uint8_t st_running = 0;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    /* Checking for ST running status */
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_st_running(&st_running, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* ST is not running  */
+            if (st_running == 0)
+            {
+                rslt = BMI2_E_ST_NOT_RUNING;
+            }
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = abort_bmi2(BMI2_ENABLE, dev);
+    }
+
+    /* send the g trigger command */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* wait until st_status = 0 or time out is 2 seconds */
+        rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+    }
+
+    /* Check G trigger status for error */
+    if (rslt == BMI2_OK)
+    {
+        rslt = crt_gyro_st_update_result(dev);
+        if (rslt == BMI2_E_ABORT_ERROR)
+        {
+            rslt = BMI2_OK;
+        }
+        else
+        {
+            rslt = BMI2_E_ABORT_ERROR;
+        }
+    }
+
+    /* Enable Advance power save if disabled while configuring and
+     * not when already disabled
+     */
+    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to enable/disable abort.
+ */
+static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    /* Initialize feature configuration for blocking a feature */
+    struct bmi2_feature_config block_config = { 0, 0, 0 };
+
+    /* Search for bmi2 Abort feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&block_config, BMI2_ABORT_CRT_GYRO_SELF_TEST, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where abort(block) feature resides */
+        rslt = bmi2_get_feat_config(block_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = block_config.start_addr;
+
+            /* update the gyro self-test crt abort enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ABORT_FEATURE_EN, abort_enable);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + (block_config.start_addr - 1);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[block_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
+ * self-test.
+ */
+static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_GYR_SELF_TEST_AXES_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        gyro_st_result->gyr_st_axes_done = BMI2_GET_BIT_POS0(reg_data, BMI2_GYR_ST_AXES_DONE);
+        if (gyro_st_result->gyr_st_axes_done == 0x01)
+        {
+            gyro_st_result->gyr_axis_x_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_X_OK);
+            gyro_st_result->gyr_axis_y_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Y_OK);
+            gyro_st_result->gyr_axis_z_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Z_OK);
+        }
+        else
+        {
+            rslt = BMI2_E_SELF_TEST_NOT_DONE;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api validates accel foc position as per the range
+ */
+static int8_t validate_foc_position(uint8_t sens_list,
+                                    const struct bmi2_accel_foc_g_value *accel_g_axis,
+                                    struct bmi2_sens_axes_data avg_foc_data,
+                                    struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_E_INVALID_INPUT;
+
+    if (sens_list == BMI2_ACCEL)
+    {
+        if (accel_g_axis->x == 1)
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.x, dev);
+        }
+        else if (accel_g_axis->y == 1)
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.y, dev);
+        }
+        else
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.z, dev);
+        }
+    }
+    else if (sens_list == BMI2_GYRO)
+    {
+        if (((avg_foc_data.x >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
+             (avg_foc_data.x <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
+            ((avg_foc_data.y >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
+             (avg_foc_data.y <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
+            ((avg_foc_data.z >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
+             (avg_foc_data.z <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)))
+        {
+            rslt = BMI2_OK;
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_FOC_POSITION;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api validates depends on accel foc access input
+ */
+static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev)
+{
+    struct bmi2_sens_config sens_cfg = { 0 };
+    uint8_t range;
+    int8_t rslt;
+
+    sens_cfg.type = BMI2_ACCEL;
+    rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
+    range = sens_cfg.cfg.acc.range;
+
+    /* reference LSB value of 16G */
+    if ((range == BMI2_ACC_RANGE_2G) && (avg_foc_data > BMI2_ACC_2G_MIN_NOISE_LIMIT) &&
+        (avg_foc_data < BMI2_ACC_2G_MAX_NOISE_LIMIT))
+    {
+        rslt = BMI2_OK;
+    }
+    /* reference LSB value of 16G */
+    else if ((range == BMI2_ACC_RANGE_4G) && (avg_foc_data > BMI2_ACC_4G_MIN_NOISE_LIMIT) &&
+             (avg_foc_data < BMI2_ACC_4G_MAX_NOISE_LIMIT))
+    {
+        rslt = BMI2_OK;
+    }
+    /* reference LSB value of 16G */
+    else if ((range == BMI2_ACC_RANGE_8G) && (avg_foc_data > BMI2_ACC_8G_MIN_NOISE_LIMIT) &&
+             (avg_foc_data < BMI2_ACC_8G_MAX_NOISE_LIMIT))
+    {
+        rslt = BMI2_OK;
+    }
+    /* reference LSB value of 16G */
+    else if ((range == BMI2_ACC_RANGE_16G) && (avg_foc_data > BMI2_ACC_16G_MIN_NOISE_LIMIT) &&
+             (avg_foc_data < BMI2_ACC_16G_MAX_NOISE_LIMIT))
+    {
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_FOC_POSITION;
+    }
+
+    return rslt;
+}
+
+/*! @brief This api is used for programming the non volatile memory(nvm) */
+int8_t bmi2_nvm_prog(struct bmi2_dev *dev)
+{
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+    uint8_t status;
+    uint8_t cmd_rdy;
+    uint8_t reg_data;
+    uint8_t write_timeout = 100;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    /* Check the Write status and proceed only if there is no ongoing write cycle */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_status(&status, dev);
+
+        cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
+        if (cmd_rdy)
+        {
+            rslt = set_nvm_prep_prog(BMI2_ENABLE, dev);
+            if (rslt == BMI2_OK)
+            {
+                dev->delay_us(40000, dev->intf_ptr);
+
+                /* Set the NVM_CONF.nvm_prog_en bit in order to enable the NVM
+                 * programming */
+                reg_data = BMI2_NVM_UNLOCK_ENABLE;
+                rslt = bmi2_set_regs(BMI2_NVM_CONF_ADDR, &reg_data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Send NVM prog command to command register */
+                    reg_data = BMI2_NVM_PROG_CMD;
+                    rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &reg_data, 1, dev);
+                }
+
+                /* Wait till write operation is completed */
+                if (rslt == BMI2_OK)
+                {
+                    while (write_timeout--)
+                    {
+                        rslt = bmi2_get_status(&status, dev);
+                        if (rslt == BMI2_OK)
+                        {
+                            cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
+
+                            /* Nvm is complete once cmd_rdy is 1, break if 1 */
+                            if (cmd_rdy)
+                            {
+                                break;
+                            }
+
+                            /* Wait till cmd_rdy becomes 1 indicating
+                             * nvm process completes */
+                            dev->delay_us(20000, dev->intf_ptr);
+                        }
+                    }
+                }
+
+                if ((rslt == BMI2_OK) && (cmd_rdy != BMI2_TRUE))
+                {
+                    rslt = BMI2_E_WRITE_CYCLE_ONGOING;
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_WRITE_CYCLE_ONGOING;
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* perform soft reset */
+        rslt = bmi2_soft_reset(dev);
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads and provides average for 128 samples of sensor data for foc operation
+ * gyro.
+ */
+static int8_t get_average_of_sensor_data(uint8_t sens_list,
+                                         struct bmi2_foc_temp_value *temp_foc_data,
+                                         struct bmi2_dev *dev)
+{
+    int8_t rslt = 0;
+    struct bmi2_sensor_data sensor_data = { 0 };
+    uint8_t sample_count = 0;
+    uint8_t datardy_try_cnt;
+    uint8_t drdy_status = 0;
+    uint8_t sensor_drdy = 0;
+
+    sensor_data.type = sens_list;
+    if (sens_list == BMI2_ACCEL)
+    {
+        sensor_drdy = BMI2_DRDY_ACC;
+    }
+    else
+    {
+        sensor_drdy = BMI2_DRDY_GYR;
+    }
+
+    /* Read sensor values before FOC */
+    while (sample_count < BMI2_FOC_SAMPLE_LIMIT)
+    {
+        datardy_try_cnt = 5;
+        do
+        {
+            dev->delay_us(20000, dev->intf_ptr);
+            rslt = bmi2_get_status(&drdy_status, dev);
+            datardy_try_cnt--;
+        } while ((rslt == BMI2_OK) && (!(drdy_status & sensor_drdy)) && (datardy_try_cnt));
+
+        if ((rslt != BMI2_OK) || (datardy_try_cnt == 0))
+        {
+            rslt = BMI2_E_DATA_RDY_INT_FAILED;
+            break;
+        }
+
+        rslt = bmi2_get_sensor_data(&sensor_data, 1, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            if (sensor_data.type == BMI2_ACCEL)
+            {
+                temp_foc_data->x += sensor_data.sens_data.acc.x;
+                temp_foc_data->y += sensor_data.sens_data.acc.y;
+                temp_foc_data->z += sensor_data.sens_data.acc.z;
+            }
+            else if (sensor_data.type == BMI2_GYRO)
+            {
+                temp_foc_data->x += sensor_data.sens_data.gyr.x;
+                temp_foc_data->y += sensor_data.sens_data.gyr.y;
+                temp_foc_data->z += sensor_data.sens_data.gyr.z;
+            }
+        }
+        else
+        {
+            break;
+        }
+
+        sample_count++;
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        temp_foc_data->x = (temp_foc_data->x / BMI2_FOC_SAMPLE_LIMIT);
+        temp_foc_data->y = (temp_foc_data->y / BMI2_FOC_SAMPLE_LIMIT);
+        temp_foc_data->z = (temp_foc_data->z / BMI2_FOC_SAMPLE_LIMIT);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API extract the identification feature from the DMR page
+ * and retrieve the config file major and minor version.
+ */
+static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
+{
+    /* Variable to define the result */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define advance power save mode status */
+    uint8_t aps_stat;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Initialize feature configuration for config file identification */
+    struct bmi2_feature_config config_id = { 0, 0, 0 };
+
+    /* Check the power mode status */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for config file identification feature and extract its configuration
+         * details */
+        feat_found = bmi2_extract_input_feat_config(&config_id, BMI2_CONFIG_ID, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where config file identification
+             * feature resides */
+            rslt = bmi2_get_feat_config(config_id.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for config file identification */
+                idx = config_id.start_addr;
+
+                /* Get word to calculate config file identification */
+                lsb = (uint16_t) feat_config[idx++];
+                msb = ((uint16_t) feat_config[idx++] << 8);
+                lsb_msb = lsb | msb;
+
+                /* Get major and minor version */
+                *config_major = BMI2_GET_BITS(lsb_msb, BMI2_CONFIG_MAJOR);
+                *config_minor = BMI2_GET_BIT_POS0(lsb, BMI2_CONFIG_MINOR);
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *@brief This internal API is used to map the interrupts to the sensor.
+ */
+static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Search for the interrupts from the input configuration array */
+    while (loop < dev->sens_int_map)
+    {
+        if (dev->map_int[loop].type == type)
+        {
+            *map_int = dev->map_int[loop];
+            break;
+        }
+
+        loop++;
+    }
+}
+
+/*!
+ * @brief This internal API gets the saturation status for the gyroscope user
+ * gain update.
+ */
+static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for gyroscope user gain status */
+    struct bmi2_feature_config user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for gyroscope user gain status output feature and extract its
+     * configuration details
+     */
+    feat_found = extract_output_feat_config(&user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for gyroscope user gain  status */
+        rslt = bmi2_get_feat_config(user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for gyroscope user gain status */
+            idx = user_gain_cfg.start_addr;
+
+            /* Get the saturation status for x-axis */
+            user_gain_stat->sat_x = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_X);
+
+            /* Get the saturation status for y-axis */
+            user_gain_stat->sat_y = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Y);
+
+            /* Get the saturation status for z-axis */
+            user_gain_stat->sat_z = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Z);
+
+            /* Get g trigger status */
+            user_gain_stat->g_trigger_status = BMI2_GET_BITS(feat_config[idx], BMI2_G_TRIGGER_STAT);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @brief This internal API gets the cross sensitivity coefficient between
+ * gyroscope's X and Z axes.
+ */
+static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    uint8_t corr_fact_zx;
+
+    /* Initialize feature output for gyroscope cross sensitivity */
+    struct bmi2_feature_config cross_sense_out_config = { 0, 0, 0 };
+
+    if (dev->variant_feature & BMI2_MAXIMUM_FIFO_VARIANT)
+    {
+        /* For maximum_fifo variant fetch the correction factor from GPIO0 */
+        rslt = bmi2_get_regs(BMI2_GYR_CAS_GPIO0_ADDR, &corr_fact_zx, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the gyroscope cross sensitivity coefficient */
+            if (corr_fact_zx & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
+            {
+                *cross_sense = (int16_t)(((int16_t)corr_fact_zx) - 128);
+            }
+            else
+            {
+                *cross_sense = (int16_t)(corr_fact_zx);
+            }
+        }
+    }
+    else
+    {
+        /* Search for gyroscope cross sensitivity feature and extract its configuration details */
+        feat_found = extract_output_feat_config(&cross_sense_out_config, BMI2_GYRO_CROSS_SENSE, dev);
+        if (feat_found)
+        {
+            /* Get the feature output configuration for gyroscope cross sensitivity
+             * feature */
+            rslt = bmi2_get_feat_config(cross_sense_out_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes for gyroscope cross sensitivity output */
+                idx = cross_sense_out_config.start_addr;
+
+                /* discard the MSB as GYR_CAS is of only 7 bit */
+                feat_config[idx] = feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_MASK;
+
+                /* Get the gyroscope cross sensitivity coefficient */
+                if (feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
+                {
+                    *cross_sense = (int16_t)(((int16_t)feat_config[idx]) - 128);
+                }
+                else
+                {
+                    *cross_sense = (int16_t)(feat_config[idx]);
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+            case BMI2_ACCEL:
+                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+                break;
+            case BMI2_GYRO:
+                *sensor_sel |= BMI2_GYRO_SENS_SEL;
+                break;
+            case BMI2_AUX:
+                *sensor_sel |= BMI2_AUX_SENS_SEL;
+                break;
+            case BMI2_TEMP:
+                *sensor_sel |= BMI2_TEMP_SENS_SEL;
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*! @endcond */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h
new file mode 100644
index 0000000000..b1fe627d62
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h
@@ -0,0 +1,1513 @@
+/**
+* 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       bmi2.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/*!
+ * @defgroup bmi2xy BMI2XY
+ */
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi2 BMI2
+ * @brief Sensor driver for BMI2 sensor
+ */
+
+#ifndef BMI2_H_
+#define BMI2_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2_defs.h"
+
+/***************************************************************************/
+
+/*!     BMI2XY User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi2ApiInit
+ * \page bmi2_api_bmi2_sec_init bmi2_sec_init
+ * \code
+ * int8_t bmi2_sec_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API is the entry point for bmi2 sensor. It selects between
+ * I2C/SPI interface, based on user selection. It also reads the chip-id of
+ * the sensor.
+ *
+ * @param[in,out] dev  : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_sec_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiRegs Registers
+ * @brief Set / Get data from the given register address of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiRegs
+ * \page bmi2_api_bmi2_get_regs bmi2_get_regs
+ * \code
+ * int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the data from the given register address of bmi2
+ * sensor.
+ *
+ * @param[in] reg_addr  : Register address from which data is read.
+ * @param[out] data     : Pointer to data buffer where read data is stored.
+ * @param[in] len       : No. of bytes of data to be read.
+ * @param[in] dev       : Structure instance of bmi2_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 - 0x26, 0x5E.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiRegs
+ * \page bmi2_api_bmi2_set_regs bmi2_set_regs
+ * \code
+ * int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API writes data to the given register address of bmi2 sensor.
+ *
+ * @param[in] reg_addr  : Register address to which the data is written.
+ * @param[in] data      : Pointer to data buffer in which data to be written
+ *            is stored.
+ * @param[in] len       : No. of bytes of data to be written.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiSR Soft reset
+ * @brief Set / Get data from the given register address of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiSR
+ * \page bmi2_api_bmi2_soft_reset bmi2_soft_reset
+ * \code
+ * int8_t bmi2_soft_reset(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API resets bmi2 sensor. All registers are overwritten with
+ * their default values.
+ *
+ * @note If selected interface is SPI, an extra dummy byte is read to bring the
+ * interface back to SPI from default, after the soft reset command.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_soft_reset(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiConfig Configuration
+ * @brief Functions related to configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiConfig
+ * \page bmi2_api_bmi2_get_config_file_version bmi2_get_config_file_version
+ * \code
+ * int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API is used to get the config file major and minor information.
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ * @param[out] config_major    : pointer to data buffer to store the config major.
+ * @param[out] config_minor    : pointer to data buffer to store the config minor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiPowersave Advanced power save mode
+ * @brief Set / Get Advanced power save mode of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiPowersave
+ * \page bmi2_api_bmi2_set_adv_power_save bmi2_set_adv_power_save
+ * \code
+ * int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API enables/disables the advance power save mode in the sensor.
+ *
+ * @param[in] enable         : To enable/disable advance power mode.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *    Enable    |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables advance power save.
+ * BMI2_ENABLE  | Enables advance power save.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiPowersave
+ * \page bmi2_api_bmi2_get_adv_power_save bmi2_get_adv_power_save
+ * \code
+ * int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the status of advance power save mode in the sensor.
+ *
+ * @param[out] aps_status    : Pointer to get the status of APS mode.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  aps_status  |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Advance power save disabled.
+ * BMI2_ENABLE  | Advance power save enabled.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ *
+ * @retval BMI2_OK - Success.
+ * @retval BMI2_E_NULL_PTR - Error: Null pointer error
+ * @retval BMI2_E_COM_FAIL - Error: Communication fail
+ * @retval BMI2_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
+ */
+int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiConfig
+ * \page bmi2_api_bmi2_write_config_file bmi2_write_config_file
+ * \code
+ * int8_t bmi2_write_config_file(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API loads the configuration file to the bmi2 sensor.
+ *
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_write_config_file(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiInt Interrupt
+ * @brief Interrupt operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiInt
+ * \page bmi2_api_bmi2_set_int_pin_config bmi2_set_int_pin_config
+ * \code
+ * int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ *
+ * @param[in] int_cfg       : Structure instance of bmi2_int_pin_config.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiInt
+ * \page bmi2_api_bmi2_get_int_pin_config bmi2_get_int_pin_config
+ * \code
+ * int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ *
+ * @param[in,out] int_cfg  : Structure instance of bmi2_int_pin_config.
+ * @param[in]     dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiInt
+ * \page bmi2_api_bmi2_get_int_status bmi2_get_int_status
+ * \code
+ * int8_t bmi2_get_int_status(uint16_t *int_status, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the interrupt status of both feature and data
+ * interrupts.
+ *
+ * @param[out] int_status    : Pointer to get the status of the interrupts.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ * int_status |  Status
+ * -----------|------------
+ * 0x00       |  BIT0
+ * 0x01       |  BIT1
+ * 0x02       |  BIT2
+ * 0x03       |  BIT3
+ * 0x04       |  BIT4
+ * 0x05       |  BIT5
+ * 0x06       |  BIT6
+ * 0x07       |  BIT7
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiSensorC
+ * \page bmi2_api_bmi2_set_sensor_config bmi2_set_sensor_config
+ * \code
+ * int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be configured
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiSensorC
+ * \page bmi2_api_bmi2_get_sensor_config bmi2_get_sensor_config
+ * \code
+ * int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose configurations can be read.
+ *
+ *@verbatim
+ *  sens_list               |  Values
+ * -------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiSensor
+ * \page bmi2_api_bmi2_sensor_enable bmi2_sensor_enable
+ * \code
+ * int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be enabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be enabled.
+ *
+ *@verbatim
+ *    sens_list             |  Values
+ * -------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_TEMP                   |  31
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiSensor
+ * \page bmi2_api_bmi2_sensor_disable bmi2_sensor_disable
+ * \code
+ * int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be disabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be disabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_TEMP                   |  31
+ *@endverbatim
+ *
+ * @note :
+ * example   uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiSensorD Sensor Data
+ * @brief Get sensor data
+ */
+
+/*!
+ * \ingroup bmi2ApiSensorD
+ * \page bmi2_api_bmi2_get_sensor_data bmi2_get_sensor_data
+ * \code
+ * int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ *
+ * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
+ * @param[in]  n_sens        : Number of sensors selected.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose data can be read
+ *
+ *@verbatim
+ *  sens_list           |  Values
+ * ---------------------|-----------
+ * BMI2_ACCEL           |  0
+ * BMI2_GYRO            |  1
+ * BMI2_AUX             |  2
+ * BMI2_GYRO_GAIN_UPDATE|  12
+ * BMI2_GYRO_CROSS_SENSE|  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiFIFO FIFO
+ * @brief FIFO operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_set_fifo_config bmi2_set_fifo_config
+ * \code
+ * int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the FIFO configuration in the sensor.
+ *
+ * @param[in] config        : FIFO configurations to be enabled/disabled.
+ * @param[in] enable        : Enable/Disable FIFO configurations.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables FIFO configuration.
+ * BMI2_ENABLE  | Enables FIFO configuration.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_config bmi2_get_fifo_config
+ * \code
+ * int8_t bmi2_get_fifo_config(uint16_t *fifo_config, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the FIFO configuration from the sensor.
+ *
+ * @param[out] fifo_config   : Pointer variable to get FIFO configuration value.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_read_fifo_data bmi2_read_fifo_data
+ * \code
+ * int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads FIFO data.
+ *
+ * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
+ * @param[in]      dev      : Structure instance of bmi2_dev.
+ *
+ * @note APS has to be disabled before calling this function.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_extract_accel bmi2_extract_accel
+ * \code
+ * int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
+ *                          uint16_t *accel_length,
+ *                          struct bmi2_fifo_frame *fifo,
+ *                          const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API parses and extracts the accelerometer frames from FIFO data read by
+ * the "bmi2_read_fifo_data" API and stores it in the "accel_data" structure
+ * instance.
+ *
+ * @param[out]    accel_data   : Structure instance of bmi2_sens_axes_data
+ *                               where the parsed data bytes are stored.
+ * @param[in,out] accel_length : Number of accelerometer frames.
+ * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
+                          uint16_t *accel_length,
+                          struct bmi2_fifo_frame *fifo,
+                          const struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_extract_aux bmi2_extract_aux
+ * \code
+ * int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
+ *                       uint16_t *aux_length,
+ *                       struct bmi2_fifo_frame *fifo,
+ *                       const struct bmi2_dev *dev);
+ *
+ * \endcode
+ * @details This API parses and extracts the auxiliary frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
+ *
+ * @param[out]    aux          : Pointer to structure where the parsed auxiliary
+ *                              data bytes are stored.
+ * @param[in,out] aux_length   : Number of auxiliary frames.
+ * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
+                        uint16_t *aux_length,
+                        struct bmi2_fifo_frame *fifo,
+                        const struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_extract_gyro bmi2_extract_gyro
+ * \code
+ * int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
+ *                        uint16_t *gyro_length,
+ *                        struct bmi2_fifo_frame *fifo,
+ *                        const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API parses and extracts the gyroscope frames from FIFO data read by the
+ * "bmi2_read_fifo_data" API and stores it in the "gyro_data"
+ * structure instance.
+ *
+ * @param[out]    gyro_data    : Structure instance of bmi2_sens_axes_data
+ *                               where the parsed data bytes are stored.
+ * @param[in,out] gyro_length  : Number of gyroscope frames.
+ * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
+                         uint16_t *gyro_length,
+                         struct bmi2_fifo_frame *fifo,
+                         const struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiCmd Command Register
+ * @brief Write commands to the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiCmd
+ * \page bmi2_api_bmi2_set_command_register bmi2_set_command_register
+ * \code
+ * int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API writes the available sensor specific commands to the sensor.
+ *
+ * @param[in] command     : Commands to be given to the sensor.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ * Commands             |  Values
+ * ---------------------|---------------------
+ * BMI2_SOFT_RESET_CMD  |  0xB6
+ * BMI2_FIFO_FLUSH_CMD  |  0xB0
+ * BMI2_USR_GAIN_CMD    |  0x03
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_set_fifo_self_wake_up bmi2_set_fifo_self_wake_up
+ * \code
+ * int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the FIFO self wake up functionality in the sensor.
+ *
+ * @param[in] fifo_self_wake_up : Variable to set FIFO self wake-up.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  fifo_self_wake_up |  Description
+ * -------------------|---------------
+ * BMI2_DISABLE       | Disables self wake-up.
+ * BMI2_ENABLE        | Enables self wake-up.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_self_wake_up bmi2_get_fifo_self_wake_up
+ * \code
+ * int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the FIFO self wake up functionality from the sensor.
+ *
+ * @param[out] fifo_self_wake_up : Pointer variable to get the status of FIFO
+ *                                 self wake-up.
+ * @param[in]  dev               : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  fifo_self_wake_up |  Description
+ * -------------------|---------------
+ * BMI2_DISABLE       | Self wake-up disabled
+ * BMI2_ENABLE        | Self wake-up enabled.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_set_fifo_wm bmi2_set_fifo_wm
+ * \code
+ * int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the FIFO water mark level which is set in the sensor.
+ *
+ * @param[in] fifo_wm          : Variable to set FIFO water-mark level.
+ * @param[in] dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_wm bmi2_get_fifo_wm
+ * \code
+ * int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the FIFO water mark level which is set in the sensor.
+ *
+ * @param[out] fifo_wm        : Pointer variable to store FIFO water-mark level.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_set_fifo_filter_data bmi2_set_fifo_filter_data
+ * \code
+ * int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets either filtered or un-filtered FIFO accelerometer or
+ * gyroscope data.
+ *
+ * @param[in] sens_sel          : Selects either accelerometer or
+ *                                gyroscope sensor.
+ * @param[in] fifo_filter_data  : Variable to set the filter data.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  sens_sel        |  values
+ * -----------------|----------
+ * BMI2_ACCEL       |  0x01
+ * BMI2_GYRO        |  0x02
+ *@endverbatim
+ *
+ *@verbatim
+ * Value    |  fifo_filter_data
+ * ---------|---------------------
+ * 0x00     |  Un-filtered data
+ * 0x01     |  Filtered data
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_filter_data bmi2_get_fifo_filter_data
+ * \code
+ * int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the FIFO accelerometer or gyroscope filter data.
+ *
+ * @param[in] sens_sel           : Selects either accelerometer or
+ *                                 gyroscope sensor.
+ * @param[out] fifo_filter_data  : Pointer variable to get the filter data.
+ * @param[in]  dev               : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  sens_sel        |  values
+ * -----------------|----------
+ * BMI2_ACCEL       |  0x01
+ * BMI2_GYRO        |  0x02
+ *@endverbatim
+ *
+ *@verbatim
+ * Value    |  fifo_filter_data
+ * ---------|---------------------
+ * 0x00     |  Un-filtered data
+ * 0x01     |  Filtered data
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_set_fifo_down_sample bmi2_set_fifo_down_sample
+ * \code
+ * int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the down sampling rate for FIFO accelerometer or
+ * gyroscope FIFO data.
+ *
+ * @param[in] sens_sel       : Selects either either accelerometer or
+ *                             gyroscope sensor.
+ * @param[in] fifo_down_samp : Variable to set the down sampling rate.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *     sens_sel    |  values
+ * ----------------|----------
+ * BMI2_ACCEL      |  0x01
+ * BMI2_GYRO       |  0x02
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_down_sample bmi2_get_fifo_down_sample
+ * \code
+ * int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the down sampling rate, configured for FIFO
+ * accelerometer or gyroscope data.
+ *
+ * @param[in] sens_sel        : Selects either either accelerometer or
+ *                              gyroscope sensor.
+ * @param[out] fifo_down_samp : Pointer variable to store the down sampling rate
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  sens_sel       |  values
+ * ----------------|----------
+ * BMI2_ACCEL      |  0x01
+ * BMI2_GYRO       |  0x02
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFIFO
+ * \page bmi2_api_bmi2_get_fifo_length bmi2_get_fifo_length
+ * \code
+ * int8_t bmi2_get_fifo_length(uint16_t *fifo_length, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the length of FIFO data available in the sensor in
+ * bytes.
+ *
+ * @param[out] fifo_length  : Pointer variable to store the value of FIFO byte
+ *                            counter.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note The byte counter is updated each time a complete frame is read or
+ * written.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiOIS OIS
+ * @brief OIS operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiOIS
+ * \page bmi2_api_bmi2_set_ois_interface bmi2_set_ois_interface
+ * \code
+ * int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API enables/disables OIS interface.
+ *
+ * @param[in] enable   : To enable/disable OIS interface.
+ * @param[in] dev      : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  Enable      |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables OIS interface.
+ * BMI2_ENABLE  | Enables OIS interface.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiAux Auxiliary sensor
+ * @brief Auxiliary sensor operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiAux
+ * \page bmi2_api_bmi2_read_aux_man_mode bmi2_read_aux_man_mode
+ * \code
+ * int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the user-defined bytes of data from the given register
+ * address of auxiliary sensor in manual mode.
+ *
+ * @param[in]  reg_addr     : Address from where data is read.
+ * @param[out] aux_data     : Pointer to the stored buffer.
+ * @param[in]  len          : Total length of data to be read.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiAux
+ * \page bmi2_api_bmi2_write_aux_man_mode bmi2_write_aux_man_mode
+ * \code
+ * int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API writes the user-defined bytes of data and the address of
+ * auxiliary sensor where data is to be written in manual mode.
+ *
+ * @param[in]  reg_addr     : AUX address where data is to be written.
+ * @param[in] aux_data      : Pointer to data to be written.
+ * @param[in]  len          : Total length of data to be written.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiAux
+ * \page bmi2_api_bmi2_write_aux_interleaved bmi2_write_aux_interleaved
+ * \code
+ * int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API writes the user-defined bytes of data and the address of
+ * auxiliary sensor where data is to be written, from an interleaved input,
+ * in manual mode.
+ *
+ * @param[in]  reg_addr     : AUX address where data is to be written.
+ * @param[in] aux_data      : Pointer to data to be written.
+ * @param[in]  len          : Total length of data to be written.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiStatus Sensor Status
+ * @brief Get sensor status
+ */
+
+/*!
+ * \ingroup bmi2ApiStatus
+ * \page bmi2_api_bmi2_get_status bmi2_get_status
+ * \code
+ * int8_t bmi2_get_status(uint8_t *status, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the data ready status of accelerometer, gyroscope,
+ * auxiliary, ready status of command decoder and busy status of auxiliary.
+ *
+ * @param[out] status     : Pointer variable to the status.
+ * @param[in]  dev        : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ * Value    |  Status
+ * ---------|---------------------
+ * 0x80     |  DRDY_ACC
+ * 0x40     |  DRDY_GYR
+ * 0x20     |  DRDY_AUX
+ * 0x10     |  CMD_RDY
+ * 0x04     |  AUX_BUSY
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiWSync Sync commands
+ * @brief Write sync commands
+ */
+
+/*!
+ * \ingroup bmi2ApiWSync
+ * \page bmi2_api_bmi2_write_sync_commands bmi2_write_sync_commands
+ * \code
+ * int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API can be used to write sync commands like ODR, sync period,
+ * frequency and phase, resolution ratio, sync time and delay time.
+ *
+ * @param[in] command     : Sync command to be written.
+ * @param[in]  n_comm     : Length of the command.
+ * @param[in]  dev        : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiASelftest Accel self test
+ * @brief Perform accel self test
+ */
+
+/*!
+ * \ingroup bmi2ApiASelftest
+ * \page bmi2_api_bmi2_perform_accel_self_test bmi2_perform_accel_self_test
+ * \code
+ * int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API performs self-test to check the proper functionality of the
+ * accelerometer sensor.
+ *
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiInt
+ * \page bmi2_api_bmi2_map_feat_int bmi2_map_feat_int
+ * \code
+ * int8_t bmi2_map_feat_int(const struct bmi2_sens_int_config *sens_int, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+ *
+ * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiInt
+ * \page bmi2_api_bmi2_map_data_int bmi2_map_data_int
+ * \code
+ * int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API maps/un-maps data interrupts to that of interrupt pins.
+ *
+ * @param[in] int_pin      : Interrupt pin selected.
+ * @param[in] data_int     : Type of data interrupt to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ * data_int             |  Mask values
+ * ---------------------|---------------------
+ * BMI2_FFULL_INT       |  0x01
+ * BMI2_FWM_INT         |  0x02
+ * BMI2_DRDY_INT        |  0x04
+ * BMI2_ERR_INT         |  0x08
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiRemap Remap Axes
+ * @brief Set / Get remap axes values from the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiRemap
+ * \page bmi2_api_bmi2_get_remap_axes bmi2_get_remap_axes
+ * \code
+ * int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the re-mapped x, y and z axes from the sensor and
+ * updates the values in the device structure.
+ *
+ * @param[out] remapped_axis : Structure that stores re-mapped axes.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiRemap
+ * \page bmi2_api_bmi2_set_remap_axes bmi2_set_remap_axes
+ * \code
+ * int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the re-mapped x, y and z axes to the sensor and
+ * updates them in the device structure.
+ *
+ * @param[in] remapped_axis  : Structure that stores re-mapped axes.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiGyroOC Gyro Offset Compensation
+ * @brief Gyro Offset Compensation operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiGyroOC
+ * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_offset_comp
+ * \code
+ * int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API enables/disables gyroscope offset compensation. It adds the
+ * offsets defined in the offset register with gyroscope data.
+ *
+ * @param[in] enable          : Enables/Disables gyroscope offset compensation.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ *@verbatim
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enables gyroscope offset compensation.
+ * BMI2_DISABLE | Disables gyroscope offset compensation.
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiGyroOC
+ * \page bmi2_api_bmi2_read_gyro_offset_comp_axes bmi2_read_gyro_offset_comp_axes
+ * \code
+ * int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ *
+ * @param[out] gyr_off_comp_axes: Structure to store gyroscope offset
+ *                                compensated values.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiGyroOC
+ * \page bmi2_api_bmi2_write_gyro_offset_comp_axes bmi2_write_gyro_offset_comp_axes
+ * \code
+ * int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API writes the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ *
+ * @param[in] gyr_off_comp_axes : Structure to store gyroscope offset
+ *                              compensated values.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiGyroCS Gyro cross sensitivity
+ * @brief Gyro Cross sensitivity operation
+ */
+
+/*!
+ * \ingroup bmi2ApiGyroCS
+ * \page bmi2_api_bmi2_get_gyro_cross_sense bmi2_get_gyro_cross_sense
+ * \code
+ * int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API updates the cross sensitivity coefficient between gyroscope's
+ * X and Z axes.
+ *
+ * @param[in, out]  dev     : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiInts Internal Status
+ * @brief Get Internal Status of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiInts
+ * \page bmi2_api_bmi2_get_internal_status bmi2_get_internal_status
+ * \code
+ * int8_t bmi2_get_internal_status(uint8_t *int_stat, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets error bits and message indicating internal status.
+ *
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ * @param[out] int_stat     : Pointer variable to store error bits and
+ *                          message.
+ *
+ *@verbatim
+ * Internal status      |  *int_stat
+ * ---------------------|---------------------
+ * BMI2_NOT_INIT        |  0x00
+ * BMI2_INIT_OK         |  0x01
+ * BMI2_INIT_ERR        |  0x02
+ * BMI2_DRV_ERR         |  0x03
+ * BMI2_SNS_STOP        |  0x04
+ * BMI2_NVM_ERROR       |  0x05
+ * BMI2_START_UP_ERROR  |  0x06
+ * BMI2_COMPAT_ERROR    |  0x07
+ * BMI2_VFM_SKIPPED     |  0x10
+ * BMI2_AXES_MAP_ERROR  |  0x20
+ * BMI2_ODR_50_HZ_ERROR |  0x40
+ * BMI2_ODR_HIGH_ERROR  |  0x80
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiFOC FOC
+ * @brief FOC operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiFOC
+ * \page bmi2_api_bmi2_perform_accel_foc bmi2_perform_accel_foc
+ * \code
+ * int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API performs Fast Offset Compensation for accelerometer.
+ *
+ * @param[in] accel_g_value : This parameter selects the accel foc
+ * axis to be performed
+ *
+ * input format is {x, y, z, sign}. '1' to enable. '0' to disable
+ *
+ * eg to choose x axis  {1, 0, 0, 0}
+ * eg to choose -x axis {1, 0, 0, 1}
+ *
+ *
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiFOC
+ * \page bmi2_api_bmi2_perform_gyro_foc bmi2_perform_gyro_foc
+ * \code
+ * int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API performs Fast Offset Compensation for gyroscope.
+ *
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiCRT CRT
+ * @brief CRT operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiCRT
+ * \page bmi2_api_bmi2_do_crt bmi2_do_crt
+ * \code
+ * int8_t bmi2_do_crt(struct bmi2_dev *dev);
+ * \endcode
+ * @details API performs Component Re-Trim calibration (CRT).
+ *
+ *
+ * @param[in]  dev  : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ *
+ * @note CRT calibration takes approximately 500ms & maximum time out configured as 2 seconds
+ */
+int8_t bmi2_do_crt(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiCRTSt CRT and self test
+ * @brief Enable / Abort CRT and self test operations of gyroscope
+ */
+
+/*!
+ * \ingroup bmi2ApiCRTSt
+ * \page bmi2_api_bmi2_set_gyro_self_test_crt bmi2_set_gyro_self_test_crt
+ * \code
+ * int8_t bmi2_set_gyro_self_test_crt
+ * \endcode
+ * @details This api is used to enable the gyro self-test and crt.
+ *   *gyro_self_test_crt -> 0  then gyro self test enable
+ *   *gyro_self_test_crt -> 1 then CRT enable
+ *
+ * @param[in] gyro_self_test_crt  : enable the gyro self test or crt.
+ * @param[in] dev                 : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_set_gyro_self_test_crt(uint8_t *gyro_self_test_crt, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiCRTSt
+ * \page bmi2_api_bmi2_abort_crt_gyro_st bmi2_abort_crt_gyro_st
+ * \code
+ * int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
+ * \endcode
+ * @details This api is used to abort ongoing crt or gyro self test.
+ *
+ * @param[in] dev        : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi2ApiASelftest
+ * \page bmi2_api_bmi2_do_gyro_st bmi2_do_gyro_st
+ * \code
+ * int8_t bmi2_do_gyro_st
+ * \endcode
+ * @details this api is used to perform gyroscope self test.
+ *
+ * @param[in] dev   :   Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_do_gyro_st(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi2
+ * \defgroup bmi2ApiNVM NVM
+ * @brief NVM operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi2ApiNVM
+ * \page bmi2_api_bmi2_nvm_prog bmi2_nvm_prog
+ * \code
+ * int8_t bmi2_nvm_prog
+ * \endcode
+ * @details This api is used for programming the non volatile memory(nvm)
+ *
+ * @param[in] dev   :   Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_nvm_prog(struct bmi2_dev *dev);
+
+/*!
+ * @brief This API extracts the input feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_config  : Structure that stores feature configurations.
+ * @param[in] type          : Type of feature or sensor.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
+                                       const struct bmi2_dev *dev);
+
+/*!
+ * @brief This API is used to get the feature configuration from the
+ * selected page.
+ *
+ * @param[in]  sw_page       : Switches to the desired page.
+ * @param[out] feat_config   : Pointer to the feature configuration.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI2_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c
new file mode 100644
index 0000000000..124a984b8b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c
@@ -0,0 +1,4451 @@
+/**
+* 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       bmi270.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270 */
+const uint8_t bmi270_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc,
+    0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22,
+    0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05,
+    0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00,
+    0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
+    0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
+    0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
+    0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
+    0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde,
+    0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2,
+    0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd,
+    0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
+    0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
+    0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
+    0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
+    0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05,
+    0x37, 0xfa, 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce,
+    0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
+    0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2,
+    0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f,
+    0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87,
+    0x0f, 0x8a, 0x0f, 0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5,
+    0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x50, 0x98, 0x2e,
+    0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00,
+    0x2e, 0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0xee, 0x00,
+    0x00, 0xb2, 0x07, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x07,
+    0xcc, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e, 0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1,
+    0x03, 0x2e, 0xe9, 0x00, 0x40, 0xb2, 0xf0, 0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x00,
+    0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1, 0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50,
+    0x98, 0x2e, 0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xf9, 0xb4, 0x98, 0x2e, 0x54, 0xb2, 0x98,
+    0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2,
+    0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b,
+    0x2f, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2, 0x02, 0x2f,
+    0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00, 0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7,
+    0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7b, 0x00,
+    0x00, 0xb2, 0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98,
+    0x2e, 0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30,
+    0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01,
+    0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30,
+    0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98,
+    0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41,
+    0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56, 0x4a, 0x0f, 0x0c, 0x2f, 0xd1,
+    0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
+    0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21,
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+    0x2e, 0x79, 0xca, 0x55, 0x6f, 0xb7, 0x54, 0x54, 0x41, 0x82, 0x00, 0xf3, 0x3f, 0x45, 0x41, 0xcb, 0x02, 0xf6, 0x30,
+    0x98, 0x2e, 0x37, 0xca, 0x35, 0x6f, 0xa4, 0x6f, 0x41, 0x43, 0x03, 0x2c, 0x00, 0x43, 0xa4, 0x6f, 0x35, 0x6f, 0x17,
+    0x30, 0x42, 0x6f, 0x51, 0x6f, 0x93, 0x40, 0x42, 0x82, 0x00, 0x41, 0xc3, 0x00, 0x03, 0x43, 0x51, 0x7f, 0x00, 0x2e,
+    0x94, 0x40, 0x41, 0x41, 0x4c, 0x02, 0xc4, 0x6f, 0xd1, 0x56, 0x63, 0x0e, 0x74, 0x6f, 0x51, 0x43, 0xa5, 0x7f, 0x8a,
+    0x2f, 0x09, 0x2e, 0xd8, 0x00, 0x01, 0xb3, 0x21, 0x2f, 0xcb, 0x58, 0x90, 0x6f, 0x13, 0x41, 0xb6, 0x6f, 0xe4, 0x7f,
+    0x00, 0x2e, 0x91, 0x41, 0x14, 0x40, 0x92, 0x41, 0x15, 0x40, 0x17, 0x2e, 0x6f, 0xf5, 0xb6, 0x7f, 0xd0, 0x7f, 0xcb,
+    0x7f, 0x98, 0x2e, 0x00, 0x0c, 0x07, 0x15, 0xc2, 0x6f, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0xc3, 0xa3, 0xc1, 0x8f,
+    0xe4, 0x6f, 0xd0, 0x6f, 0xe6, 0x2f, 0x14, 0x30, 0x05, 0x2e, 0x6f, 0xf5, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0x18,
+    0x2d, 0xcd, 0x56, 0x04, 0x32, 0xb5, 0x6f, 0x1c, 0x01, 0x51, 0x41, 0x52, 0x41, 0xc3, 0x40, 0xb5, 0x7f, 0xe4, 0x7f,
+    0x98, 0x2e, 0x1f, 0x0c, 0xe4, 0x6f, 0x21, 0x87, 0x00, 0x43, 0x04, 0x32, 0xcf, 0x54, 0x5a, 0x0e, 0xef, 0x2f, 0x15,
+    0x54, 0x09, 0x2e, 0x77, 0xf7, 0x22, 0x0b, 0x29, 0x2e, 0x77, 0xf7, 0xfb, 0x6f, 0x50, 0x5e, 0xb8, 0x2e, 0x10, 0x50,
+    0x01, 0x2e, 0xd4, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x51, 0x2f, 0x01, 0xb2, 0x48, 0x2f, 0x02, 0xb2, 0x42, 0x2f, 0x03,
+    0x90, 0x56, 0x2f, 0xd7, 0x52, 0x79, 0x80, 0x42, 0x40, 0x81, 0x84, 0x00, 0x40, 0x42, 0x42, 0x98, 0x2e, 0x93, 0x0c,
+    0xd9, 0x54, 0xd7, 0x50, 0xa1, 0x40, 0x98, 0xbd, 0x82, 0x40, 0x3e, 0x82, 0xda, 0x0a, 0x44, 0x40, 0x8b, 0x16, 0xe3,
+    0x00, 0x53, 0x42, 0x00, 0x2e, 0x43, 0x40, 0x9a, 0x02, 0x52, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x15, 0x54, 0x4a, 0x0e,
+    0x3a, 0x2f, 0x3a, 0x82, 0x00, 0x30, 0x41, 0x40, 0x21, 0x2e, 0x85, 0x0f, 0x40, 0xb2, 0x0a, 0x2f, 0x98, 0x2e, 0xb1,
+    0x0c, 0x98, 0x2e, 0x45, 0x0e, 0x98, 0x2e, 0x5b, 0x0e, 0xfb, 0x6f, 0xf0, 0x5f, 0x00, 0x30, 0x80, 0x2e, 0xce, 0xb7,
+    0xdd, 0x52, 0xd3, 0x54, 0x42, 0x42, 0x4f, 0x84, 0x73, 0x30, 0xdb, 0x52, 0x83, 0x42, 0x1b, 0x30, 0x6b, 0x42, 0x23,
+    0x30, 0x27, 0x2e, 0xd7, 0x00, 0x37, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0xd6, 0x00, 0x7a, 0x84, 0x17, 0x2c, 0x42, 0x42,
+    0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b,
+    0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0xd4, 0x00,
+    0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39,
+    0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f,
+    0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0xcb,
+    0x52, 0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08,
+    0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50, 0x03,
+    0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4, 0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a,
+    0x08, 0xb6, 0x89, 0x16, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01,
+    0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e,
+    0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
+    0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
+    0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54, 0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5,
+    0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00, 0x50, 0x42,
+    0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00,
+    0x30, 0x40, 0x42, 0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54, 0x40,
+    0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e,
+    0x82, 0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90,
+    0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77,
+    0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e,
+    0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc0,
+    0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40, 0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f,
+    0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e, 0x12, 0x42, 0xd3, 0x7f, 0xeb,
+    0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
+    0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41,
+    0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f, 0x94, 0x09,
+    0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
+    0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42, 0xc0, 0x5f, 0x50, 0x50,
+    0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01,
+    0x42, 0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52, 0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f,
+    0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f, 0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30, 0x98,
+    0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30,
+    0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e, 0x00, 0x2e, 0xd0,
+    0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e,
+    0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e, 0x5d, 0xc0, 0xed, 0x50, 0x98,
+    0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
+    0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b,
+    0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42,
+    0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc,
+    0x84, 0x0b, 0x40, 0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x58, 0xb7, 0xd1, 0x6f,
+    0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f, 0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62,
+    0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00,
+    0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff,
+    0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1
+};
+
+/*! @name  Global array that stores the feature input configuration of BMI270 */
+const struct bmi2_feature_config bmi270_feat_in[BMI270_MAX_FEAT_IN] = {
+    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_CONFIG_ID_STRT_ADDR },
+    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_MAX_BURST_LEN_STRT_ADDR },
+    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR },
+    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_ABORT_STRT_ADDR },
+    { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_AXIS_MAP_STRT_ADDR },
+    { .type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_SELF_OFF_STRT_ADDR },
+    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_NVM_PROG_PREP_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_GAIN_UPDATE_STRT_ADDR },
+    { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_ANY_MOT_STRT_ADDR },
+    { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_NO_MOT_STRT_ADDR },
+    { .type = BMI2_SIG_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_SIG_MOT_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_STEP_CNT_1_STRT_ADDR },
+    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_6, .start_addr = BMI270_WRIST_GEST_STRT_ADDR },
+    { .type = BMI2_WRIST_WEAR_WAKE_UP, .page = BMI2_PAGE_7, .start_addr = BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR },
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_feat_out[BMI270_MAX_FEAT_OUT] = {
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_CNT_OUT_STRT_ADDR },
+    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_ACT_OUT_STRT_ADDR },
+    { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_0, .start_addr = BMI270_WRIST_GEST_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYR_USER_GAIN_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYRO_CROSS_SENSE_STRT_ADDR },
+    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR },
+    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR }
+};
+
+/*! @name  Global array that stores the feature interrupts of BMI270 */
+struct bmi2_map_int bmi270_map_int[BMI270_MAX_INT_MAP] = {
+    { .type = BMI2_SIG_MOTION, .sens_map_int = BMI270_INT_SIG_MOT_MASK },
+    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_INT_STEP_COUNTER_MASK },
+    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_INT_STEP_DETECTOR_MASK },
+    { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_INT_STEP_ACT_MASK },
+    { .type = BMI2_WRIST_GESTURE, .sens_map_int = BMI270_INT_WRIST_GEST_MASK },
+    { .type = BMI2_WRIST_WEAR_WAKE_UP, .sens_map_int = BMI270_INT_WRIST_WEAR_WAKEUP_MASK },
+    { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_INT_ANY_MOT_MASK },
+    { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_INT_NO_MOT_MASK },
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable any-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables any-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables any-motion.
+ * BMI2_ENABLE  | Enables any-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables no-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables no-motion.
+ * BMI2_ENABLE  | Enables no-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable sig-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables sig-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables sig-motion.
+ * BMI2_ENABLE  | Enables sig-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step activity.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step activity
+ * BMI2_ENABLE  | Enables step activity
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gives an option to enable offset correction
+ * feature of gyroscope, either internally or by the host.
+ *
+ * @param[in] enable    : Enables/Disables self-offset correction.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | gyroscope offset correction values are set internally
+ * BMI2_DISABLE | gyroscope offset correction values has to be set by host
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the wrist gesture feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables wrist gesture.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables wrist gesture
+ * BMI2_ENABLE  | Enables wrist gesture
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables wrist wear wake up.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables wrist wear wake up
+ * BMI2_ENABLE  | Enables wrist wear wake up
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config      : Structure instance of bmi2_any_motion_config.
+ * @param[in, out] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config       : Structure instance of bmi2_no_motion_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[in]      config        : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out] dev           : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ *
+ * @param[in]       config    : Structure instance of bmi2_wrist_gest_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *  bmi2_wrist_gest_config  |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *                          | Device in left (0) or right (1) arm. By default,
+ *  wear_arm                | the wearable device is assumed to be in left arm
+ *                          | i.e. default value is 0.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration.
+ *
+ * @param[in]       config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ * bmi2_wrist_wear_wake_up_config   |
+ *  Structure parameters            |               Description
+ *----------------------------------|-------------------------------------------
+ *                                  | To set the wrist wear wake-up parameters like
+ *                                  | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wakeup_params            | angle_landscape_left, angle_landscape_right,
+ *                                  | angle_potrait_up and down.
+ * ---------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out] config        : Structure instance of bmi2_any_motion_config.
+ * @param[in, out]  dev      : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_no_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[out]      config    : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_wrist_gest_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *  bmi2_wrist_gest_config  |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *                          | Device in left (0) or right (1) arm. By default,
+ *  wear_arm                | the wearable device is assumed to be in left arm
+ *                          | i.e. default value is 0.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like
+ * output-configuration.
+ *
+ * @param[out]      config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *------------------------------------|---------------------------------------
+ * bmi2_wrist_wear_wake_up_wh_config  |
+ *  Structure parameters              |               Description
+ *------------------------------------|-------------------------------------------
+ *                                    | To get the wrist wear wake-up parameters like
+ *                                    | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wake_params            | angle_landscape_left, angle_landscape_right,
+ *                                    | angle_potrait_up and down.
+ * -----------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the output values of wrist gesture.
+ *
+ * @param[out] wrist_gest   : Pointer to the stored wrist gesture.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * *wrist_gest  |  Output
+ * -------------|------------
+ * 0x00         |  UNKNOWN
+ * 0x01         |  PUSH_ARM_DOWN
+ * 0x02         |  PIVOT_UP
+ * 0x03         |  WRIST_SHAKE_JIGGLE
+ * 0x04         |  FLICK_IN
+ * 0x05         |  FLICK_OUT
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ *
+ * @param[out] step_act         : Pointer to the stored step activity data.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * *step_act  |  Output
+ * -----------|------------
+ * 0x00       |  STILL
+ * 0x01       |  WALKING
+ * 0x02       |  RUNNING
+ * 0x03       |  UNKNOWN
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fails
+ */
+static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_init(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270 */
+        dev->chip_id = BMI270_CHIP_ID;
+
+        /* get the size of config array */
+        dev->config_size = sizeof(bmi270_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_MAX_FEAT_OUT;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_MAX_INT_MAP;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set any motion configuration */
+                        case BMI2_ANY_MOTION:
+                            rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+                            break;
+
+                        /* Set no motion configuration */
+                        case BMI2_NO_MOTION:
+                            rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+                            break;
+
+                        /* Set sig-motion configuration */
+                        case BMI2_SIG_MOTION:
+                            rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+                            break;
+
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Set step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                        case BMI2_STEP_ACTIVITY:
+                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        /* Set the wrist gesture configuration */
+                        case BMI2_WRIST_GESTURE:
+                            rslt = set_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
+                            break;
+
+                        /* Set the wrist wear wake-up configuration */
+                        case BMI2_WRIST_WEAR_WAKE_UP:
+                            rslt = set_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the set configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+                {
+
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Get sig-motion configuration */
+                        case BMI2_SIG_MOTION:
+                            rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+                            break;
+
+                        /* Get any motion configuration */
+                        case BMI2_ANY_MOTION:
+                            rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+                            break;
+
+                        /* Get no motion configuration */
+                        case BMI2_NO_MOTION:
+                            rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+                            break;
+
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Get step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                        case BMI2_STEP_ACTIVITY:
+                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        /* Get the wrist gesture configuration */
+                        case BMI2_WRIST_GESTURE:
+                            rslt = get_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
+                            break;
+
+                        /* Get the wrist wear wake-up configuration */
+                        case BMI2_WRIST_WEAR_WAKE_UP:
+                            rslt = get_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the get configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ */
+int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
+                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
+                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
+            {
+                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for feature
+                 * configurations
+                 */
+                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+                {
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sensor_data[loop].type)
+                    {
+                        case BMI2_STEP_COUNTER:
+
+                            /* Get step counter output */
+                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
+                            break;
+                        case BMI2_STEP_ACTIVITY:
+
+                            /* Get step activity output */
+                            rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
+                            break;
+                        case BMI2_NVM_STATUS:
+
+                            /* Get NVM error status  */
+                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
+                            break;
+                        case BMI2_VFRM_STATUS:
+
+                            /* Get VFRM error status  */
+                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
+                            break;
+                        case BMI2_WRIST_GESTURE:
+
+                            /* Get wrist gesture status  */
+                            rslt = get_wrist_gest_status(&sensor_data[loop].sens_data.wrist_gesture_output, dev);
+                            break;
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+
+                    /* Return error if any of the get sensor data fails */
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the gyroscope user-gain.
+ */
+int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+                case BMI2_SIG_MOTION:
+                case BMI2_WRIST_GESTURE:
+                case BMI2_ANY_MOTION:
+                case BMI2_NO_MOTION:
+                case BMI2_STEP_COUNTER:
+                case BMI2_STEP_DETECTOR:
+                case BMI2_STEP_ACTIVITY:
+                case BMI2_WRIST_WEAR_WAKE_UP:
+
+                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
+                    break;
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+            }
+
+            /* Return error if interrupt mapping fails */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+            case BMI2_ACCEL:
+                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+                break;
+            case BMI2_GYRO:
+                *sensor_sel |= BMI2_GYRO_SENS_SEL;
+                break;
+            case BMI2_AUX:
+                *sensor_sel |= BMI2_AUX_SENS_SEL;
+                break;
+            case BMI2_TEMP:
+                *sensor_sel |= BMI2_TEMP_SENS_SEL;
+                break;
+            case BMI2_SIG_MOTION:
+                *sensor_sel |= BMI2_SIG_MOTION_SEL;
+                break;
+            case BMI2_ANY_MOTION:
+                *sensor_sel |= BMI2_ANY_MOT_SEL;
+                break;
+            case BMI2_NO_MOTION:
+                *sensor_sel |= BMI2_NO_MOT_SEL;
+                break;
+            case BMI2_STEP_DETECTOR:
+                *sensor_sel |= BMI2_STEP_DETECT_SEL;
+                break;
+            case BMI2_STEP_COUNTER:
+                *sensor_sel |= BMI2_STEP_COUNT_SEL;
+                break;
+            case BMI2_STEP_ACTIVITY:
+                *sensor_sel |= BMI2_STEP_ACT_SEL;
+                break;
+            case BMI2_GYRO_GAIN_UPDATE:
+                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                break;
+            case BMI2_GYRO_SELF_OFF:
+                *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL;
+                break;
+            case BMI2_WRIST_GESTURE:
+                *sensor_sel |= BMI2_WRIST_GEST_SEL;
+                break;
+            case BMI2_WRIST_WEAR_WAKE_UP:
+                *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Enable sig-motion feature */
+                if (sensor_sel & BMI2_SIG_MOTION_SEL)
+                {
+                    rslt = set_sig_motion(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_SIG_MOTION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable any motion feature */
+                if (sensor_sel & BMI2_ANY_MOT_SEL)
+                {
+                    rslt = set_any_motion(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable no motion feature */
+                if (sensor_sel & BMI2_NO_MOT_SEL)
+                {
+                    rslt = set_no_motion(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_NO_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step activity feature */
+                if (sensor_sel & BMI2_STEP_ACT_SEL)
+                {
+                    rslt = set_step_activity(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable gyroscope self-offset correction feature */
+                if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+                {
+                    rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable wrist gesture feature for wearable variant */
+                if (sensor_sel & BMI2_WRIST_GEST_SEL)
+                {
+                    rslt = set_wrist_gesture(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_WRIST_GEST_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable wrist wear wake-up feature */
+                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
+                {
+                    rslt = set_wrist_wear_wake_up(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Disable sig-motion feature */
+                if (sensor_sel & BMI2_SIG_MOTION_SEL)
+                {
+                    rslt = set_sig_motion(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable any-motion feature */
+                if (sensor_sel & BMI2_ANY_MOT_SEL)
+                {
+                    rslt = set_any_motion(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable no-motion feature */
+                if (sensor_sel & BMI2_NO_MOT_SEL)
+                {
+                    rslt = set_no_motion(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step activity feature */
+                if (sensor_sel & BMI2_STEP_ACT_SEL)
+                {
+                    rslt = set_step_activity(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable gyroscope self-offset correction feature */
+                if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+                {
+                    rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable wrist gesture feature for wearable variant*/
+                if (sensor_sel & BMI2_WRIST_GEST_SEL)
+                {
+                    rslt = set_wrist_gesture(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_WRIST_GEST_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable wrist wear wake-up feature */
+                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
+                {
+                    rslt = set_wrist_wear_wake_up(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable Advance power save if disabled while
+                 * configuring and not when already disabled
+                 */
+                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+                {
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable any motion feature.
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Search for any-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of any-motion axes */
+            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Search for no-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any/no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of no-motion axes */
+            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-counter feature resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step counter */
+            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable sig-motion feature.
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of sig-motion */
+            idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step activity */
+    struct bmi2_feature_config step_act_config = { 0, 0, 0 };
+
+    /* Search for step activity feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-activity
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step activity */
+            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gives an option to enable self-offset correction
+ * feature of gyroscope, either internally or by the host.
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for self-offset correction */
+    struct bmi2_feature_config self_off_corr_cfg = { 0, 0, 0 };
+
+    /* Search for self-offset correction and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where self-offset
+         * correction feature resides
+         */
+        rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of self-offset correction */
+            idx = self_off_corr_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the wrist gesture feature.
+ */
+static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_cfg = { 0, 0, 0 };
+
+    /* Search for wrist gesture and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_cfg, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature resides */
+        rslt = bmi2_get_feat_config(wrist_gest_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of wrist gesture */
+            idx = wrist_gest_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_GEST_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature.
+ */
+static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake up */
+    struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
+
+    /* Search for wrist wear wake up and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake up
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of wrist wear wake up */
+            idx = wrist_wake_up_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for any-motion select */
+            idx = any_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[any_mot_config.start_addr +
+                            index] = *((uint8_t *) data_p + any_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for no-motion select */
+            idx = no_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[no_mot_config.start_addr +
+                            index] = *((uint8_t *) data_p + no_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for sig-motion select */
+            idx = sig_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set parameter 1 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size);
+
+            /* Increment offset by 1 word to set parameter 2 */
+            idx++;
+
+            /* Set parameter 2 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_2, config->param_2);
+
+            /* Increment offset by 1 word to set parameter 3 */
+            idx++;
+
+            /* Set parameter 3 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_3, config->param_3);
+
+            /* Increment offset by 1 word to set parameter 4 */
+            idx++;
+
+            /* Set parameter 4 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_4, config->param_4);
+
+            /* Increment offset by 1 word to set parameter 5 */
+            idx++;
+
+            /* Set parameter 5 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_5, config->param_5);
+
+            /* Increment offset by 1 word  to set output- configuration */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[sig_mot_config.start_addr +
+                            index] = *((uint8_t *) data_p + sig_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter parameters */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
+    uint8_t max_len = 8;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of words to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = (remain_len / 2);
+                }
+
+                /* Get offset in words since all the features are set in words length */
+                page_byte_idx = start_addr / 2;
+                for (; page_byte_idx < max_len;)
+                {
+                    /* Set parameters 1 to 25 */
+                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
+                                                                  BMI2_STEP_COUNT_PARAMS,
+                                                                  step_count_params[param_idx]);
+
+                    /* Increment offset by 1 word to set to the next parameter */
+                    page_byte_idx++;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+
+                /* Get total length in bytes to copy from local pointer to the array */
+                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
+
+                /* Copy the bytes to be set back to the array */
+                for (index = 0; index < page_byte_idx; index++)
+                {
+                    feat_config[step_params_config.start_addr +
+                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
+                }
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Set step buffer size */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr +
+                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ */
+static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature resides */
+        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for gesture select */
+            idx = wrist_gest_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set wearable arm */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_GEST_WEAR_ARM, config->wearable_arm);
+
+            /* Increment offset by 1 more word to set minimum tilt angle (min_flick_peak) */
+            idx++;
+            *(data_p + idx) = config->min_flick_peak;
+
+            /* Increment offset by 1 more word to set min_flick_samples */
+            idx++;
+            *(data_p + idx) = config->min_flick_samples;
+
+            /* Increment offset by 1 more word to set max time within gesture moment has to be completed */
+            idx++;
+            *(data_p + idx) = config->max_duration;
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - wrist_gest_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[wrist_gest_config.start_addr +
+                            index] = *((uint8_t *) data_p + wrist_gest_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration.
+ */
+static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            *(data_p + idx) = config->min_angle_focus;
+
+            /* Increment offset by 1 more word to set min_angle_nonfocus */
+            idx++;
+            *(data_p + idx) = config->min_angle_nonfocus;
+
+            /* Increment offset by 1 more word to set max_tilt_lr */
+            idx++;
+            *(data_p + idx) = config->max_tilt_lr;
+
+            /* Increment offset by 1 more word to set max_tilt_ll */
+            idx++;
+            *(data_p + idx) = config->max_tilt_ll;
+
+            /* Increment offset by 1 more word to set max_tilt_pd */
+            idx++;
+            *(data_p + idx) = config->max_tilt_pd;
+
+            /* Increment offset by 1 more word to set max_tilt_pu */
+            idx++;
+            *(data_p + idx) = config->max_tilt_pu;
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[wrist_wake_up_config.start_addr +
+                            index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb;
+
+    /* Variable to define MSB */
+    uint16_t msb;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for any-motion */
+            idx = any_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for no-motion */
+            idx = no_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration sig-motion */
+    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for sig-motion */
+            idx = sig_mot_config.start_addr;
+
+            /* Get word to calculate parameter 1 */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 1  */
+            config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK;
+
+            /* Get word to calculate parameter 2 */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 2  */
+            config->param_2 = lsb_msb & BMI2_SIG_MOT_PARAM_2_MASK;
+
+            /* Get word to calculate parameter 3 */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 3  */
+            config->param_3 = lsb_msb & BMI2_SIG_MOT_PARAM_3_MASK;
+
+            /* Get word to calculate parameter 4 */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 4  */
+            config->param_4 = lsb_msb & BMI2_SIG_MOT_PARAM_4_MASK;
+
+            /* Get word to calculate parameter 5 */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 5  */
+            config->param_5 = lsb_msb & BMI2_SIG_MOT_PARAM_5_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Initialize feature configuration for step counter 1 */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words to be read in a page */
+    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of bytes to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = remain_len;
+                }
+
+                /* Get the offset */
+                page_byte_idx = start_addr;
+                while (page_byte_idx < max_len)
+                {
+                    /* Get word to calculate the parameter*/
+                    lsb = (uint16_t) feat_config[page_byte_idx++];
+                    if (page_byte_idx < max_len)
+                    {
+                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
+                    }
+
+                    lsb_msb = lsb | msb;
+
+                    /* Get parameters 1 to 25 */
+                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter 4 feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter 4 parameter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for step counter/detector/activity */
+            idx = step_count_config.start_addr;
+
+            /* Get word to calculate water-mark level and reset counter */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get water-mark level */
+            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
+
+            /* Get reset counter */
+            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
+
+            /* Get word to calculate output configuration of step detector and activity */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ */
+static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature  resides */
+        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist gesture select */
+            idx = wrist_gest_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Get wearable arm */
+            config->wearable_arm = (*(data_p + idx) & BMI2_WRIST_GEST_WEAR_ARM_MASK) >> BMI2_WRIST_GEST_WEAR_ARM_POS;
+
+            /* Increment the offset by 1 word to get min_flick_peak */
+            idx++;
+            config->min_flick_peak = *(data_p + idx);
+
+            /* Increment the offset by 1 word to get min_flick_samples */
+            idx++;
+            config->min_flick_samples = *(data_p + idx);
+
+            /* Increment the offset by 1 word to get max_duration */
+            idx++;
+            config->max_duration = *(data_p + idx);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like
+ * output-configuration.
+ */
+static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature  resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            config->min_angle_focus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get min_angle_nonfocus */
+            idx++;
+            config->min_angle_nonfocus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_lr */
+            idx++;
+            config->max_tilt_lr = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_ll */
+            idx++;
+            config->max_tilt_ll = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_pd */
+            idx++;
+            config->max_tilt_pd = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_pu */
+            idx++;
+            config->max_tilt_pu = *(data_p + idx);
+
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of the wrist gesture.
+ */
+static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for wrist gesture */
+    struct bmi2_feature_config wrist_gest_out_config = { 0, 0, 0 };
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&wrist_gest_out_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for wrist gesture */
+        rslt = bmi2_get_feat_config(wrist_gest_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist gesture output */
+            idx = wrist_gest_out_config.start_addr;
+
+            /* Get the wrist gesture output */
+            *wrist_gest = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t) feat_config[idx++];
+            *step_count |= ((uint32_t) feat_config[idx++] << 8);
+            *step_count |= ((uint32_t) feat_config[idx++] << 16);
+            *step_count |= ((uint32_t) feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ */
+static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step activity */
+    struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
+
+    /* Search for step activity output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-activity */
+        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step activity output */
+            idx = step_act_out_config.start_addr;
+
+            /* Get the step activity output */
+            *step_act = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for VFRM error status */
+    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
+
+    /* Search for VFRM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for VFRM error status */
+        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for VFRM error status */
+            idx = vfrm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Internal error while acquiring lock for FIFO */
+            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
+
+            /* Internal error while writing byte into FIFO */
+            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
+
+            /* Internal error while writing into FIFO */
+            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h
new file mode 100644
index 0000000000..f42676d65e
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h
@@ -0,0 +1,422 @@
+/**
+* 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       bmi270.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270 BMI270
+ * @brief Sensor driver for BMI270 sensor
+ */
+
+#ifndef BMI270_H_
+#define BMI270_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270 Chip identifier */
+#define BMI270_CHIP_ID                       UINT8_C(0x24)
+
+/*! @name BMI270 feature input start addresses */
+#define BMI270_CONFIG_ID_STRT_ADDR           UINT8_C(0x00)
+#define BMI270_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x02)
+#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x03)
+#define BMI270_ABORT_STRT_ADDR               UINT8_C(0x03)
+#define BMI270_AXIS_MAP_STRT_ADDR            UINT8_C(0x04)
+#define BMI270_GYRO_SELF_OFF_STRT_ADDR       UINT8_C(0x05)
+#define BMI270_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x05)
+#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR    UINT8_C(0x06)
+#define BMI270_ANY_MOT_STRT_ADDR             UINT8_C(0x0C)
+#define BMI270_NO_MOT_STRT_ADDR              UINT8_C(0x00)
+#define BMI270_SIG_MOT_STRT_ADDR             UINT8_C(0x04)
+#define BMI270_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
+#define BMI270_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
+#define BMI270_WRIST_GEST_STRT_ADDR          UINT8_C(0x06)
+#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR  UINT8_C(0x00)
+
+/*! @name BMI270 feature output start addresses */
+#define BMI270_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
+#define BMI270_STEP_ACT_OUT_STRT_ADDR        UINT8_C(0x04)
+#define BMI270_WRIST_GEST_OUT_STRT_ADDR      UINT8_C(0x06)
+#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x08)
+#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
+#define BMI270_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_MAX_PAGE_NUM                  UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_MAX_FEAT_IN                   UINT8_C(17)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_MAX_FEAT_OUT                  UINT8_C(7)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_SIG_MOT_STATUS_MASK           UINT8_C(0x01)
+#define BMI270_STEP_CNT_STATUS_MASK          UINT8_C(0x02)
+#define BMI270_STEP_ACT_STATUS_MASK          UINT8_C(0x04)
+#define BMI270_WRIST_WAKE_UP_STATUS_MASK     UINT8_C(0x08)
+#define BMI270_WRIST_GEST_STATUS_MASK        UINT8_C(0x10)
+#define BMI270_NO_MOT_STATUS_MASK            UINT8_C(0x20)
+#define BMI270_ANY_MOT_STATUS_MASK           UINT8_C(0x40)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_INT_SIG_MOT_MASK              UINT8_C(0x01)
+#define BMI270_INT_STEP_COUNTER_MASK         UINT8_C(0x02)
+#define BMI270_INT_STEP_DETECTOR_MASK        UINT8_C(0x02)
+#define BMI270_INT_STEP_ACT_MASK             UINT8_C(0x04)
+#define BMI270_INT_WRIST_WEAR_WAKEUP_MASK    UINT8_C(0x08)
+#define BMI270_INT_WRIST_GEST_MASK           UINT8_C(0x10)
+#define BMI270_INT_NO_MOT_MASK               UINT8_C(0x20)
+#define BMI270_INT_ANY_MOT_MASK              UINT8_C(0x40)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_MAX_INT_MAP                   UINT8_C(8)
+
+/***************************************************************************/
+
+/*!     BMI270 User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270
+ * \defgroup bmi270ApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270ApiInit
+ * \page bmi270_api_bmi270_init bmi270_init
+ * \code
+ * int8_t bmi270_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ *
+ * @param[in, out] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270
+ * \defgroup bmi270ApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi270ApiSensor
+ * \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable
+ * \code
+ * int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be enabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be enabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_SIG_MOTION             |  3
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_WRIST_GESTURE          |  19
+ * BMI2_WRIST_WEAR_WAKE_UP     |  20
+ * BMI2_GYRO_SELF_OFF          |  33
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270ApiSensor
+ * \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable
+ * \code
+ * int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be disabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be disabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_SIG_MOTION             |  3
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_WRIST_GESTURE          |  19
+ * BMI2_WRIST_WEAR_WAKE_UP     |  20
+ * BMI2_GYRO_SELF_OFF          |  33
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270
+ * \defgroup bmi270ApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi270ApiSensorC
+ * \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config
+ * \code
+ * int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be configured
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_SIG_MOTION             |  3
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_WRIST_GESTURE          |  19
+ * BMI2_WRIST_WEAR_WAKE_UP     |  20
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270ApiSensorC
+ * \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config
+ * \code
+ * int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose configurations can be read.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_SIG_MOTION             |  3
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_WRIST_GESTURE          |  19
+ * BMI2_WRIST_WEAR_WAKE_UP     |  20
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270
+ * \defgroup bmi270ApiSensorD Sensor Data
+ * @brief Get sensor data
+ */
+
+/*!
+ * \ingroup bmi270ApiSensorD
+ * \page bmi270_api_bmi270_get_sensor_data bmi270_get_sensor_data
+ * \code
+ * int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ *
+ * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
+ * @param[in]  n_sens        : Number of sensors selected.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose data can be read
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_WRIST_GESTURE          |  19
+ * BMI2_NVM_STATUS             |  38
+ * BMI2_VFRM_STATUS            |  39
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270
+ * \defgroup bmi270ApiGyroUG Gyro User Gain
+ * @brief Set / Get Gyro User Gain of the sensor
+ */
+
+/*!
+ * \ingroup bmi270ApiGyroUG
+ * \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain
+ * \code
+ * int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API updates the gyroscope user-gain.
+ *
+ * @param[in] user_gain      : Structure that stores user-gain configurations.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270ApiGyroUG
+ * \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain
+ * \code
+ * int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the compensated gyroscope user-gain values.
+ *
+ * @param[out] gyr_usr_gain   : Structure that stores gain values.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270ApiInt
+ * \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int
+ * \code
+ * int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+ * \endcode
+ * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+ *
+ * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+ * @param[in] n_sens       : Number of interrupts to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c
new file mode 100644
index 0000000000..4f6e300351
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c
@@ -0,0 +1,3122 @@
+/**
+* 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       bmi270_context.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270_context.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270_CONTEXT */
+const uint8_t bmi270_context_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xc9,
+    0x01, 0x80, 0x2e, 0xe2, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x77, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xaf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x09, 0x01, 0x00, 0x22,
+    0x00, 0x76, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xcb, 0xa7, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x2c, 0x56, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x48, 0x02, 0x01, 0x2e, 0x49,
+    0xf1, 0x0b, 0xbc, 0x10, 0x50, 0x0f, 0xb8, 0x00, 0x90, 0xfb, 0x7f, 0x07, 0x2f, 0x03, 0x2e, 0x21, 0xf2, 0x02, 0x31,
+    0x4a, 0x0a, 0x23, 0x2e, 0x21, 0xf2, 0x09, 0x2c, 0x00, 0x30, 0x98, 0x2e, 0x0e, 0xc7, 0x03, 0x2e, 0x21, 0xf2, 0xf2,
+    0x3e, 0x4a, 0x08, 0x23, 0x2e, 0x21, 0xf2, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x13, 0x52, 0x00, 0x2e, 0x60, 0x40,
+    0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0x43, 0x86, 0x25, 0x40, 0x04, 0x40, 0xd8,
+    0xbe, 0x2c, 0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e, 0x20, 0x50, 0xe7, 0x7f,
+    0xf6, 0x7f, 0x46, 0x30, 0x0f, 0x2e, 0xa4, 0xf1, 0xbe, 0x09, 0x80, 0xb3, 0x06, 0x2f, 0x0d, 0x2e, 0x84, 0x00, 0x84,
+    0xaf, 0x02, 0x2f, 0x16, 0x30, 0x2d, 0x2e, 0x7b, 0x00, 0x86, 0x30, 0x2d, 0x2e, 0x60, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f,
+    0xe0, 0x5f, 0xc8, 0x2e, 0x80, 0x2e, 0xfb, 0x00, 0x00, 0x30, 0xc0, 0x2e, 0x21, 0x2e, 0x8d, 0x00, 0x44, 0x47, 0x99,
+    0x00, 0xff, 0x3f, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0x90, 0x00, 0x1e, 0xf2, 0xfd, 0xf5,
+    0x8e, 0x00, 0x96, 0x00, 0x96, 0x00, 0xe0, 0x00, 0x19, 0xf4, 0x66, 0xf5, 0x00, 0x18, 0x64, 0xf5, 0x9d, 0x00, 0x7f,
+    0x00, 0x81, 0x00, 0xae, 0x00, 0xff, 0xfb, 0x21, 0x02, 0x00, 0x10, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0xff, 0x7f,
+    0x54, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x4e, 0x0f, 0x42, 0x0f, 0x48, 0x0f, 0x80,
+    0x00, 0x67, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x6a, 0x0f, 0x86, 0x00, 0x59, 0x0f, 0x6c, 0x0f, 0xc6, 0xf1, 0x66, 0x0f,
+    0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x6e, 0x0f, 0x71, 0x0f, 0xff, 0x03, 0x00, 0xfc, 0xf0, 0x3f, 0xb9,
+    0x00, 0x2d, 0xf5, 0xca, 0xf5, 0x8a, 0x00, 0x00, 0x08, 0x71, 0x7d, 0xfe, 0xc0, 0x03, 0x3f, 0x05, 0x3e, 0x49, 0x01,
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+    0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff,
+    0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0xfd, 0x2d
+};
+
+/*! @name  Global array that stores the feature input configuration of
+ * BMI270_CONTEXT
+ */
+const struct bmi2_feature_config bmi270_context_feat_in[BMI270_CONTEXT_MAX_FEAT_IN] = {
+    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_CONFIG_ID_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_1, .start_addr = BMI270_CONTEXT_STEP_CNT_1_STRT_ADDR },
+    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_NVM_PROG_PREP_STRT_ADDR },
+    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_MAX_BURST_LEN_STRT_ADDR },
+    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_CRT_GYRO_SELF_TEST_STRT_ADDR },
+    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_ABORT_STRT_ADDR },
+    { .type = BMI2_ACTIVITY_RECOGNITION_SETTINGS, .page = BMI2_PAGE_5,
+      .start_addr = BMI270_CONTEXT_ACT_RGN_SETT_STRT_ADDR },
+    { .type = BMI2_ACTIVITY_RECOGNITION, .page = BMI2_PAGE_5, .start_addr = BMI270_CONTEXT_ACT_RGN_STRT_ADDR },
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_context_feat_out[BMI270_CONTEXT_MAX_FEAT_OUT] = {
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_STEP_CNT_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_GYRO_CROSS_SENSE_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_GYR_USER_GAIN_OUT_STRT_ADDR },
+    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR },
+    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR }
+};
+
+/*! @name  Global array that stores the feature interrupts of BMI270_CONTEXT */
+struct bmi2_map_int bmi270_c_map_int[BMI270_C_MAX_INT_MAP] = {
+    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_C_INT_STEP_COUNTER_MASK },
+    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_C_INT_STEP_DETECTOR_MASK },
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables the activity recognition feature.
+ *
+ * @param[in] enable    : Enables/Disables activity recognition.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enables activity recognition.
+ * BMI2_DISABLE | Disables activity recognition.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse and store the activity recognition
+ * output from the FIFO data.
+ *
+ * @param[out] act_recog        : Structure to retrieve output of activity
+ *                                  recognition frame.
+ * @param[in] data_index        : Index of the FIFO data which contains
+ *                                  activity recognition frame.
+ * @param[out] fifo             : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *data_index,
+                                      const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API skips S4S frame in the FIFO data while getting
+ * activity recognition output.
+ *
+ * @param[in, out] frame_header : FIFO frame header.
+ * @param[in, out] data_index   : Index value of the FIFO data bytes
+ *                                from which S4S frame header is to be
+ *                                skipped.
+ * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal 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 the current frame.
+ * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) Updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_CONTEXT sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_context_init(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270_CONTEXT */
+        dev->chip_id = BMI270_CONTEXT_CHIP_ID;
+
+        /* Get the size of config array */
+        dev->config_size = sizeof(bmi270_context_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_CRT_RTOSK_ENABLE | BMI2_GYRO_CROSS_SENS_ENABLE;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_context_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_context_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_context_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_CONTEXT_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_CONTEXT_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_CONTEXT_MAX_FEAT_OUT;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270_c_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_C_MAX_INT_MAP;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Set step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the set configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+                {
+
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Get step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the get configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ */
+int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
+                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
+                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
+            {
+                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for feature
+                 * configurations
+                 */
+                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+                {
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sensor_data[loop].type)
+                    {
+                        case BMI2_STEP_COUNTER:
+
+                            /* Get step counter output */
+                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
+                            break;
+                        case BMI2_NVM_STATUS:
+
+                            /* Get NVM error status  */
+                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
+                            break;
+                        case BMI2_VFRM_STATUS:
+
+                            /* Get VFRM error status  */
+                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
+                            break;
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+
+                    /* Return error if any of the get sensor data fails */
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used for retrieving the activity recognition settings currently set.
+ */
+int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint16_t msb_lsb;
+    uint8_t lsb;
+    uint8_t msb;
+
+    /* Initialize feature configuration for activity recognition  */
+    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+
+        /* Search for bmi2 Abort feature and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
+        if (feat_found)
+        {
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Get the configuration from the page where activity recognition setting feature resides */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = bmi2_act_recg_sett.start_addr;
+
+                /* get the status of enable/disable post processing */
+                sett->act_rec_1 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_POST_PROS_EN_DIS);
+
+                /* increment idx by 2 to point min gdi thres addres */
+                idx = idx + 2;
+                lsb = feat_config[idx];
+                idx++;
+                msb = feat_config[idx];
+                msb_lsb = (uint16_t)(lsb | msb << 8);
+                sett->act_rec_2 = msb_lsb;
+
+                /* increment idx by 1 to point max gdi thres addres */
+                idx++;
+                lsb = feat_config[idx];
+                idx++;
+                msb = feat_config[idx];
+                msb_lsb = (uint16_t)(lsb | msb << 8);
+                sett->act_rec_3 = msb_lsb;
+
+                /* increment idx by 1 to point buffer size */
+                idx++;
+                sett->act_rec_4 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_BUFF_SIZE);
+
+                /* increment idx by 2 to to point to min segment confidence */
+                idx = idx + 2;
+                sett->act_rec_5 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_MIN_SEG_CONF);
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used for setting the activity recognition settings.
+ */
+int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for activity recognition  */
+    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+
+        /* Search for bmi2 Abort feature and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
+        if (feat_found)
+        {
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Get the configuration from the page where activity recognition setting feature resides */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = bmi2_act_recg_sett.start_addr;
+                if ((sett->act_rec_4 > 10) || (sett->act_rec_5 > 10))
+                {
+                    rslt = BMI2_E_INVALID_INPUT;
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx],
+                                                         BMI2_ACT_RECG_POST_PROS_EN_DIS,
+                                                         sett->act_rec_1);
+
+                    /* Increment idx by 2 to point min gdi thres addres */
+                    idx = idx + 2;
+                    feat_config[idx] = BMI2_GET_LSB(sett->act_rec_2);
+                    idx++;
+                    feat_config[idx] = BMI2_GET_MSB(sett->act_rec_2);
+
+                    /* Increment idx by 1 to point max gdi thres addres */
+                    idx++;
+                    feat_config[idx] = BMI2_GET_LSB(sett->act_rec_3);
+                    idx++;
+                    feat_config[idx] = BMI2_GET_MSB(sett->act_rec_3);
+
+                    /* Increment idx by 1 to point buffer size */
+                    idx++;
+                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_BUFF_SIZE, sett->act_rec_4);
+
+                    /* Increment idx by 2 to to point to min segment confidence */
+                    idx = idx + 2;
+                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_MIN_SEG_CONF, sett->act_rec_5);
+
+                    rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the activity output from the
+ * FIFO in header mode.
+ */
+int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                           uint16_t *act_frm_len,
+                                           struct bmi2_fifo_frame *fifo,
+                                           const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index activity frames */
+    uint16_t act_idx = 0;
+
+    /* Variable to indicate activity frames read */
+    uint16_t frame_to_read = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (act_recog != NULL) && (act_frm_len != NULL) && (fifo != NULL))
+    {
+
+        /* Store the number of frames to be read */
+        frame_to_read = *act_frm_len;
+        for (data_index = fifo->act_recog_byte_start_idx; data_index < fifo->length;)
+        {
+            /* Get frame header byte */
+            frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+            /* Skip S4S frames if S4S is enabled */
+            rslt = move_if_s4s_frame(&frame_header, &data_index, fifo);
+
+            /* Break if FIFO is empty */
+            if (rslt == BMI2_W_FIFO_EMPTY)
+            {
+                break;
+            }
+
+            /* Index shifted to next byte where data starts */
+            data_index++;
+            switch (frame_header)
+            {
+                /* If header defines accelerometer frame */
+                case BMI2_FIFO_HEADER_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer and auxiliary frames */
+                case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer and gyroscope frames */
+                case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer, auxiliary and gyroscope frames */
+                case BMI2_FIFO_HEADER_ALL_FRM:
+                    rslt = move_next_frame(&data_index, fifo->all_frm_len, fifo);
+                    break;
+
+                /* If header defines only gyroscope frame */
+                case BMI2_FIFO_HEADER_GYR_FRM:
+                    rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines only auxiliary frame */
+                case BMI2_FIFO_HEADER_AUX_FRM:
+                    rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+                    break;
+
+                /* If header defines auxiliary and gyroscope frame */
+                case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+                    rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines sensor time frame */
+                case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_SENSOR_TIME_LENGTH, fifo);
+                    break;
+
+                /* If header defines skip frame */
+                case BMI2_FIFO_HEADER_SKIP_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_FIFO_SKIP_FRM_LENGTH, fifo);
+                    break;
+
+                /* If header defines Input configuration frame */
+                case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+                    break;
+
+                /* If header defines invalid frame or end of valid data */
+                case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+                    /* Move the data index to the last byte to mark completion */
+                    data_index = fifo->length;
+
+                    /* FIFO is empty */
+                    rslt = BMI2_W_FIFO_EMPTY;
+                    break;
+
+                /* If header defines activity recognition frame */
+                case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+
+                    /* Get the activity output */
+                    rslt = unpack_act_recog_output(&act_recog[(act_idx)], &data_index, fifo);
+
+                    /* Update activity frame index */
+                    (act_idx)++;
+                    break;
+                default:
+
+                    /* Move the data index to the last byte in case of invalid values */
+                    data_index = fifo->length;
+
+                    /* FIFO is empty */
+                    rslt = BMI2_W_FIFO_EMPTY;
+                    break;
+            }
+
+            /* Number of frames to be read is complete or FIFO is empty */
+            if ((frame_to_read == act_idx) || (rslt == BMI2_W_FIFO_EMPTY))
+            {
+                break;
+            }
+        }
+
+        /* Update the activity frame index */
+        (*act_frm_len) = act_idx;
+
+        /* Update the activity byte index */
+        fifo->act_recog_byte_start_idx = data_index;
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the gyroscope user-gain.
+ */
+int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_context_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_context_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_context_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_context_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_context_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+                case BMI2_STEP_COUNTER:
+                case BMI2_STEP_DETECTOR:
+
+                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
+                    break;
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+            }
+
+            /* Return error if interrupt mapping fails */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+            case BMI2_ACCEL:
+                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+                break;
+            case BMI2_GYRO:
+                *sensor_sel |= BMI2_GYRO_SENS_SEL;
+                break;
+            case BMI2_AUX:
+                *sensor_sel |= BMI2_AUX_SENS_SEL;
+                break;
+            case BMI2_TEMP:
+                *sensor_sel |= BMI2_TEMP_SENS_SEL;
+                break;
+            case BMI2_STEP_DETECTOR:
+                *sensor_sel |= BMI2_STEP_DETECT_SEL;
+                break;
+            case BMI2_STEP_COUNTER:
+                *sensor_sel |= BMI2_STEP_COUNT_SEL;
+                break;
+            case BMI2_GYRO_GAIN_UPDATE:
+                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                break;
+            case BMI2_ACTIVITY_RECOGNITION:
+                *sensor_sel |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Enable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable activity recognition feature */
+                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+                {
+                    rslt = set_act_recog(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Disable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+                {
+                    rslt = set_act_recog(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable Advance power save if disabled while
+                 * configuring and not when already disabled
+                 */
+                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+                {
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-counter feature resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step counter */
+            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables the activity recognition feature.
+ */
+static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for activity recognition */
+    struct bmi2_feature_config act_recog_cfg = { 0, 0, 0 };
+
+    /* Search for activity recognition and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&act_recog_cfg, BMI2_ACTIVITY_RECOGNITION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where activity
+         * recognition feature resides
+         */
+        rslt = bmi2_get_feat_config(act_recog_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of activity recognition */
+            idx = act_recog_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACTIVITY_RECOG_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter parameters */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
+    uint8_t max_len = 8;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of words to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = (remain_len / 2);
+                }
+
+                /* Get offset in words since all the features are set in words length */
+                page_byte_idx = start_addr / 2;
+                for (; page_byte_idx < max_len;)
+                {
+                    /* Set parameters 1 to 25 */
+                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
+                                                                  BMI2_STEP_COUNT_PARAMS,
+                                                                  step_count_params[param_idx]);
+
+                    /* Increment offset by 1 word to set to the next parameter */
+                    page_byte_idx++;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+
+                /* Get total length in bytes to copy from local pointer to the array */
+                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
+
+                /* Copy the bytes to be set back to the array */
+                for (index = 0; index < page_byte_idx; index++)
+                {
+                    feat_config[step_params_config.start_addr +
+                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
+                }
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Set step buffer size */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr +
+                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Initialize feature configuration for step counter 1 */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words to be read in a page */
+    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of bytes to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = remain_len;
+                }
+
+                /* Get the offset */
+                page_byte_idx = start_addr;
+                while (page_byte_idx < max_len)
+                {
+                    /* Get word to calculate the parameter*/
+                    lsb = (uint16_t) feat_config[page_byte_idx++];
+                    if (page_byte_idx < max_len)
+                    {
+                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
+                    }
+
+                    lsb_msb = lsb | msb;
+
+                    /* Get parameters 1 to 25 */
+                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter 4 feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter 4 parameter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for step counter/detector/activity */
+            idx = step_count_config.start_addr;
+
+            /* Get word to calculate water-mark level and reset counter */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get water-mark level */
+            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
+
+            /* Get reset counter */
+            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
+
+            /* Get word to calculate output configuration of step detector and activity */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t) feat_config[idx++];
+            *step_count |= ((uint32_t) feat_config[idx++] << 8);
+            *step_count |= ((uint32_t) feat_config[idx++] << 16);
+            *step_count |= ((uint32_t) feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the activity recognition
+ * output from the FIFO data.
+ */
+static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *data_index,
+                                      const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variables to define 4 bytes of sensor time */
+    uint32_t time_stamp_byte4 = 0;
+    uint32_t time_stamp_byte3 = 0;
+    uint32_t time_stamp_byte2 = 0;
+    uint32_t time_stamp_byte1 = 0;
+
+    /* Validate data index */
+    if ((*data_index + BMI2_FIFO_VIRT_ACT_DATA_LENGTH) >= fifo->length)
+    {
+        /* Update the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Get time-stamp from the activity recognition frame */
+        time_stamp_byte4 = ((uint32_t)(fifo->data[(*data_index) + 3]) << 24);
+        time_stamp_byte3 = ((uint32_t)(fifo->data[(*data_index) + 2]) << 16);
+        time_stamp_byte2 = fifo->data[(*data_index) + 1] << 8;
+        time_stamp_byte1 = fifo->data[(*data_index)];
+
+        /* Update time-stamp from the virtual frame */
+        act_recog->time_stamp = (time_stamp_byte4 | time_stamp_byte3 | time_stamp_byte2 | time_stamp_byte1);
+
+        /* Move the data index by 4 bytes */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TIME_LENGTH;
+
+        /* Update the previous activity from the virtual frame */
+        act_recog->prev_act = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TYPE_LENGTH;
+
+        /* Update the current activity from the virtual frame */
+        act_recog->curr_act = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_STAT_LENGTH;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for VFRM error status */
+    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
+
+    /* Search for VFRM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for VFRM error status */
+        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for VFRM error status */
+            idx = vfrm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Internal error while acquiring lock for FIFO */
+            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
+
+            /* Internal error while writing byte into FIFO */
+            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
+
+            /* Internal error while writing into FIFO */
+            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API skips S4S frame in the FIFO data while getting
+ * step activity output.
+ */
+static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to extract virtual header byte */
+    uint8_t virtual_header_mode;
+
+    /* Variable to define pay-load in words */
+    uint8_t payload_word = 0;
+
+    /* Variable to define pay-load in bytes */
+    uint8_t payload_bytes = 0;
+
+    /* Extract virtual header mode from the frame header */
+    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
+
+    /* If the extracted header byte is a virtual header */
+    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
+    {
+        /* If frame header is not activity recognition header */
+        if (*frame_header != 0xC8)
+        {
+            /* Extract pay-load in words from the header byte */
+            payload_word = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_PAYLOAD) + 1;
+
+            /* Convert to bytes */
+            payload_bytes = (uint8_t)(payload_word * 2);
+
+            /* Move the data index by those pay-load bytes */
+            rslt = move_next_frame(data_index, payload_bytes, fifo);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + current_frame_length) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Move the data index to next frame */
+        (*data_index) = (*data_index) + current_frame_length;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h
new file mode 100644
index 0000000000..4708dc7db3
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h
@@ -0,0 +1,493 @@
+/**
+* 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       bmi270_context.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270_context BMI270_CONTEXT
+ * @brief Sensor driver for BMI270_CONTEXT sensor
+ */
+
+#ifndef BMI270_CONTEXT_H_
+#define BMI270_CONTEXT_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270_CONTEXT Chip identifier */
+#define BMI270_CONTEXT_CHIP_ID                       UINT8_C(0x24)
+
+/*! @name BMI270_CONTEXT feature input start addresses */
+#define BMI270_CONTEXT_CONFIG_ID_STRT_ADDR           UINT8_C(0x06)
+#define BMI270_CONTEXT_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
+#define BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
+#define BMI270_CONTEXT_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x08)
+#define BMI270_CONTEXT_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x09)
+#define BMI270_CONTEXT_ABORT_STRT_ADDR               UINT8_C(0x09)
+#define BMI270_CONTEXT_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x0A)
+#define BMI270_CONTEXT_ACT_RGN_SETT_STRT_ADDR        UINT8_C(0x00)
+#define BMI270_CONTEXT_ACT_RGN_STRT_ADDR             UINT8_C(0x0A)
+
+/*! @name BMI270_CONTEXT feature output start addresses */
+#define BMI270_CONTEXT_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
+#define BMI270_CONTEXT_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x04)
+#define BMI270_CONTEXT_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
+#define BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_CONTEXT_MAX_PAGE_NUM                  UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_CONTEXT_MAX_FEAT_IN                   UINT8_C(10)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_CONTEXT_MAX_FEAT_OUT                  UINT8_C(5)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_CONTEXT_STEP_CNT_STATUS_MASK          UINT8_C(0x01)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_C_INT_STEP_COUNTER_MASK               UINT8_C(0x01)
+#define BMI270_C_INT_STEP_DETECTOR_MASK              UINT8_C(0x01)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_C_MAX_INT_MAP                         UINT8_C(2)
+
+/***************************************************************************/
+
+/*!     BMI270_CONTEXT User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270_context
+ * \defgroup bmi270_contextApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270_contextApiInit
+ * \page bmi270_context_api_bmi270_context_init bmi270_context_init
+ * \code
+ * int8_t bmi270_context_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_CONTEXT sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ *
+ * @param[in, out] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_context
+ * \defgroup bmi270_contextApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_contextApiSensor
+ * \page bmi270_context_api_bmi270_context_sensor_enable bmi270_context_sensor_enable
+ * \code
+ * int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be enabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be enabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_ACTIVITY_RECOGNITION   |  34
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_contextApiSensor
+ * \page bmi270_context_api_bmi270_context_sensor_disable bmi270_context_sensor_disable
+ * \code
+ * int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be disabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be disabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_ACTIVITY_RECOGNITION   |  34
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_context
+ * \defgroup bmi270_contextApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_contextApiSensorC
+ * \page bmi270_context_api_bmi270_context_set_sensor_config bmi270_context_set_sensor_config
+ * \code
+ * int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be configured
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_contextApiSensorC
+ * \page bmi270_context_api_bmi270_context_get_sensor_config bmi270_context_get_sensor_config
+ * \code
+ * int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose configurations can be read.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_context
+ * \defgroup bmi270_contextApiSensorD Sensor Data
+ * @brief Get sensor data
+ */
+
+/*!
+ * \ingroup bmi270_contextApiSensorD
+ * \page bmi270_context_api_bmi270_context_get_sensor_data bmi270_context_get_sensor_data
+ * \code
+ * int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ *
+ * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
+ * @param[in]  n_sens        : Number of sensors selected.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose data can be read
+ *
+ *@verbatim
+ *  sens_list           |  Values
+ * ---------------------|-----------
+ * BMI2_STEP_COUNTER    |   7
+ * BMI2_NVM_STATUS      |  38
+ * BMI2_VFRM_STATUS     |  39
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_context
+ * \defgroup bmi270_contextApiARecog Activity recognition settings
+ * @brief Set / Get activity recognition settings of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_contextApiARecog
+ * \page bmi270_context_api_bmi270_context_get_act_recg_sett bmi270_context_get_act_recg_sett
+ * \code
+ * int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
+ * \endcode
+ * @details This api is used for retrieving the following activity recognition settings currently set.
+ * enable/disable post processing(0/1) by default -> 1(enable),
+ * Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
+ * max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
+ * buffer size for post processing. range (1-0x0A) default -> (0x0A)
+ * min segment confidence.  range (1-0x0A) default -> (0x0A)
+ *
+ * @param[in] sett  : Structure instance of bmi2_act_recg_sett.
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_contextApiARecog
+ * \page bmi270_context_api_bmi270_context_set_act_recg_sett bmi270_context_set_act_recg_sett
+ * \code
+ * int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
+ * \endcode
+ * @details This api is used for setting the following activity recognition settings
+ * enable/disable post processing(0/1) by default -> 1(enable),
+ * Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
+ * max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
+ * buffer size for post processing. range (1-0x0A) default -> (0x0A)
+ * min segment confidence.  range (1-0x0A) default -> (0x0A)
+ *
+ * @param[in] sett  : Structure instance of bmi2_act_recg_sett.
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_contex
+ * \defgroup bmi270_contextApiactOut Activity Output
+ * @brief Activity output operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_contextApiactOut
+ * \page bmi270_context_api_bmi270_context_get_act_recog_output bmi270_context_get_act_recog_output
+ * \code
+ * int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+ *                                uint16_t *act_frm_len,
+ *                                struct bmi2_fifo_frame *fifo,
+ *                                const struct bmi2_dev *dev);
+ *
+ * \endcode
+ * @details This internal API is used to parse the activity output from the
+ * FIFO in header mode.
+ *
+ * @param[out] act_recog    : Pointer to buffer where the parsed activity data
+ *                           bytes are stored.
+ * @param[in] act_frm_len   : Number of activity frames parsed.
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ * ----------------------------------------------------------------------------
+ *  bmi2_act_rec_output     |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *      time_stamp          |  time-stamp (expressed in 50Hz ticks)
+ * -------------------------|---------------------------------------------------
+ *      type                |           Type of activity
+ * -------------------------|---------------------------------------------------
+ *      stat                |           Activity status
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ *@verbatim
+ *  type    |  Activities
+ *----------|---------------------
+ *  0       |  UNKNOWN
+ *  1       |  STILL
+ *  2       |  WALK
+ *  3       |  RUN
+ *  4       |  BIKE
+ *  5       | VEHICLE
+ *  6       | TILTED
+ *@endverbatim
+ *
+ *
+ *@verbatim
+ *  stat    |  Activity status
+ *----------|---------------------
+ *  1       |  START
+ *  2       |  END
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                           uint16_t *act_frm_len,
+                                           struct bmi2_fifo_frame *fifo,
+                                           const struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_contex
+ * \defgroup bmi270_contextApiGyroUG Gyro User Gain
+ * @brief Set / Get Gyro User Gain of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_contextApiGyroUG
+ * \page bmi270_context_api_bmi270_context_update_gyro_user_gain bmi270_context_update_gyro_user_gain
+ * \code
+ * int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API updates the gyroscope user-gain.
+ *
+ * @param[in] user_gain      : Structure that stores user-gain configurations.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_contextApiGyroUG
+ * \page bmi270_context_api_bmi270_context_read_gyro_user_gain bmi270_context_read_gyro_user_gain
+ * \code
+ * int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the compensated gyroscope user-gain values.
+ *
+ * @param[out] gyr_usr_gain   : Structure that stores gain values.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_contextApiInt
+ * \page bmi270_context_api_bmi270_context_map_feat_int bmi270_context_map_feat_int
+ * \code
+ * int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+ * \endcode
+ * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+ *
+ * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+ * @param[in] n_sens       : Number of interrupts to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_CONTEXT_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c
new file mode 100644
index 0000000000..a7c9172dd4
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c
@@ -0,0 +1,3165 @@
+/**
+* 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       bmi270_hc.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270_hc.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270_huawei_context */
+const uint8_t bmi270_hc_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xa8,
+    0x03, 0x80, 0x2e, 0x91, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x7d, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xae, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x39, 0x01, 0x00, 0x22,
+    0x00, 0x76, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0x72, 0xb3, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xd0, 0x86, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x00, 0x08, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x01, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x48, 0x02, 0x01, 0x2e, 0x49, 0xf1, 0x0b,
+    0xbc, 0x10, 0x50, 0x0f, 0xb8, 0x00, 0x90, 0xfb, 0x7f, 0x07, 0x2f, 0x03, 0x2e, 0x21, 0xf2, 0x02, 0x31, 0x4a, 0x0a,
+    0x23, 0x2e, 0x21, 0xf2, 0x09, 0x2c, 0x00, 0x30, 0x98, 0x2e, 0x0e, 0xc7, 0x03, 0x2e, 0x21, 0xf2, 0xf2, 0x3e, 0x4a,
+    0x08, 0x23, 0x2e, 0x21, 0xf2, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x13, 0x52, 0x00, 0x2e, 0x60, 0x40, 0x41, 0x40,
+    0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0x43, 0x86, 0x25, 0x40, 0x04, 0x40, 0xd8, 0xbe, 0x2c,
+    0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e, 0x15, 0x50, 0x10, 0x50, 0x17, 0x52,
+    0x05, 0x2e, 0x7e, 0x00, 0xfb, 0x7f, 0x00, 0x2e, 0x13, 0x40, 0x93, 0x42, 0x41, 0x0e, 0xfb, 0x2f, 0x98, 0x2e, 0xe0,
+    0x03, 0x98, 0x2e, 0x87, 0xcf, 0x01, 0x2e, 0x8b, 0x00, 0x00, 0xb2, 0x08, 0x2f, 0x01, 0x2e, 0x69, 0xf7, 0xb1, 0x3f,
+    0x01, 0x08, 0x01, 0x30, 0x23, 0x2e, 0x8b, 0x00, 0x21, 0x2e, 0x69, 0xf7, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x98,
+    0x00, 0xff, 0x3f, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0x8f, 0x00, 0x1e, 0xf2, 0xfd, 0xf5,
+    0x8d, 0x00, 0x95, 0x00, 0x95, 0x00, 0xe0, 0x00, 0x19, 0xf4, 0x66, 0xf5, 0x00, 0x18, 0xff, 0x00, 0x64, 0xf5, 0x9c,
+    0x00, 0x81, 0x00, 0x83, 0x00, 0x7f, 0x00, 0xff, 0xfb, 0x21, 0x02, 0x00, 0x10, 0x00, 0x40, 0x3a, 0x0f, 0xeb, 0x00,
+    0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0x34, 0x0f, 0x28, 0x0f, 0x2e, 0x0f, 0x80, 0x00, 0x4d, 0x0f, 0x58, 0xf7, 0x5b,
+    0xf7, 0x50, 0x0f, 0x00, 0x80, 0xff, 0x7f, 0x86, 0x00, 0x3f, 0x0f, 0x52, 0x0f, 0xb3, 0xf1, 0x4c, 0x0f, 0x6c, 0xf7,
+    0xb9, 0xf1, 0xc6, 0xf1, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x54, 0x0f, 0x57, 0x0f, 0xff, 0x03, 0x00, 0xfc, 0xf0,
+    0x3f, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5, 0x6d, 0x03, 0xf0, 0x07, 0xc3, 0x11, 0x1d, 0x08, 0x12, 0x08, 0xb7, 0x15,
+    0x9c, 0x01, 0xed, 0x14, 0xc2, 0x53, 0xca, 0x10, 0xa2, 0x00, 0x74, 0x01, 0xba, 0x17, 0xb4, 0x56, 0xe8, 0x16, 0x9f,
+    0x00, 0xd7, 0x13, 0x2f, 0x52, 0x8a, 0x51, 0x64, 0x01, 0xc6, 0x53, 0xf4, 0x0b, 0x06, 0x08, 0xfc, 0x57, 0xe3, 0x44,
+    0xad, 0x55, 0x4c, 0x01, 0x62, 0x01, 0x0b, 0x08, 0xa0, 0x18, 0x39, 0x59, 0x56, 0x2b, 0x14, 0x01, 0x2a, 0x58, 0x5e,
+    0x0c, 0xc1, 0x47, 0x16, 0x5a, 0xd2, 0x07, 0x2b, 0x21, 0x7f, 0x53, 0x03, 0x08, 0xca, 0x59, 0x1a, 0x0b, 0x5f, 0x57,
+    0x36, 0x47, 0xa6, 0x17, 0x02, 0x01, 0x33, 0x49, 0xdd, 0x58, 0x71, 0x0c, 0x32, 0x08, 0xc6, 0x59, 0xd4, 0x42, 0x65,
+    0x54, 0x15, 0x59, 0x64, 0x08, 0x0c, 0x08, 0x8c, 0x01, 0x98, 0x00, 0x0f, 0x48, 0x02, 0x58, 0x96, 0x0c, 0x1c, 0x43,
+    0x77, 0x48, 0xe9, 0x00, 0x1e, 0x0c, 0xf5, 0x41, 0xf6, 0x46, 0x64, 0x51, 0x98, 0x41, 0xcc, 0x01, 0x66, 0x58, 0x70,
+    0x45, 0x28, 0x21, 0xe7, 0x59, 0x22, 0x30, 0x00, 0x08, 0x71, 0x7d, 0x49, 0x01, 0x92, 0x02, 0xf5, 0xd6, 0xe8, 0x63,
+    0x7a, 0xfa, 0x87, 0x05, 0x0f, 0xcb, 0xa3, 0x72, 0x37, 0xfc, 0xca, 0x03, 0x95, 0xc7, 0x2e, 0x6d, 0x39, 0xc4, 0xc8,
+    0x3b, 0x91, 0x37, 0x29, 0x02, 0x9e, 0x01, 0x00, 0xf0, 0x33, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0xd5, 0xb5, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b,
+    0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, 0xec, 0xe6, 0x0c, 0x46,
+    0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01,
+    0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x39, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xe1, 0x06, 0x66, 0x0a, 0x0a, 0x00, 0x0a, 0x00, 0x5a, 0x8d, 0x33,
+    0x73, 0xcd, 0x8c, 0x9a, 0x99, 0x71, 0x7d, 0xcd, 0x8c, 0xcd, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x50, 0x98, 0x2e, 0xbd, 0x0e, 0x50, 0x32, 0x98, 0x2e,
+    0x48, 0x03, 0x10, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00, 0x2e, 0x01,
+    0x80, 0x06, 0xa2, 0xfb, 0x2f, 0x01, 0x2e, 0x9b, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2,
+    0x0c, 0x2f, 0x01, 0x54, 0x03, 0x52, 0x01, 0x50, 0x98, 0x2e, 0xc2, 0xc0, 0x98, 0x2e, 0x0e, 0xb1, 0x01, 0x50, 0x98,
+    0x2e, 0xdd, 0xb5, 0x10, 0x30, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0x86, 0x00, 0x04, 0xae, 0x0b, 0x2f, 0x01, 0x2e,
+    0x9b, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x01, 0x52, 0x98, 0x2e, 0x74, 0x0e, 0x00, 0xb2, 0x02, 0x2f, 0x10, 0x30, 0x21,
+    0x2e, 0x79, 0x00, 0x01, 0x2e, 0x79, 0x00, 0x00, 0x90, 0x90, 0x2e, 0x14, 0x03, 0x01, 0x2e, 0x89, 0x00, 0x00, 0xb2,
+    0x04, 0x2f, 0x98, 0x2e, 0x15, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7c, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x12,
+    0x2f, 0x01, 0x2e, 0x86, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x05, 0x0e, 0x09, 0x2d, 0x98, 0x2e, 0x5d, 0x0d,
+    0x01, 0x2e, 0x86, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x00, 0x30, 0x21, 0x2e, 0x7c,
+    0x00, 0x01, 0x2e, 0x78, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x2c, 0x03, 0x01, 0x2e, 0x78, 0x00, 0x81, 0x30, 0x01, 0x08,
+    0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x24, 0x02, 0x01, 0x2e, 0x86, 0x00, 0x98, 0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0d,
+    0x58, 0x23, 0x2f, 0x07, 0x90, 0x07, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41, 0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe,
+    0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0d, 0x56, 0x4a, 0x0f, 0x0c, 0x2f, 0xd1, 0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11,
+    0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22, 0x98, 0x2e, 0xa4, 0xb1, 0x21, 0x2d,
+    0x61, 0x30, 0x23, 0x2e, 0x86, 0x00, 0x98, 0x2e, 0xa4, 0xb1, 0x00, 0x30, 0x21, 0x2e, 0x5a, 0xf5, 0x18, 0x2d, 0xf1,
+    0x7f, 0x50, 0x30, 0x98, 0x2e, 0x48, 0x03, 0x0d, 0x52, 0x05, 0x50, 0x50, 0x42, 0x70, 0x30, 0x0b, 0x54, 0x42, 0x42,
+    0x7e, 0x82, 0xf2, 0x6f, 0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0x86, 0x00, 0x10, 0x30, 0x98, 0x2e, 0xa4,
+    0xb1, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0x86, 0x00, 0x01, 0x2e, 0x86, 0x00, 0x06, 0x90, 0x18, 0x2f, 0x01, 0x2e,
+    0x77, 0x00, 0x09, 0x54, 0x05, 0x52, 0xf0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xf1, 0x6f, 0x08, 0x1a, 0x40, 0x30, 0x08,
+    0x2f, 0x21, 0x2e, 0x86, 0x00, 0x20, 0x30, 0x98, 0x2e, 0xea, 0x03, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x05, 0x2d,
+    0x98, 0x2e, 0x1e, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x86, 0x00, 0x00, 0x30, 0x21, 0x2e, 0x78, 0x00, 0x18, 0x2d, 0x01,
+    0x2e, 0x86, 0x00, 0x03, 0xaa, 0x01, 0x2f, 0x98, 0x2e, 0x2b, 0x0e, 0x01, 0x2e, 0x86, 0x00, 0x3f, 0x80, 0x03, 0xa2,
+    0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x41, 0x0e, 0x30, 0x30, 0x98, 0x2e, 0xaf, 0xb1, 0x00, 0x30, 0x21,
+    0x2e, 0x79, 0x00, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x01, 0x2e,
+    0x87, 0x00, 0x21, 0x2e, 0x8f, 0x00, 0x0f, 0x52, 0x7e, 0x82, 0x11, 0x50, 0x41, 0x40, 0x18, 0xb9, 0x11, 0x42, 0x02,
+    0x42, 0x02, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x98, 0x2e, 0xe1, 0x00, 0x00, 0x30, 0x21, 0x2e, 0x19, 0x00,
+    0x21, 0x2e, 0x9b, 0x00, 0x80, 0x2e, 0x52, 0x02, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0xc0, 0x2e, 0x21, 0x2e, 0x4a,
+    0xf1, 0x80, 0x2e, 0x00, 0xc1, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x01,
+    0x34, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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+    0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39, 0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0x23,
+    0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f, 0x4b, 0x08, 0x65, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc,
+    0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0x49, 0x52, 0x67, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94,
+    0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08, 0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e,
+    0x43, 0x42, 0x90, 0x5f, 0x4f, 0x50, 0x03, 0x2e, 0x25, 0xf3, 0x12, 0x40, 0x00, 0x40, 0x28, 0xba, 0x9b, 0xbc, 0x88,
+    0xbd, 0x93, 0xb4, 0xe3, 0x0a, 0x89, 0x16, 0x08, 0xb6, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f,
+    0x98, 0x2e, 0x5d, 0x0d, 0x01, 0x2e, 0x86, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23,
+    0x2e, 0x88, 0x00, 0x21, 0x2e, 0x89, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0x89, 0x00, 0x03, 0x2e, 0x88, 0x00, 0x48, 0x0e,
+    0x01, 0x2f, 0x80, 0x2e, 0x05, 0x0e, 0xb8, 0x2e, 0x69, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25,
+    0x2e, 0x62, 0xf5, 0x01, 0x00, 0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0x69, 0x54, 0xf0, 0x3b,
+    0x83, 0x40, 0xd8, 0x08, 0x6b, 0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64,
+    0xf5, 0x94, 0x00, 0x50, 0x42, 0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42,
+    0xb8, 0x2e, 0x5f, 0x52, 0x00, 0x30, 0x40, 0x42, 0x7c, 0x86, 0x37, 0x52, 0x09, 0x2e, 0x3d, 0x0f, 0x3d, 0x54, 0xc4,
+    0x42, 0xd3, 0x86, 0x54, 0x40, 0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0x89, 0x00, 0x42, 0x40, 0x25, 0x2e,
+    0xfd, 0xf3, 0xc0, 0x42, 0x7e, 0x82, 0x05, 0x2e, 0x79, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x24, 0x02, 0x27,
+    0xbd, 0x2f, 0xb9, 0x80, 0x90, 0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x3e, 0x0f, 0x14, 0x30,
+    0x1c, 0x09, 0x05, 0x2e, 0x77, 0xf7, 0x3b, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0x6d,
+    0x54, 0x50, 0x42, 0x4a, 0x0e, 0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0x6b, 0x50, 0xfb, 0x7f,
+    0xe3, 0x7f, 0xd2, 0x7f, 0xc0, 0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40, 0x48, 0x04, 0x98, 0x2e, 0x74,
+    0xc0, 0x1e, 0xaa, 0xd3, 0x6f, 0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e,
+    0x12, 0x42, 0xd3, 0x7f, 0xeb, 0x2f, 0x03, 0x2e, 0x53, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x53,
+    0x0f, 0x02, 0x2c, 0x00, 0x30, 0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25,
+    0x3c, 0x86, 0xeb, 0x7f, 0x41, 0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x71,
+    0x58, 0xc2, 0x6f, 0x94, 0x09, 0x73, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0x6f, 0x5a, 0x95, 0x08,
+    0x21, 0xbd, 0xf6, 0xbf, 0x77, 0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43,
+    0x42, 0xc0, 0x5f, 0x50, 0x50, 0x77, 0x52, 0x93, 0x30, 0x53, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x4b, 0x42, 0x13, 0x30,
+    0x42, 0x82, 0x20, 0x33, 0x43, 0x42, 0xc8, 0x00, 0x01, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0x7e, 0x00, 0x19, 0x52, 0xe2,
+    0x7f, 0xd0, 0x7f, 0xc3, 0x7f, 0x98, 0x2e, 0x9c, 0x0e, 0xd1, 0x6f, 0x48, 0x0a, 0xd1, 0x7f, 0x3a, 0x25, 0xfb, 0x86,
+    0x01, 0x33, 0x12, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x48, 0x0a, 0x40, 0xb2, 0x0d, 0x2f, 0xe0, 0x6f, 0x03,
+    0x2e, 0x80, 0x03, 0x53, 0x30, 0x07, 0x80, 0x27, 0x2e, 0x21, 0xf2, 0x98, 0xbc, 0x01, 0x42, 0x98, 0x2e, 0xe0, 0x03,
+    0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xb1, 0x6f, 0x9b, 0xb8, 0x07, 0x2e, 0x1b, 0x00, 0x19, 0x1a, 0xb1, 0x7f, 0x71,
+    0x30, 0x04, 0x2f, 0x23, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e,
+    0x5d, 0xc0, 0x98, 0x2e, 0xd9, 0xb5, 0x20, 0x26, 0xc1, 0x6f, 0x02, 0x31, 0x52, 0x42, 0xab, 0x30, 0x4b, 0x42, 0x20,
+    0x33, 0x79, 0x56, 0xf1, 0x37, 0xc4, 0x40, 0xa2, 0x0a, 0xc2, 0x42, 0xd8, 0x00, 0x01, 0x2e, 0x5e, 0xf7, 0x41, 0x08,
+    0x23, 0x2e, 0x93, 0x00, 0xe3, 0x7f, 0x98, 0x2e, 0xe1, 0x00, 0xe1, 0x6f, 0x83, 0x30, 0x43, 0x42, 0x03, 0x30, 0xfb,
+    0x6f, 0x75, 0x50, 0x02, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x81, 0x84, 0x50, 0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30,
+    0xb0, 0x5f, 0x23, 0x2e, 0x21, 0xf2, 0xb8, 0x2e, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00,
+    0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13,
+    0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0xfd, 0x2d
+};
+
+/*! @name  Global array that stores the feature input configuration of
+ * BMI270_HUAWEI_CONTEXT
+ */
+const struct bmi2_feature_config bmi270_hc_feat_in[BMI270_HC_MAX_FEAT_IN] = {
+    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_CONFIG_ID_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_1, .start_addr = BMI270_HC_STEP_CNT_1_STRT_ADDR },
+    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_NVM_PROG_PREP_STRT_ADDR },
+    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_MAX_BURST_LEN_STRT_ADDR },
+    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_CRT_GYRO_SELF_TEST_STRT_ADDR },
+    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_ABORT_STRT_ADDR },
+    { .type = BMI2_ACTIVITY_RECOGNITION_SETTINGS, .page = BMI2_PAGE_5, .start_addr = BMI270_HC_ACT_RGN_SETT_STRT_ADDR },
+    { .type = BMI2_ACTIVITY_RECOGNITION, .page = BMI2_PAGE_5, .start_addr = BMI270_HC_ACT_RGN_STRT_ADDR },
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_hc_feat_out[BMI270_HC_MAX_FEAT_OUT] = {
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_STEP_CNT_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_GYRO_CROSS_SENSE_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_GYR_USER_GAIN_OUT_STRT_ADDR },
+    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_NVM_VFRM_OUT_STRT_ADDR },
+    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_NVM_VFRM_OUT_STRT_ADDR }
+};
+
+/*! @name  Global array that stores the feature interrupts of BMI270_HUAWEI_CONTEXT */
+struct bmi2_map_int bmi270_hc_map_int[BMI270_HC_MAX_INT_MAP] = {
+    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_HC_INT_STEP_COUNTER_MASK },
+    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_HC_INT_STEP_DETECTOR_MASK },
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables the activity recognition feature.
+ *
+ * @param[in] enable    : Enables/Disables activity recognition.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enables activity recognition.
+ * BMI2_DISABLE | Disables activity recognition.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to parse and store the activity recognition
+ * output from the FIFO data.
+ *
+ * @param[out] act_recog        : Structure to retrieve output of activity
+ *                                  recognition frame.
+ * @param[in] data_index        : Index of the FIFO data which contains
+ *                                  activity recognition frame.
+ * @param[out] fifo             : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *data_index,
+                                      const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API skips S4S frame in the FIFO data while getting
+ * activity recognition output.
+ *
+ * @param[in, out] frame_header : FIFO frame header.
+ * @param[in, out] data_index   : Index value of the FIFO data bytes
+ *                                from which S4S frame header is to be
+ *                                skipped.
+ * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal 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 the current frame.
+ * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) Updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_HUAWEI_CONTEXT sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_hc_init(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270_HUAWEI_CONTEXT */
+        dev->chip_id = BMI270_HC_CHIP_ID;
+
+        /* Get the size of config array */
+        dev->config_size = sizeof(bmi270_hc_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_CRT_RTOSK_ENABLE | BMI2_GYRO_CROSS_SENS_ENABLE;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_hc_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_hc_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_hc_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_HC_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_HC_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_HC_MAX_FEAT_OUT;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270_hc_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_HC_MAX_INT_MAP;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Set step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the set configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+                {
+
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Get step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the get configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ */
+int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
+                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
+                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
+            {
+                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for feature
+                 * configurations
+                 */
+                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+                {
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sensor_data[loop].type)
+                    {
+                        case BMI2_STEP_COUNTER:
+
+                            /* Get step counter output */
+                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
+                            break;
+                        case BMI2_NVM_STATUS:
+
+                            /* Get NVM error status  */
+                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
+                            break;
+                        case BMI2_VFRM_STATUS:
+
+                            /* Get VFRM error status  */
+                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
+                            break;
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+
+                    /* Return error if any of the get sensor data fails */
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used for retrieving the activity recognition settings currently set for bmi270hc.
+ */
+int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint16_t msb_lsb;
+    uint8_t lsb;
+    uint8_t msb;
+
+    /* Initialize feature configuration for activity recognition  */
+    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Search for activity recognition feature and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
+        if (feat_found)
+        {
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Get the configuration from the page where activity recognition setting feature resides */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = bmi2_act_recg_sett.start_addr;
+
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+
+                sett->segment_size = msb_lsb & BMI2_HC_ACT_RECG_SEGMENT_SIZE_MASK;
+
+                /* Increment idx by 2 to point post processing enable/disable address */
+                idx = 4;
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+                sett->pp_en = msb_lsb & BMI2_HC_ACT_RECG_PP_EN_MASK;
+
+                /* Increment idx by 2 to point mix gdi thres addres */
+                idx = 6;
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+                sett->min_gdi_thres = msb_lsb & BMI2_HC_ACT_RECG_MIN_GDI_THRES_MASK;
+
+                /* Increment idx by 2 to point max gdi thres addres */
+                idx = 8;
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+                sett->max_gdi_thres = msb_lsb & BMI2_HC_ACT_RECG_MAX_GDI_THRES_MASK;
+
+                /* Increment idx by 2 to point to buffer size */
+                idx = 10;
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+                sett->buf_size = msb_lsb & BMI2_HC_ACT_RECG_BUF_SIZE_MASK;
+
+                /* Increment idx by 2 to to point to min segment confidence */
+                idx = 12;
+                lsb = feat_config[idx++];
+                msb = feat_config[idx++];
+                msb_lsb = ((uint16_t)msb << 8) | lsb;
+                sett->min_seg_conf = msb_lsb & BMI2_HC_ACT_RECG_MIN_SEG_CONF_MASK;
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used for setting the activity recognition settings for bmi270hc.
+ */
+int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Initialize feature configuration for activity recognition  */
+    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Search for activity recognition feature and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
+        if (feat_found)
+        {
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Get the configuration from the page where activity recognition setting feature resides */
+                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Define the offset in bytes */
+                    idx = bmi2_act_recg_sett.start_addr;
+
+                    /* Get offset in words since all the features are set in words length */
+                    idx = idx / 2;
+
+                    /* Set segment size */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
+                                                        BMI2_HC_ACT_RECG_SEGMENT_SIZE,
+                                                        sett->segment_size);
+
+                    /* Starting address of post processing represented in word length */
+                    idx = 2;
+
+                    /* Set post processing */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HC_ACT_RECG_PP_EN, sett->pp_en);
+
+                    /* Starting address of min_gdi_thres represented in word length */
+                    idx = 3;
+
+                    /* Set minimum gdi threshold */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
+                                                        BMI2_HC_ACT_RECG_MIN_GDI_THRES,
+                                                        sett->min_gdi_thres);
+
+                    /* Starting address of max_gdi_thres represented in word length */
+                    idx = 4;
+
+                    /* Set maximum gdi threshold */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
+                                                        BMI2_HC_ACT_RECG_MAX_GDI_THRES,
+                                                        sett->max_gdi_thres);
+
+                    /* Starting address of buffer size represented in word length */
+                    idx = 5;
+
+                    /* Set buffer size */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HC_ACT_RECG_BUF_SIZE, sett->buf_size);
+
+                    /* Starting address of min_seg_conf represented in word length */
+                    idx = 6;
+
+                    /* Set min segment confidence */
+                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
+                                                        BMI2_HC_ACT_RECG_MIN_SEG_CONF,
+                                                        sett->min_seg_conf);
+
+                    /* Increment offset by 1 more word to get the total length in words */
+                    idx++;
+
+                    /* Get total length in bytes to copy from local pointer to the array */
+                    idx = (uint8_t)(idx * 2) - bmi2_act_recg_sett.start_addr;
+
+                    /* Copy the bytes to be set back to the array */
+                    for (index = 0; index <= idx; index++)
+                    {
+                        feat_config[bmi2_act_recg_sett.start_addr +
+                                    index] = *((uint8_t *) data_p + bmi2_act_recg_sett.start_addr + index);
+                    }
+
+                    rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the activity output from the
+ * FIFO in header mode.
+ */
+int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *act_frm_len,
+                                      struct bmi2_fifo_frame *fifo,
+                                      const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index activity frames */
+    uint16_t act_idx = 0;
+
+    /* Variable to indicate activity frames read */
+    uint16_t frame_to_read = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (act_recog != NULL) && (act_frm_len != NULL) && (fifo != NULL))
+    {
+
+        /* Store the number of frames to be read */
+        frame_to_read = *act_frm_len;
+        for (data_index = fifo->act_recog_byte_start_idx; data_index < fifo->length;)
+        {
+            /* Get frame header byte */
+            frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+            /* Skip S4S frames if S4S is enabled */
+            rslt = move_if_s4s_frame(&frame_header, &data_index, fifo);
+
+            /* Break if FIFO is empty */
+            if (rslt == BMI2_W_FIFO_EMPTY)
+            {
+                break;
+            }
+
+            /* Index shifted to next byte where data starts */
+            data_index++;
+            switch (frame_header)
+            {
+                /* If header defines accelerometer frame */
+                case BMI2_FIFO_HEADER_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer and auxiliary frames */
+                case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer and gyroscope frames */
+                case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+                    rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines accelerometer, auxiliary and gyroscope frames */
+                case BMI2_FIFO_HEADER_ALL_FRM:
+                    rslt = move_next_frame(&data_index, fifo->all_frm_len, fifo);
+                    break;
+
+                /* If header defines only gyroscope frame */
+                case BMI2_FIFO_HEADER_GYR_FRM:
+                    rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines only auxiliary frame */
+                case BMI2_FIFO_HEADER_AUX_FRM:
+                    rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+                    break;
+
+                /* If header defines auxiliary and gyroscope frame */
+                case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+                    rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
+                    break;
+
+                /* If header defines sensor time frame */
+                case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_SENSOR_TIME_LENGTH, fifo);
+                    break;
+
+                /* If header defines skip frame */
+                case BMI2_FIFO_HEADER_SKIP_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_FIFO_SKIP_FRM_LENGTH, fifo);
+                    break;
+
+                /* If header defines Input configuration frame */
+                case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+                    rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+                    break;
+
+                /* If header defines invalid frame or end of valid data */
+                case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+                    /* Move the data index to the last byte to mark completion */
+                    data_index = fifo->length;
+
+                    /* FIFO is empty */
+                    rslt = BMI2_W_FIFO_EMPTY;
+                    break;
+
+                /* If header defines activity recognition frame */
+                case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+
+                    /* Get the activity output */
+                    rslt = unpack_act_recog_output(&act_recog[(act_idx)], &data_index, fifo);
+
+                    /* Update activity frame index */
+                    (act_idx)++;
+                    break;
+                default:
+
+                    /* Move the data index to the last byte in case of invalid values */
+                    data_index = fifo->length;
+
+                    /* FIFO is empty */
+                    rslt = BMI2_W_FIFO_EMPTY;
+                    break;
+            }
+
+            /* Number of frames to be read is complete or FIFO is empty */
+            if ((frame_to_read == act_idx) || (rslt == BMI2_W_FIFO_EMPTY))
+            {
+                break;
+            }
+        }
+
+        /* Update the activity frame index */
+        (*act_frm_len) = act_idx;
+
+        /* Update the activity byte index */
+        fifo->act_recog_byte_start_idx = data_index;
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the gyroscope user-gain.
+ */
+int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_hc_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_hc_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_hc_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_hc_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_hc_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+                case BMI2_STEP_COUNTER:
+                case BMI2_STEP_DETECTOR:
+
+                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
+                    break;
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+            }
+
+            /* Return error if interrupt mapping fails */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+            case BMI2_ACCEL:
+                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+                break;
+            case BMI2_GYRO:
+                *sensor_sel |= BMI2_GYRO_SENS_SEL;
+                break;
+            case BMI2_AUX:
+                *sensor_sel |= BMI2_AUX_SENS_SEL;
+                break;
+            case BMI2_TEMP:
+                *sensor_sel |= BMI2_TEMP_SENS_SEL;
+                break;
+            case BMI2_STEP_DETECTOR:
+                *sensor_sel |= BMI2_STEP_DETECT_SEL;
+                break;
+            case BMI2_STEP_COUNTER:
+                *sensor_sel |= BMI2_STEP_COUNT_SEL;
+                break;
+            case BMI2_GYRO_GAIN_UPDATE:
+                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                break;
+            case BMI2_ACTIVITY_RECOGNITION:
+                *sensor_sel |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Enable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable activity recognition feature */
+                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+                {
+                    rslt = set_act_recog(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Disable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable activity recognition feature */
+                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+                {
+                    rslt = set_act_recog(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable Advance power save if disabled while
+                 * configuring and not when already disabled
+                 */
+                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+                {
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-counter feature resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step counter */
+            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+* @brief This internal API enables/disables the activity recognition feature.
+*/
+static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for activity recognition */
+    struct bmi2_feature_config act_recog_cfg = { 0, 0, 0 };
+
+    /* Search for activity recognition and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&act_recog_cfg, BMI2_ACTIVITY_RECOGNITION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where activity
+         * recognition feature resides
+         */
+        rslt = bmi2_get_feat_config(act_recog_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of activity recognition */
+            idx = act_recog_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACTIVITY_RECOG_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter parameters */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
+    uint8_t max_len = 8;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of words to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = (remain_len / 2);
+                }
+
+                /* Get offset in words since all the features are set in words length */
+                page_byte_idx = start_addr / 2;
+                for (; page_byte_idx < max_len;)
+                {
+                    /* Set parameters 1 to 25 */
+                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
+                                                                  BMI2_STEP_COUNT_PARAMS,
+                                                                  step_count_params[param_idx]);
+
+                    /* Increment offset by 1 word to set to the next parameter */
+                    page_byte_idx++;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+
+                /* Get total length in bytes to copy from local pointer to the array */
+                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
+
+                /* Copy the bytes to be set back to the array */
+                for (index = 0; index < page_byte_idx; index++)
+                {
+                    feat_config[step_params_config.start_addr +
+                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
+                }
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Set step buffer size */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr +
+                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Initialize feature configuration for step counter 1 */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words to be read in a page */
+    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of bytes to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = remain_len;
+                }
+
+                /* Get the offset */
+                page_byte_idx = start_addr;
+                while (page_byte_idx < max_len)
+                {
+                    /* Get word to calculate the parameter*/
+                    lsb = (uint16_t) feat_config[page_byte_idx++];
+                    if (page_byte_idx < max_len)
+                    {
+                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
+                    }
+
+                    lsb_msb = lsb | msb;
+
+                    /* Get parameters 1 to 25 */
+                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter 4 feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter 4 parameter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for step counter/detector/activity */
+            idx = step_count_config.start_addr;
+
+            /* Get word to calculate water-mark level and reset counter */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get water-mark level */
+            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
+
+            /* Get reset counter */
+            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
+
+            /* Get word to calculate output configuration of step detector and activity */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t) feat_config[idx++];
+            *step_count |= ((uint32_t) feat_config[idx++] << 8);
+            *step_count |= ((uint32_t) feat_config[idx++] << 16);
+            *step_count |= ((uint32_t) feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the activity recognition
+ * output from the FIFO data.
+ */
+static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *data_index,
+                                      const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variables to define 4 bytes of sensor time */
+    uint32_t time_stamp_byte4 = 0;
+    uint32_t time_stamp_byte3 = 0;
+    uint32_t time_stamp_byte2 = 0;
+    uint32_t time_stamp_byte1 = 0;
+
+    /* Validate data index */
+    if ((*data_index + BMI2_FIFO_VIRT_ACT_DATA_LENGTH) >= fifo->length)
+    {
+        /* Update the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Get time-stamp from the activity recognition frame */
+        time_stamp_byte4 = ((uint32_t)(fifo->data[(*data_index) + 3]) << 24);
+        time_stamp_byte3 = ((uint32_t)(fifo->data[(*data_index) + 2]) << 16);
+        time_stamp_byte2 = fifo->data[(*data_index) + 1] << 8;
+        time_stamp_byte1 = fifo->data[(*data_index)];
+
+        /* Update time-stamp from the virtual frame */
+        act_recog->time_stamp = (time_stamp_byte4 | time_stamp_byte3 | time_stamp_byte2 | time_stamp_byte1);
+
+        /* Move the data index by 4 bytes */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TIME_LENGTH;
+
+        /* Update the previous activity from the virtual frame */
+        act_recog->prev_act = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TYPE_LENGTH;
+
+        /* Update the current activity from the virtual frame */
+        act_recog->curr_act = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_STAT_LENGTH;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for VFRM error status */
+    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
+
+    /* Search for VFRM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for VFRM error status */
+        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for VFRM error status */
+            idx = vfrm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Internal error while acquiring lock for FIFO */
+            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
+
+            /* Internal error while writing byte into FIFO */
+            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
+
+            /* Internal error while writing into FIFO */
+            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API skips S4S frame in the FIFO data while getting
+ * step activity output.
+ */
+static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to extract virtual header byte */
+    uint8_t virtual_header_mode;
+
+    /* Variable to define pay-load in words */
+    uint8_t payload_word = 0;
+
+    /* Variable to define pay-load in bytes */
+    uint8_t payload_bytes = 0;
+
+    /* Extract virtual header mode from the frame header */
+    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
+
+    /* If the extracted header byte is a virtual header */
+    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
+    {
+        /* If frame header is not activity recognition header */
+        if (*frame_header != 0xC8)
+        {
+            /* Extract pay-load in words from the header byte */
+            payload_word = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_PAYLOAD) + 1;
+
+            /* Convert to bytes */
+            payload_bytes = (uint8_t)(payload_word * 2);
+
+            /* Move the data index by those pay-load bytes */
+            rslt = move_next_frame(data_index, payload_bytes, fifo);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + current_frame_length) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+    else
+    {
+        /* Move the data index to next frame */
+        (*data_index) = (*data_index) + current_frame_length;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h
new file mode 100644
index 0000000000..2a1b5bc07b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h
@@ -0,0 +1,483 @@
+/**
+* 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       bmi270_hc.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270_hc BMI270_HC
+ * @brief Sensor driver for BMI270_HC sensor
+ */
+
+#ifndef BMI270_HC_H_
+#define BMI270_HC_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270_HC Chip identifier */
+#define BMI270_HC_CHIP_ID                       UINT8_C(0x24)
+
+/*! @name BMI270_HC feature input start addresses */
+#define BMI270_HC_CONFIG_ID_STRT_ADDR           UINT8_C(0x06)
+#define BMI270_HC_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
+#define BMI270_HC_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
+#define BMI270_HC_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x08)
+#define BMI270_HC_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x09)
+#define BMI270_HC_ABORT_STRT_ADDR               UINT8_C(0x09)
+#define BMI270_HC_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x0A)
+#define BMI270_HC_ACT_RGN_SETT_STRT_ADDR        UINT8_C(0x02)
+#define BMI270_HC_ACT_RGN_STRT_ADDR             UINT8_C(0x00)
+
+/*! @name BMI270_HC feature output start addresses */
+#define BMI270_HC_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
+#define BMI270_HC_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x04)
+#define BMI270_HC_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
+#define BMI270_HC_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_HC_MAX_PAGE_NUM                  UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_HC_MAX_FEAT_IN                   UINT8_C(10)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_HC_MAX_FEAT_OUT                  UINT8_C(5)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_HC_STEP_CNT_STATUS_MASK          UINT8_C(0x01)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_HC_INT_STEP_COUNTER_MASK         UINT8_C(0x01)
+#define BMI270_HC_INT_STEP_DETECTOR_MASK        UINT8_C(0x01)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_HC_MAX_INT_MAP                   UINT8_C(2)
+
+/***************************************************************************/
+
+/*!     BMI270_HC User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270_hcApiInit
+ * \page bmi270_hc_api_bmi270_hc_init bmi270_hc_init
+ * \code
+ * int8_t bmi270_hc_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_HC sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ *
+ * @param[in, out] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_hcApiSensor
+ * \page bmi270_hc_api_bmi270_hc_sensor_enable bmi270_hc_sensor_enable
+ * \code
+ * int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be enabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be enabled.
+ *
+ *@verbatim
+  *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_ACTIVITY_RECOGNITION   |  34
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_hcApiSensor
+ * \page bmi270_hc_api_bmi270_hc_sensor_disable bmi270_hc_sensor_disable
+ * \code
+ * int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be disabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be disabled.
+ *
+ *@verbatim
+  *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_ACTIVITY_RECOGNITION   |  34
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_hcApiSensorC
+ * \page bmi270_hc_api_bmi270_hc_set_sensor_config bmi270_hc_set_sensor_config
+ * \code
+ * int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be configured
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_hcApiSensorC
+ * \page bmi270_hc_api_bmi270_hc_get_sensor_config bmi270_hc_get_sensor_config
+ * \code
+ * int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose configurations can be read.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiSensorD Sensor Data
+ * @brief Get sensor data
+ */
+
+/*!
+ * \ingroup bmi270_hcApiSensorD
+ * \page bmi270_hc_api_bmi270_hc_get_sensor_data bmi270_hc_get_sensor_data
+ * \code
+ * int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ *
+ * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
+ * @param[in]  n_sens        : Number of sensors selected.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose data can be read
+ *
+ *@verbatim
+ *  sens_list           |  Values
+ * ---------------------|-----------
+ * BMI2_STEP_COUNTER    |   7
+ * BMI2_NVM_STATUS      |  38
+ * BMI2_VFRM_STATUS     |  39
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiARecoghc Activity recognition settings
+ * @brief Set / Get activity recognition settings of bmi270hc sensor
+ */
+
+/*!
+ * \ingroup bmi270_hcApiARecoghc
+ * \page bmi270_hc_api_bmi270_hc_get_act_recg_sett bmi270_hc_get_act_recg_sett
+ * \code
+ * int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
+ * \endcode
+ * @details This api is used for retrieving the following activity recognition settings currently set.
+ *
+ * @param[in] sett  : Structure instance of bmi2_hc_act_recg_sett.
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_hcApiARecoghc
+ * \page bmi270_hc_api_bmi270_hc_set_act_recg_sett bmi270_hc_set_act_recg_sett
+ * \code
+ * int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
+ * \endcode
+ * @details This api is used for setting the following activity recognition settings
+ *
+ * @param[in] sett  : Structure instance of bmi2_hc_act_recg_sett.
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiactOut Activity Output
+ * @brief Activity output operations of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_hcApiactOut
+ * \page bmi270_hc_api_bmi270_hc_get_act_recog_output bmi270_hc_get_act_recog_output
+ * \code
+ * int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+ *                                uint16_t *act_frm_len,
+ *                                struct bmi2_fifo_frame *fifo,
+ *                                const struct bmi2_dev *dev);
+ *
+ * \endcode
+ * @details This internal API is used to parse the activity output from the
+ * FIFO in header mode.
+ *
+ * @param[out] act_recog    : Pointer to buffer where the parsed activity data
+ *                           bytes are stored.
+ * @param[in] act_frm_len   : Number of activity frames parsed.
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ * ----------------------------------------------------------------------------
+ *  bmi2_act_rec_output     |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *      time_stamp          |  time-stamp (expressed in 50Hz ticks)
+ * -------------------------|---------------------------------------------------
+ *      type                |           Type of activity
+ * -------------------------|---------------------------------------------------
+ *      stat                |           Activity status
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ *@verbatim
+ *  type    |  Activities
+ *----------|---------------------
+ *  0       |  UNKNOWN
+ *  1       |  STILL
+ *  2       |  WALK
+ *  3       |  RUN
+ *  4       |  BIKE
+ *  5       | VEHICLE
+ *  6       | TILTED
+ *@endverbatim
+ *
+ *
+ *@verbatim
+ *  stat    |  Activity status
+ *----------|---------------------
+ *  1       |  START
+ *  2       |  END
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
+                                      uint16_t *act_frm_len,
+                                      struct bmi2_fifo_frame *fifo,
+                                      const struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_hc
+ * \defgroup bmi270_hcApiGyroUG Gyro User Gain
+ * @brief Set / Get Gyro User Gain of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_hcApiGyroUG
+ * \page bmi270_hc_api_bmi270_hc_update_gyro_user_gain bmi270_hc_update_gyro_user_gain
+ * \code
+ * int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API updates the gyroscope user-gain.
+ *
+ * @param[in] user_gain      : Structure that stores user-gain configurations.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_hcApiGyroUG
+ * \page bmi270_hc_api_bmi270_hc_read_gyro_user_gain bmi270_hc_read_gyro_user_gain
+ * \code
+ * int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the compensated gyroscope user-gain values.
+ *
+ * @param[out] gyr_usr_gain   : Structure that stores gain values.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_hcApiInt
+ * \page bmi270_hc_api_bmi270_hc_map_feat_int bmi270_hc_map_feat_int
+ * \code
+ * int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+ * \endcode
+ * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+ *
+ * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+ * @param[in] n_sens       : Number of interrupts to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_HC_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c
new file mode 100644
index 0000000000..c97e4bdd8b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c
@@ -0,0 +1,212 @@
+/**
+* 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       bmi270_maximum_fifo.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270_maximum_fifo.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270 */
+const uint8_t bmi270_maximum_fifo_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
+    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
+    0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
+    0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
+    0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
+    0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
+    0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
+    0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
+    0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
+    0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
+    0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
+    0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
+    0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
+    0xf5, 0xeb, 0x2c, 0xe1, 0x6f
+};
+
+// The rest of this is not needed, avoid compiler errors due to pedantic settings
+#if false
+
+/*! @name  Global array that stores the feature input configuration of BMI270 */
+const struct bmi2_feature_config bmi270_maximum_fifo_feat_in[BMI270_MAXIMUM_FIFO_MAX_FEAT_IN] = {
+
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_maximum_fifo_feat_out[BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT] = {
+
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270 */
+        dev->chip_id = BMI270_MAXIMUM_FIFO_CHIP_ID;
+
+        dev->config_size = sizeof(bmi270_maximum_fifo_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_MAXIMUM_FIFO_VARIANT;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_maximum_fifo_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_maximum_fifo_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_maximum_fifo_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define result */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+#endif
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h
new file mode 100644
index 0000000000..e912a96a63
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h
@@ -0,0 +1,117 @@
+/**
+* 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       bmi270_maximum_fifo.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270_maximum_fifo BMI270_MAXIMUM_FIFO
+ * @brief Sensor driver for BMI270_MAXIMUM_FIFO sensor
+ */
+
+#ifndef BMI270_MAXIMUM_FIFO_H_
+#define BMI270_MAXIMUM_FIFO_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270 Chip identifier */
+#define BMI270_MAXIMUM_FIFO_CHIP_ID       UINT8_C(0x24)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM  UINT8_C(0)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_MAXIMUM_FIFO_MAX_FEAT_IN   UINT8_C(0)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT  UINT8_C(0)
+
+/*! @name Mask definitions for feature interrupt status bits */
+
+/***************************************************************************/
+
+/*!     BMI270 User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270_maximum_fifo
+ * \defgroup bmi270_maximum_fifoApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270_maximum_fifoApiInit
+ * \page bmi270_maximum_fifo_api_bmi270_maximum_fifo_init bmi270_maximum_fifo_init
+ * \code
+ * int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ *
+ * @param[in, out] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_MAXIMUM_FIFO_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c
new file mode 100644
index 0000000000..eda23cc022
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c
@@ -0,0 +1,3431 @@
+/**
+* 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       bmi270_wh.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270_wh.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270_WH */
+const uint8_t bmi270_wh_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xf8, 0x02, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xe1, 0x00, 0x80, 0x2e, 0xc0,
+    0x02, 0x80, 0x2e, 0xe2, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x2c, 0x02, 0x80, 0x2e, 0xe4, 0x07, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xdd, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x31, 0x01, 0x00, 0x22,
+    0x00, 0x80, 0x00, 0xfa, 0x07, 0xff, 0x0f, 0xd1, 0x00, 0x65, 0x9d, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x7b, 0xaf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x03, 0x00, 0x18, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x12,
+    0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x8e, 0x01, 0xc8, 0x2e, 0xc8, 0x2e, 0xbb, 0x52,
+    0x00, 0x2e, 0x60, 0x40, 0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0x43, 0x86, 0x25,
+    0x40, 0x04, 0x40, 0xd8, 0xbe, 0x2c, 0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x31, 0x00, 0x00,
+    0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0x04, 0x00, 0xee,
+    0x06, 0xf2, 0x05, 0x80, 0x80, 0x16, 0xf1, 0x02, 0x02, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00,
+    0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19,
+    0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00,
+    0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x98, 0xf1, 0xaf, 0x00, 0xae, 0x00, 0x1e,
+    0xf2, 0x19, 0xf4, 0x66, 0xf5, 0x00, 0x04, 0xff, 0x00, 0x64, 0xf5, 0x96, 0x00, 0xaa, 0x00, 0x86, 0x00, 0x99, 0x00,
+    0x88, 0x00, 0x8a, 0x00, 0xff, 0x3f, 0xff, 0xfb, 0x31, 0x01, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xb2, 0x00, 0xff,
+    0x03, 0x00, 0xfc, 0xf0, 0x3f, 0x0b, 0x01, 0x0e, 0x01, 0x10, 0x01, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5, 0xb0, 0x00,
+    0x20, 0xf2, 0xb2, 0x00, 0xff, 0x1f, 0x00, 0x40, 0x80, 0x2e, 0xc0, 0x08, 0x1d, 0x6c, 0xad, 0x00, 0x59, 0x01, 0x31,
+    0xd1, 0xff, 0x7f, 0x00, 0x08, 0xee, 0x7a, 0xe4, 0x0c, 0x12, 0x02, 0xb3, 0x00, 0xb4, 0x04, 0x62, 0x03, 0xc0, 0x02,
+    0x1f, 0xf8, 0xe1, 0x07, 0xd3, 0x07, 0xd7, 0x00, 0xd3, 0x00, 0xb9, 0x00, 0xc3, 0x00, 0xc5, 0x00, 0xbd, 0x00, 0xbc,
+    0x00, 0xbf, 0x00, 0xdd, 0x00, 0x95, 0x00, 0xc2, 0x00, 0xd6, 0x00, 0xf0, 0x00, 0x00, 0xff, 0x00, 0x80, 0x30, 0x50,
+    0x98, 0x2e, 0xc3, 0xb0, 0x02, 0x30, 0x00, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x01, 0x30, 0x00, 0x2e, 0x41,
+    0x82, 0x48, 0xa2, 0xfb, 0x2f, 0x03, 0x2e, 0x95, 0x00, 0x40, 0xb2, 0x1a, 0x2f, 0x05, 0x2e, 0x0a, 0x01, 0x91, 0x52,
+    0x98, 0x2e, 0xc7, 0xc1, 0x05, 0x2e, 0x18, 0x00, 0x80, 0xb2, 0x02, 0x30, 0x10, 0x2f, 0xf0, 0x7f, 0x00, 0x2e, 0x91,
+    0x50, 0x98, 0x2e, 0x4d, 0xc3, 0x91, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xbc, 0x03, 0x98, 0x2e, 0x00, 0xb0,
+    0x10, 0x30, 0x21, 0x2e, 0x19, 0x00, 0xf0, 0x6f, 0x02, 0x30, 0x03, 0x2e, 0x85, 0x00, 0x40, 0xb2, 0x40, 0x2f, 0x03,
+    0x2e, 0x85, 0x00, 0x03, 0x31, 0x4b, 0x08, 0x40, 0xb2, 0x07, 0x2f, 0xf0, 0x7f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30,
+    0x21, 0x2e, 0x19, 0x00, 0xf0, 0x6f, 0x02, 0x30, 0x03, 0x2e, 0x85, 0x00, 0x43, 0x30, 0x4b, 0x08, 0x40, 0xb2, 0x2a,
+    0x2f, 0x03, 0x2e, 0x90, 0x00, 0xf0, 0x7f, 0x40, 0xb2, 0x0e, 0x2f, 0x41, 0x90, 0x20, 0x2f, 0x05, 0x2e, 0x3f, 0x01,
+    0x07, 0x2e, 0x91, 0x00, 0xa1, 0x32, 0x95, 0x58, 0x98, 0x2e, 0x97, 0xb3, 0x02, 0x30, 0x25, 0x2e, 0x90, 0x00, 0x15,
+    0x2c, 0xf0, 0x6f, 0x93, 0x58, 0xa3, 0x32, 0x10, 0x41, 0x11, 0x41, 0x18, 0xb9, 0x04, 0x41, 0x98, 0xbc, 0x41, 0x0a,
+    0x94, 0x0a, 0x98, 0x2e, 0xf1, 0x03, 0x12, 0x30, 0x21, 0x2e, 0x91, 0x00, 0x21, 0x2e, 0xaf, 0x00, 0x25, 0x2e, 0x90,
+    0x00, 0xf0, 0x6f, 0x02, 0x30, 0x11, 0x30, 0x23, 0x2e, 0x19, 0x00, 0x25, 0x2e, 0x85, 0x00, 0x03, 0x2e, 0x19, 0x00,
+    0x40, 0xb2, 0x22, 0x2f, 0xf0, 0x7f, 0x98, 0x2e, 0xf5, 0xcb, 0x97, 0x54, 0xbc, 0x84, 0x21, 0x2e, 0xae, 0x00, 0x81,
+    0x40, 0x82, 0x86, 0x99, 0x54, 0x18, 0xb8, 0xc3, 0x40, 0x91, 0x42, 0x90, 0x42, 0x33, 0xbc, 0x90, 0x42, 0xe2, 0x7f,
+    0xf0, 0x31, 0x82, 0x40, 0x10, 0x08, 0xf2, 0x6f, 0x25, 0xbd, 0x02, 0x0a, 0xd0, 0x7f, 0x98, 0x2e, 0xa8, 0xcf, 0x06,
+    0xbc, 0xd2, 0x6f, 0xe1, 0x6f, 0x10, 0x0a, 0x40, 0x42, 0x98, 0x2e, 0x2c, 0x03, 0xf0, 0x6f, 0x02, 0x30, 0x25, 0x2e,
+    0x19, 0x00, 0x25, 0x2e, 0x95, 0x00, 0x80, 0x2e, 0x93, 0x01, 0x90, 0x50, 0xf7, 0x7f, 0xe6, 0x7f, 0xd5, 0x7f, 0xc4,
+    0x7f, 0xb3, 0x7f, 0xa1, 0x7f, 0x90, 0x7f, 0x82, 0x7f, 0x7b, 0x7f, 0x98, 0x2e, 0xe3, 0x00, 0x00, 0xb2, 0x65, 0x2f,
+    0x05, 0x2e, 0x31, 0x01, 0x01, 0x2e, 0x11, 0x01, 0x03, 0x2e, 0x0f, 0x01, 0x8f, 0xb9, 0x23, 0xbe, 0x9f, 0xb8, 0xcb,
+    0x0a, 0x24, 0xbc, 0x4f, 0xba, 0x03, 0x2e, 0x12, 0x01, 0x0f, 0xb8, 0x22, 0xbd, 0xdc, 0x0a, 0x2f, 0xb9, 0x9b, 0xbc,
+    0x18, 0x0a, 0x9f, 0xb8, 0x82, 0x0a, 0x91, 0x0a, 0x25, 0x2e, 0x18, 0x00, 0x05, 0x2e, 0xc1, 0xf5, 0x2e, 0xbd, 0x2e,
+    0xb9, 0x01, 0x2e, 0x18, 0x00, 0x31, 0x30, 0x8a, 0x04, 0x00, 0x90, 0x03, 0x2f, 0x01, 0x2e, 0x83, 0x00, 0x00, 0xb2,
+    0x19, 0x2f, 0x9b, 0x50, 0x91, 0x52, 0x98, 0x2e, 0xec, 0x00, 0x05, 0x2e, 0x82, 0x00, 0x25, 0x2e, 0x95, 0x00, 0x05,
+    0x2e, 0x82, 0x00, 0x80, 0x90, 0x02, 0x2f, 0x12, 0x30, 0x25, 0x2e, 0x82, 0x00, 0x01, 0x2e, 0x83, 0x00, 0x00, 0xb2,
+    0x10, 0x30, 0x05, 0x2e, 0x18, 0x00, 0x01, 0x2f, 0x21, 0x2e, 0x18, 0x00, 0x25, 0x2e, 0x83, 0x00, 0x05, 0x2e, 0x18,
+    0x00, 0x80, 0xb2, 0x20, 0x2f, 0x01, 0x2e, 0xc0, 0xf5, 0xf2, 0x30, 0x02, 0x08, 0x07, 0xaa, 0x73, 0x30, 0x03, 0x2e,
+    0x84, 0x00, 0x18, 0x22, 0x41, 0x1a, 0x05, 0x2f, 0x03, 0x2e, 0x66, 0xf5, 0x9f, 0xbc, 0x9f, 0xb8, 0x40, 0x90, 0x0c,
+    0x2f, 0x9d, 0x52, 0x03, 0x30, 0x53, 0x42, 0x2b, 0x30, 0x90, 0x04, 0x5b, 0x42, 0x21, 0x2e, 0x84, 0x00, 0x24, 0xbd,
+    0x7e, 0x80, 0x81, 0x84, 0x43, 0x42, 0x02, 0x42, 0x02, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x9f, 0x52, 0x05, 0x2e, 0x0a,
+    0x01, 0x91, 0x08, 0x00, 0x31, 0x21, 0x2e, 0x60, 0xf5, 0x80, 0xb2, 0x0b, 0x2f, 0xf2, 0x3e, 0x01, 0x2e, 0xca, 0xf5,
+    0x82, 0x08, 0x25, 0x2e, 0xca, 0xf5, 0x05, 0x2e, 0x59, 0xf5, 0xe0, 0x3f, 0x90, 0x08, 0x25, 0x2e, 0x59, 0xf5, 0xa1,
+    0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe6, 0x6f, 0xf7, 0x6f, 0x7b, 0x6f, 0x82, 0x6f, 0x90, 0x6f, 0x70, 0x5f,
+    0xc8, 0x2e, 0xa0, 0x50, 0x80, 0x7f, 0xe7, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f, 0xf6,
+    0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x60, 0xf5, 0x60, 0x7f, 0x98, 0x2e, 0xe3, 0x00, 0x62, 0x6f, 0x01, 0x32,
+    0x91, 0x08, 0x80, 0xb2, 0x0d, 0x2f, 0x00, 0xb2, 0x03, 0x2f, 0x05, 0x2e, 0x18, 0x00, 0x80, 0x90, 0x05, 0x2f, 0xa3,
+    0x56, 0x02, 0x30, 0xc1, 0x42, 0xc2, 0x86, 0x00, 0x2e, 0xc2, 0x42, 0x23, 0x2e, 0x60, 0xf5, 0x00, 0x90, 0x00, 0x30,
+    0x06, 0x2f, 0x21, 0x2e, 0x82, 0x00, 0xa1, 0x50, 0x21, 0x2e, 0x5a, 0xf2, 0x98, 0x2e, 0x3d, 0x03, 0xf6, 0x6f, 0x80,
+    0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe7, 0x6f, 0x7b, 0x6f, 0x60, 0x5f, 0xc8, 0x2e,
+    0xc0, 0x50, 0xe7, 0x7f, 0xf6, 0x7f, 0x26, 0x30, 0x0f, 0x2e, 0x61, 0xf5, 0x2f, 0x2e, 0x85, 0x00, 0x0f, 0x2e, 0x85,
+    0x00, 0xbe, 0x09, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x90, 0x7f, 0x7b, 0x7f, 0x80, 0xb3, 0x81, 0x7f,
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+    0x82, 0x0f, 0x03, 0x2f, 0xf0, 0x6e, 0xf1, 0x54, 0x02, 0x0f, 0x14, 0x2f, 0xe1, 0x6e, 0xc3, 0x7f, 0x98, 0x2e, 0x74,
+    0xc0, 0xc3, 0x6f, 0xf3, 0x54, 0x01, 0x30, 0xc1, 0x7f, 0xc2, 0x0f, 0x0a, 0x2f, 0xf0, 0x6e, 0xf5, 0x52, 0x81, 0x0e,
+    0x11, 0x30, 0x04, 0x2f, 0x00, 0x6f, 0x00, 0xa4, 0x11, 0x30, 0x00, 0x2f, 0x21, 0x30, 0xc1, 0x7f, 0xf1, 0x80, 0xc2,
+    0x40, 0x80, 0x90, 0x07, 0x2f, 0x07, 0x55, 0xb8, 0x86, 0x12, 0x30, 0xc1, 0x42, 0xd7, 0x86, 0x23, 0x2e, 0xc5, 0x00,
+    0xc2, 0x42, 0x38, 0x8a, 0x02, 0x40, 0x0a, 0x1a, 0x07, 0x55, 0x00, 0x30, 0x02, 0x2f, 0x91, 0x42, 0x0e, 0x2c, 0x80,
+    0x42, 0x03, 0x2e, 0xc6, 0x00, 0x12, 0x30, 0x4a, 0x28, 0x23, 0x2e, 0xc6, 0x00, 0x50, 0xa0, 0x04, 0x2f, 0x09, 0x55,
+    0x89, 0x82, 0xc3, 0x6f, 0x83, 0x42, 0x40, 0x42, 0x00, 0x2e, 0x05, 0x2e, 0x8e, 0x00, 0x84, 0x8c, 0x47, 0x41, 0xa1,
+    0x41, 0xa1, 0x56, 0xc0, 0xb3, 0x0b, 0x09, 0xc4, 0x05, 0x44, 0x89, 0x85, 0x41, 0xf3, 0xbf, 0x82, 0x8d, 0xa7, 0x7f,
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+    0xca, 0xd1, 0x6f, 0x08, 0x0f, 0x03, 0x2f, 0x01, 0x2e, 0xbc, 0x00, 0x00, 0x90, 0x03, 0x2f, 0x00, 0x30, 0x21, 0x2e,
+    0xc0, 0x00, 0x12, 0x2d, 0x01, 0x2e, 0xc0, 0x00, 0x71, 0x6f, 0xa1, 0x54, 0x01, 0x80, 0x4a, 0x08, 0x21, 0x2e, 0xc0,
+    0x00, 0x01, 0x0e, 0x07, 0x2f, 0x0d, 0x51, 0x02, 0x80, 0x01, 0x30, 0x21, 0x42, 0x12, 0x30, 0x01, 0x42, 0x25, 0x2e,
+    0xbf, 0x00, 0x91, 0x6f, 0x7e, 0x84, 0x43, 0x40, 0x82, 0x40, 0x7c, 0x80, 0x9a, 0x29, 0x03, 0x40, 0x46, 0x42, 0xc3,
+    0xb2, 0x06, 0x30, 0x00, 0x30, 0x2b, 0x2f, 0xc0, 0x6f, 0x00, 0xb2, 0x00, 0x30, 0x27, 0x2f, 0x01, 0x2e, 0xc4, 0x00,
+    0x00, 0x90, 0x00, 0x30, 0x05, 0x2f, 0xc2, 0x90, 0x03, 0x2f, 0xc0, 0x6f, 0x03, 0x90, 0x00, 0x30, 0x1c, 0x2f, 0x00,
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+    0x6f, 0x98, 0x0e, 0x00, 0x30, 0x05, 0x2f, 0x80, 0xb2, 0x00, 0x30, 0x02, 0x2f, 0x2d, 0x2e, 0xbc, 0x00, 0x10, 0x30,
+    0x42, 0x40, 0x82, 0xac, 0x56, 0x82, 0x01, 0x2f, 0x00, 0xb2, 0x05, 0x2f, 0x0d, 0x55, 0x82, 0x84, 0x2d, 0x2e, 0xbf,
+    0x00, 0x86, 0x42, 0x00, 0x2e, 0x0f, 0x55, 0x56, 0x42, 0x56, 0x42, 0x4a, 0x0e, 0xfb, 0x2f, 0x2d, 0x2e, 0xd6, 0x00,
+    0x01, 0x2d, 0x00, 0x30, 0xeb, 0x6f, 0xb0, 0x5e, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39, 0x80, 0xf3, 0x7f, 0x03,
+    0x42, 0xa1, 0x7f, 0xc2, 0x7f, 0xd1, 0x7f, 0x03, 0x30, 0x03, 0x43, 0xe4, 0x7f, 0xbb, 0x7f, 0x22, 0x30, 0x10, 0x25,
+    0x98, 0x2e, 0x7a, 0xc1, 0xd2, 0x6f, 0x02, 0x17, 0x04, 0x08, 0xc1, 0x6f, 0x0c, 0x09, 0x04, 0x1a, 0x10, 0x30, 0x04,
+    0x30, 0x20, 0x22, 0x01, 0xb2, 0x14, 0x2f, 0x17, 0x59, 0x14, 0x09, 0xf3, 0x30, 0x93, 0x08, 0x24, 0xbd, 0x44, 0xba,
+    0x94, 0x0a, 0x02, 0x17, 0xf3, 0x6f, 0x4c, 0x08, 0x9a, 0x08, 0x8a, 0x0a, 0x19, 0x53, 0x51, 0x08, 0xa1, 0x58, 0x94,
+    0x08, 0x28, 0xbd, 0x98, 0xb8, 0xe4, 0x6f, 0x51, 0x0a, 0x01, 0x43, 0x00, 0x2e, 0xbb, 0x6f, 0x90, 0x5f, 0xb8, 0x2e,
+    0x1b, 0x57, 0x05, 0x40, 0x69, 0x18, 0x0d, 0x17, 0xe1, 0x18, 0x19, 0x05, 0x16, 0x25, 0x37, 0x25, 0x4a, 0x17, 0x54,
+    0x18, 0xec, 0x18, 0x04, 0x30, 0x64, 0x07, 0xea, 0x18, 0x8e, 0x00, 0x5f, 0x02, 0xd9, 0x56, 0x93, 0x00, 0x4c, 0x02,
+    0x2f, 0xb9, 0x91, 0xbc, 0x91, 0x0a, 0x02, 0x42, 0xb8, 0x2e, 0x00, 0x2e, 0x10, 0x24, 0xfa, 0x07, 0x11, 0x24, 0x00,
+    0x10, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x00, 0xc1, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a, 0xfb, 0x2f, 0x10, 0x24,
+    0x50, 0x32, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80, 0x2e, 0x10, 0x00
+};
+
+/*! @name  Global array that stores the feature input configuration of BMI270_WH */
+const struct bmi2_feature_config bmi270_wh_feat_in[BMI270_WH_MAX_FEAT_IN] = {
+    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_CONFIG_ID_STRT_ADDR },
+    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_MAX_BURST_LEN_STRT_ADDR },
+    { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_AXIS_MAP_STRT_ADDR },
+    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_NVM_PROG_PREP_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR },
+    { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_ANY_MOT_STRT_ADDR },
+    { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_NO_MOT_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_WH_STEP_CNT_1_STRT_ADDR },
+    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
+    { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR },
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_wh_feat_out[BMI270_WH_MAX_FEAT_OUT] = {
+    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_CNT_OUT_STRT_ADDR },
+    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_ACT_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR },
+    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR },
+    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR },
+    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR }
+};
+
+/*! @name  Global array that stores the feature interrupts of BMI270_WH */
+struct bmi2_map_int bmi270wh_map_int[BMI270_WH_MAX_INT_MAP] = {
+    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_WH_INT_STEP_COUNTER_MASK },
+    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_WH_INT_STEP_DETECTOR_MASK },
+    { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_WH_INT_STEP_ACT_MASK },
+    { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .sens_map_int = BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK },
+    { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_WH_INT_ANY_MOT_MASK },
+    { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_WH_INT_NO_MOT_MASK },
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable any-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables any-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables any-motion.
+ * BMI2_ENABLE  | Enables any-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables no-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables no-motion.
+ * BMI2_ENABLE  | Enables no-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step activity.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step activity
+ * BMI2_ENABLE  | Enables step activity
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature for wearable variant.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables wrist wear wake up.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables wrist wear wake up
+ * BMI2_ENABLE  | Enables wrist wear wake up
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config      : Structure instance of bmi2_any_motion_config.
+ * @param[in, out] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config       : Structure instance of bmi2_no_motion_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration for wearable variant.
+ *
+ * @param[in]       config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-------------------------------------|----------------------------------------
+ * bmi2_wrist_wear_wake_up_wh_config   |
+ *  Structure parameters               |               Description
+ *-------------------------------------|-------------------------------------------
+ *                                     | To set the wrist wear wake-up parameters like
+ *                                     | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wake_wh_params              | angle_landscape_left, angle_landscape_right,
+ *                                     | angle_potrait_up and down.
+ * ------------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
+                                               struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out] config        : Structure instance of bmi2_any_motion_config.
+ * @param[in, out]  dev      : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_no_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like
+ * output-configuration for wearable variant.
+ *
+ * @param[out]      config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ * bmi2_wrist_wear_wake_up_config   |
+ *  Structure parameters            |               Description
+ *----------------------------------|-------------------------------------------
+ *                                  | To get the wrist wear wake-up parameters like
+ *                                  | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wake_params          | angle_landscape_left, angle_landscape_right,
+ *                                  | angle_potrait_up and down.
+ * ---------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ *
+ * @param[out] step_act         : Pointer to the stored step activity data.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * *step_act  |  Output
+ * -----------|------------
+ * 0x00       |  STILL
+ * 0x01       |  WALKING
+ * 0x02       |  RUNNING
+ * 0x03       |  UNKNOWN
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_WH sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_wh_init(struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270_WH */
+        dev->chip_id = BMI270_WH_CHIP_ID;
+
+        /* get the size of config array */
+        dev->config_size = sizeof(bmi270_wh_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_wh_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_wh_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_wh_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_WH_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_WH_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_WH_MAX_FEAT_OUT;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270wh_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_WH_MAX_INT_MAP;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Set any motion configuration */
+                        case BMI2_ANY_MOTION:
+                            rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+                            break;
+
+                        /* Set no motion configuration */
+                        case BMI2_NO_MOTION:
+                            rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+                            break;
+
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Set step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                        case BMI2_STEP_ACTIVITY:
+                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        /* Set the wrist wear wake-up configuration for wearable variant */
+                        case BMI2_WRIST_WEAR_WAKE_UP_WH:
+                            rslt = set_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the set configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+                {
+
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sens_cfg[loop].type)
+                    {
+                        /* Get any motion configuration */
+                        case BMI2_ANY_MOTION:
+                            rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+                            break;
+
+                        /* Get no motion configuration */
+                        case BMI2_NO_MOTION:
+                            rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+                            break;
+
+                        /* Set the step counter parameters */
+                        case BMI2_STEP_COUNTER_PARAMS:
+                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+                            break;
+
+                        /* Get step counter/detector/activity configuration */
+                        case BMI2_STEP_DETECTOR:
+                        case BMI2_STEP_COUNTER:
+                        case BMI2_STEP_ACTIVITY:
+                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+                            break;
+
+                        /* Get the wrist wear wake-up configuration for wearable variant */
+                        case BMI2_WRIST_WEAR_WAKE_UP_WH:
+                            rslt = get_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
+                            break;
+
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+                }
+
+                /* Return error if any of the get configurations fail */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ */
+int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
+                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
+                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
+            {
+                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for feature
+                 * configurations
+                 */
+                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+                {
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    switch (sensor_data[loop].type)
+                    {
+                        case BMI2_STEP_COUNTER:
+
+                            /* Get step counter output */
+                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
+                            break;
+                        case BMI2_STEP_ACTIVITY:
+
+                            /* Get step activity output */
+                            rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
+                            break;
+                        case BMI2_NVM_STATUS:
+
+                            /* Get NVM error status  */
+                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
+                            break;
+                        case BMI2_VFRM_STATUS:
+
+                            /* Get VFRM error status  */
+                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
+                            break;
+                        default:
+                            rslt = BMI2_E_INVALID_SENSOR;
+                            break;
+                    }
+
+                    /* Return error if any of the get sensor data fails */
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the gyroscope user-gain.
+ */
+int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_wh_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_wh_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_wh_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_wh_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_wh_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = { 0 };
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+                case BMI2_ANY_MOTION:
+                case BMI2_NO_MOTION:
+                case BMI2_STEP_COUNTER:
+                case BMI2_STEP_DETECTOR:
+                case BMI2_STEP_ACTIVITY:
+                case BMI2_WRIST_WEAR_WAKE_UP_WH:
+
+                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
+                    break;
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+            }
+
+            /* Return error if interrupt mapping fails */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+            case BMI2_ACCEL:
+                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+                break;
+            case BMI2_GYRO:
+                *sensor_sel |= BMI2_GYRO_SENS_SEL;
+                break;
+            case BMI2_AUX:
+                *sensor_sel |= BMI2_AUX_SENS_SEL;
+                break;
+            case BMI2_TEMP:
+                *sensor_sel |= BMI2_TEMP_SENS_SEL;
+                break;
+            case BMI2_ANY_MOTION:
+                *sensor_sel |= BMI2_ANY_MOT_SEL;
+                break;
+            case BMI2_NO_MOTION:
+                *sensor_sel |= BMI2_NO_MOT_SEL;
+                break;
+            case BMI2_STEP_DETECTOR:
+                *sensor_sel |= BMI2_STEP_DETECT_SEL;
+                break;
+            case BMI2_STEP_COUNTER:
+                *sensor_sel |= BMI2_STEP_COUNT_SEL;
+                break;
+            case BMI2_STEP_ACTIVITY:
+                *sensor_sel |= BMI2_STEP_ACT_SEL;
+                break;
+            case BMI2_GYRO_GAIN_UPDATE:
+                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                break;
+            case BMI2_WRIST_WEAR_WAKE_UP_WH:
+                *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Enable any motion feature */
+                if (sensor_sel & BMI2_ANY_MOT_SEL)
+                {
+                    rslt = set_any_motion(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable no motion feature */
+                if (sensor_sel & BMI2_NO_MOT_SEL)
+                {
+                    rslt = set_no_motion(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_NO_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable step activity feature */
+                if (sensor_sel & BMI2_STEP_ACT_SEL)
+                {
+                    rslt = set_step_activity(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable wrist wear wake-up feature for wearable variant */
+                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
+                {
+                    rslt = set_wrist_wear_wake_up_wh(BMI2_ENABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 1;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            /* Disable advance power save if enabled */
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            while (loop--)
+            {
+                /* Disable any-motion feature */
+                if (sensor_sel & BMI2_ANY_MOT_SEL)
+                {
+                    rslt = set_any_motion(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable no-motion feature */
+                if (sensor_sel & BMI2_NO_MOT_SEL)
+                {
+                    rslt = set_no_motion(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step detector feature */
+                if (sensor_sel & BMI2_STEP_DETECT_SEL)
+                {
+                    rslt = set_step_detector(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step counter feature */
+                if (sensor_sel & BMI2_STEP_COUNT_SEL)
+                {
+                    rslt = set_step_counter(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable step activity feature */
+                if (sensor_sel & BMI2_STEP_ACT_SEL)
+                {
+                    rslt = set_step_activity(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable gyroscope user gain */
+                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+                {
+                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Disable wrist wear wake-up feature for wearable variant */
+                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
+                {
+                    rslt = set_wrist_wear_wake_up_wh(BMI2_DISABLE, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+
+                /* Enable Advance power save if disabled while
+                 * configuring and not when already disabled
+                 */
+                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+                {
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable any motion feature.
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Search for any-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of any-motion axes */
+            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Search for no-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any/no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of no-motion axes */
+            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-counter feature resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step counter */
+            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step activity */
+    struct bmi2_feature_config step_act_config = { 0, 0, 0 };
+
+    /* Search for step activity feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-activity
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step activity */
+            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature.
+ */
+static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake up */
+    struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
+
+    /* Search for wrist wear wake up and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake up
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of wrist wear wake up */
+            idx = wrist_wake_up_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for any-motion select */
+            idx = any_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[any_mot_config.start_addr +
+                            index] = *((uint8_t *) data_p + any_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for no-motion select */
+            idx = no_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[no_mot_config.start_addr +
+                            index] = *((uint8_t *) data_p + no_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ */
+static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter parameters */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
+    uint8_t max_len = 8;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of words to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = (remain_len / 2);
+                }
+
+                /* Get offset in words since all the features are set in words length */
+                page_byte_idx = start_addr / 2;
+                for (; page_byte_idx < max_len;)
+                {
+                    /* Set parameters 1 to 25 */
+                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
+                                                                  BMI2_STEP_COUNT_PARAMS,
+                                                                  step_count_params[param_idx]);
+
+                    /* Increment offset by 1 word to set to the next parameter */
+                    page_byte_idx++;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+
+                /* Get total length in bytes to copy from local pointer to the array */
+                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
+
+                /* Copy the bytes to be set back to the array */
+                for (index = 0; index < page_byte_idx; index++)
+                {
+                    feat_config[step_params_config.start_addr +
+                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
+                }
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Set step buffer size */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr +
+                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration for wearable variant.
+ */
+static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
+                                               struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            *(data_p + idx) = config->min_angle_focus;
+
+            /* Increment offset by 1 more word to set min_angle_nonfocus */
+            idx++;
+            *(data_p + idx) = config->min_angle_nonfocus;
+
+            /* Increment offset by 1 more word to set angle landscape right and angle landscape left */
+            idx++;
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR, config->angle_lr);
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL, config->angle_ll);
+
+            /* Increment offset by 1 more word to set angle portrait down and angle portrait left */
+            idx++;
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD, config->angle_pd);
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU, config->angle_pu);
+
+            /* Increment offset by 1 more word to set min duration moved and min duration quite */
+            idx++;
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED, config->min_dur_mov);
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE, config->min_dur_quite);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[wrist_wake_up_config.start_addr +
+                            index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb;
+
+    /* Variable to define MSB */
+    uint16_t msb;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for any-motion */
+            idx = any_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for no-motion */
+            idx = no_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ */
+static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Initialize feature configuration for step counter 1 */
+    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words to be read in a page */
+    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of bytes to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = remain_len;
+                }
+
+                /* Get the offset */
+                page_byte_idx = start_addr;
+                while (page_byte_idx < max_len)
+                {
+                    /* Get word to calculate the parameter*/
+                    lsb = (uint16_t) feat_config[page_byte_idx++];
+                    if (page_byte_idx < max_len)
+                    {
+                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
+                    }
+
+                    lsb_msb = lsb | msb;
+
+                    /* Get parameters 1 to 25 */
+                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ */
+static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
+
+    /* Search for step counter 4 feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter 4 parameter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for step counter/detector/activity */
+            idx = step_count_config.start_addr;
+
+            /* Get word to calculate water-mark level and reset counter */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get water-mark level */
+            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
+
+            /* Get reset counter */
+            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
+
+            /* Get word to calculate output configuration of step detector and activity */
+            lsb = (uint16_t) feat_config[idx++];
+            msb = ((uint16_t) feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like min_angle_focus,
+ * min_angle_nonfocus for wearable variant.
+ */
+static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t *data_p = (uint16_t *) (void *)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature  resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            config->min_angle_focus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get min_angle_nonfocus */
+            idx++;
+            config->min_angle_nonfocus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get angle landscape right and angle landscape left */
+            idx++;
+            config->angle_lr = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR);
+            config->angle_ll = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL);
+
+            /* Increment the offset value by 1 word to get angle portrait down and angle portrait up */
+            idx++;
+            config->angle_pd = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD);
+            config->angle_pu = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU);
+
+            /* Increment the offset value by 1 word to get min duration quite and min duration moved */
+            idx++;
+            config->min_dur_mov = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED);
+            config->min_dur_quite = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE);
+
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t) feat_config[idx++];
+            *step_count |= ((uint32_t) feat_config[idx++] << 8);
+            *step_count |= ((uint32_t) feat_config[idx++] << 16);
+            *step_count |= ((uint32_t) feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ */
+static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step activity */
+    struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
+
+    /* Search for step activity output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-activity */
+        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step activity output */
+            idx = step_act_out_config.start_addr;
+
+            /* Get the step activity output */
+            *step_act = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for VFRM error status */
+    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
+
+    /* Search for VFRM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for VFRM error status */
+        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for VFRM error status */
+            idx = vfrm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Internal error while acquiring lock for FIFO */
+            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
+
+            /* Internal error while writing byte into FIFO */
+            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
+
+            /* Internal error while writing into FIFO */
+            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
+                                          uint8_t type,
+                                          const struct bmi2_dev *dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h
new file mode 100644
index 0000000000..d46251bbd1
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h
@@ -0,0 +1,402 @@
+/**
+* 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       bmi270_wh.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270_wh BMI270_WH
+ * @brief Sensor driver for BMI270_WH sensor
+ */
+
+#ifndef BMI270_WH_H_
+#define BMI270_WH_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270_WH Chip identifier */
+#define BMI270_WH_CHIP_ID                           UINT8_C(0x24)
+
+/*! @name BMI270_WH feature input start addresses */
+#define BMI270_WH_CONFIG_ID_STRT_ADDR               UINT8_C(0x00)
+#define BMI270_WH_MAX_BURST_LEN_STRT_ADDR           UINT8_C(0x02)
+#define BMI270_WH_AXIS_MAP_STRT_ADDR                UINT8_C(0x04)
+#define BMI270_WH_NVM_PROG_PREP_STRT_ADDR           UINT8_C(0x05)
+#define BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR        UINT8_C(0x06)
+#define BMI270_WH_ANY_MOT_STRT_ADDR                 UINT8_C(0x0C)
+#define BMI270_WH_NO_MOT_STRT_ADDR                  UINT8_C(0x00)
+#define BMI270_WH_STEP_CNT_1_STRT_ADDR              UINT8_C(0x00)
+#define BMI270_WH_STEP_CNT_4_STRT_ADDR              UINT8_C(0x02)
+#define BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR      UINT8_C(0x04)
+
+/*! @name BMI270_WH feature output start addresses */
+#define BMI270_WH_STEP_CNT_OUT_STRT_ADDR            UINT8_C(0x00)
+#define BMI270_WH_STEP_ACT_OUT_STRT_ADDR            UINT8_C(0x04)
+#define BMI270_WH_WRIST_GEST_OUT_STRT_ADDR          UINT8_C(0x06)
+#define BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR       UINT8_C(0x08)
+#define BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR        UINT8_C(0x0C)
+#define BMI270_WH_NVM_VFRM_OUT_STRT_ADDR            UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_WH_MAX_PAGE_NUM                      UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_WH_MAX_FEAT_IN                       UINT8_C(12)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_WH_MAX_FEAT_OUT                      UINT8_C(6)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_WH_STEP_CNT_STATUS_MASK              UINT8_C(0x02)
+#define BMI270_WH_STEP_ACT_STATUS_MASK              UINT8_C(0x04)
+#define BMI270_WH_WRIST_WEAR_WAKEUP_WH_STATUS_MASK  UINT8_C(0x08)
+#define BMI270_WH_NO_MOT_STATUS_MASK                UINT8_C(0x20)
+#define BMI270_WH_ANY_MOT_STATUS_MASK               UINT8_C(0x40)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_WH_INT_STEP_COUNTER_MASK             UINT8_C(0x02)
+#define BMI270_WH_INT_STEP_DETECTOR_MASK            UINT8_C(0x02)
+#define BMI270_WH_INT_STEP_ACT_MASK                 UINT8_C(0x04)
+#define BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK     UINT8_C(0x08)
+#define BMI270_WH_INT_NO_MOT_MASK                   UINT8_C(0x20)
+#define BMI270_WH_INT_ANY_MOT_MASK                  UINT8_C(0x40)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_WH_MAX_INT_MAP                       UINT8_C(6)
+
+/***************************************************************************/
+
+/*!     BMI270_WH User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270_wh
+ * \defgroup bmi270_whApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270_whApiInit
+ * \page bmi270_wh_api_bmi270_wh_init bmi270_wh_init
+ * \code
+ * int8_t bmi270_wh_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_WH sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ *
+ * @param[in, out] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_wh
+ * \defgroup bmi270_whApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_whApiSensor
+ * \page bmi270_wh_api_bmi270_wh_sensor_enable bmi270_wh_sensor_enable
+ * \code
+ * int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be enabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be enabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_whApiSensor
+ * \page bmi270_wh_api_bmi270_wh_sensor_disable bmi270_wh_sensor_disable
+ * \code
+ * int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API selects the sensors/features to be disabled.
+ *
+ * @param[in]       sens_list   : Pointer to select the sensor/feature.
+ * @param[in]       n_sens      : Number of sensors selected.
+ * @param[in, out]  dev         : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be disabled.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ACCEL                  |  0
+ * BMI2_GYRO                   |  1
+ * BMI2_AUX                    |  2
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_GYRO_GAIN_UPDATE       |  9
+ * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
+ *@endverbatim
+ *
+ * @note :
+ * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+ *           uint8_t n_sens        = 2;
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_wh
+ * \defgroup bmi270_whApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_whApiSensorC
+ * \page bmi270_wh_api_bmi270_wh_set_sensor_config bmi270_wh_set_sensor_config
+ * \code
+ * int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API sets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features that can be configured
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_whApiSensorC
+ * \page bmi270_wh_api_bmi270_wh_get_sensor_config bmi270_wh_get_sensor_config
+ * \code
+ * int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature configuration.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       n_sens       : Number of sensors selected.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose configurations can be read.
+ *
+ *@verbatim
+ *    sens_list                |  Values
+ * ----------------------------|-----------
+ * BMI2_ANY_MOTION             |  4
+ * BMI2_NO_MOTION              |  5
+ * BMI2_STEP_DETECTOR          |  6
+ * BMI2_STEP_COUNTER           |  7
+ * BMI2_STEP_ACTIVITY          |  8
+ * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
+ * BMI2_STEP_COUNTER_PARAMS    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_wh
+ * \defgroup bmi270_whApiSensorD Sensor Data
+ * @brief Get sensor data
+ */
+
+/*!
+ * \ingroup bmi270_whApiSensorD
+ * \page bmi270_wh_api_bmi270_wh_get_sensor_data bmi270_wh_get_sensor_data
+ * \code
+ * int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the sensor/feature data for accelerometer, gyroscope,
+ * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
+ * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
+ *
+ * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
+ * @param[in]  n_sens        : Number of sensors selected.
+ * @param[in]  dev           : Structure instance of bmi2_dev.
+ *
+ * @note Sensors/features whose data can be read
+ *
+ *@verbatim
+ *  sens_list           |  Values
+ * ---------------------|-----------
+ * BMI2_STEP_COUNTER    |   7
+ * BMI2_STEP_ACTIVITY   |   8
+ * BMI2_NVM_STATUS      |  38
+ * BMI2_VFRM_STATUS     |  39
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_wh
+ * \defgroup bmi270_whApiGyroUG Gyro User Gain
+ * @brief Set / Get Gyro User Gain of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_whApiGyroUG
+ * \page bmi270_wh_api_bmi270_wh_update_gyro_user_gain bmi270_wh_update_gyro_user_gain
+ * \code
+ * int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API updates the gyroscope user-gain.
+ *
+ * @param[in] user_gain      : Structure that stores user-gain configurations.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_whApiGyroUG
+ * \page bmi270_wh_api_bmi270_wh_read_gyro_user_gain bmi270_wh_read_gyro_user_gain
+ * \code
+ * int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
+ * \endcode
+ * @details This API reads the compensated gyroscope user-gain values.
+ *
+ * @param[out] gyr_usr_gain   : Structure that stores gain values.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_whApiInt
+ * \page bmi270_wh_api_bmi270_wh_map_feat_int bmi270_wh_map_feat_int
+ * \code
+ * int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+ * \endcode
+ * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+ *
+ * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+ * @param[in] n_sens       : Number of interrupts to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_WH_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h
new file mode 100644
index 0000000000..889bf82564
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h
@@ -0,0 +1,2475 @@
+/**
+* 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       bmi2_defs.h
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+#ifndef BMI2_DEFS_H_
+#define BMI2_DEFS_H_
+
+/******************************************************************************/
+/*! @name       Header includes                           */
+/******************************************************************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/******************************************************************************/
+/*! @name       Common macros                         */
+/******************************************************************************/
+#ifdef __KERNEL__
+#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
+#endif
+
+/*! @name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL         0
+#else
+#define NULL         ((void *) 0)
+#endif
+#endif
+
+/******************************************************************************/
+/*! @name        General Macro Definitions                */
+/******************************************************************************/
+/*! @name  Utility macros */
+#define BMI2_SET_BITS(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MASK)) | \
+     ((data << bitname##_POS) & bitname##_MASK))
+
+#define BMI2_GET_BITS(reg_data, bitname) \
+    ((reg_data & (bitname##_MASK)) >> \
+     (bitname##_POS))
+
+#define BMI2_SET_BIT_POS0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MASK)) | \
+     (data & bitname##_MASK))
+
+#define BMI2_GET_BIT_POS0(reg_data, bitname)      (reg_data & (bitname##_MASK))
+#define BMI2_SET_BIT_VAL0(reg_data, bitname)      (reg_data & ~(bitname##_MASK))
+
+/*! @name For getting LSB and MSB */
+#define BMI2_GET_LSB(var)                         (uint8_t)(var & BMI2_SET_LOW_BYTE)
+#define BMI2_GET_MSB(var)                         (uint8_t)((var & BMI2_SET_HIGH_BYTE) >> 8)
+
+#ifndef BMI2_INTF_RETURN_TYPE
+#define BMI2_INTF_RETURN_TYPE                     int8_t
+#endif
+
+/*! @name For defining absolute values */
+#define BMI2_ABS(a)                               ((a) > 0 ? (a) : -(a))
+
+/*! @name LSB and MSB mask definitions */
+#define BMI2_SET_LOW_BYTE                         UINT16_C(0x00FF)
+#define BMI2_SET_HIGH_BYTE                        UINT16_C(0xFF00)
+#define BMI2_SET_LOW_NIBBLE                       UINT8_C(0x0F)
+
+/*! @name For enable and disable */
+#define BMI2_ENABLE                               UINT8_C(1)
+#define BMI2_DISABLE                              UINT8_C(0)
+
+/*! @name To define TRUE or FALSE */
+#define BMI2_TRUE                                 UINT8_C(1)
+#define BMI2_FALSE                                UINT8_C(0)
+
+/*! @name To define sensor interface success code */
+#define BMI2_INTF_RET_SUCCESS                     INT8_C(0)
+
+/*! @name To define success code */
+#define BMI2_OK                                   INT8_C(0)
+
+/*! @name To define error codes */
+#define BMI2_E_NULL_PTR                           INT8_C(-1)
+#define BMI2_E_COM_FAIL                           INT8_C(-2)
+#define BMI2_E_DEV_NOT_FOUND                      INT8_C(-3)
+#define BMI2_E_OUT_OF_RANGE                       INT8_C(-4)
+#define BMI2_E_ACC_INVALID_CFG                    INT8_C(-5)
+#define BMI2_E_GYRO_INVALID_CFG                   INT8_C(-6)
+#define BMI2_E_ACC_GYR_INVALID_CFG                INT8_C(-7)
+#define BMI2_E_INVALID_SENSOR                     INT8_C(-8)
+#define BMI2_E_CONFIG_LOAD                        INT8_C(-9)
+#define BMI2_E_INVALID_PAGE                       INT8_C(-10)
+#define BMI2_E_INVALID_FEAT_BIT                   INT8_C(-11)
+#define BMI2_E_INVALID_INT_PIN                    INT8_C(-12)
+#define BMI2_E_SET_APS_FAIL                       INT8_C(-13)
+#define BMI2_E_AUX_INVALID_CFG                    INT8_C(-14)
+#define BMI2_E_AUX_BUSY                           INT8_C(-15)
+#define BMI2_E_SELF_TEST_FAIL                     INT8_C(-16)
+#define BMI2_E_REMAP_ERROR                        INT8_C(-17)
+#define BMI2_E_GYR_USER_GAIN_UPD_FAIL             INT8_C(-18)
+#define BMI2_E_SELF_TEST_NOT_DONE                 INT8_C(-19)
+#define BMI2_E_INVALID_INPUT                      INT8_C(-20)
+#define BMI2_E_INVALID_STATUS                     INT8_C(-21)
+#define BMI2_E_CRT_ERROR                          INT8_C(-22)
+#define BMI2_E_ST_ALREADY_RUNNING                 INT8_C(-23)
+#define BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT        INT8_C(-24)
+#define BMI2_E_DL_ERROR                           INT8_C(-25)
+#define BMI2_E_PRECON_ERROR                       INT8_C(-26)
+#define BMI2_E_ABORT_ERROR                        INT8_C(-27)
+#define BMI2_E_GYRO_SELF_TEST_ERROR               INT8_C(-28)
+#define BMI2_E_GYRO_SELF_TEST_TIMEOUT             INT8_C(-29)
+#define BMI2_E_WRITE_CYCLE_ONGOING                INT8_C(-30)
+#define BMI2_E_WRITE_CYCLE_TIMEOUT                INT8_C(-31)
+#define BMI2_E_ST_NOT_RUNING                      INT8_C(-32)
+#define BMI2_E_DATA_RDY_INT_FAILED                INT8_C(-33)
+#define BMI2_E_INVALID_FOC_POSITION               INT8_C(-34)
+
+/*! @name To define warnings for FIFO activity */
+#define BMI2_W_FIFO_EMPTY                         INT8_C(1)
+#define BMI2_W_PARTIAL_READ                       INT8_C(2)
+
+/*! @name Bit wise to define information */
+#define BMI2_I_MIN_VALUE                          UINT8_C(1)
+#define BMI2_I_MAX_VALUE                          UINT8_C(2)
+
+/*! @name BMI2 register addresses */
+#define BMI2_CHIP_ID_ADDR                         UINT8_C(0x00)
+#define BMI2_STATUS_ADDR                          UINT8_C(0x03)
+#define BMI2_AUX_X_LSB_ADDR                       UINT8_C(0x04)
+#define BMI2_ACC_X_LSB_ADDR                       UINT8_C(0x0C)
+#define BMI2_GYR_X_LSB_ADDR                       UINT8_C(0x12)
+#define BMI2_EVENT_ADDR                           UINT8_C(0x1B)
+#define BMI2_INT_STATUS_0_ADDR                    UINT8_C(0x1C)
+#define BMI2_INT_STATUS_1_ADDR                    UINT8_C(0x1D)
+#define BMI2_SC_OUT_0_ADDR                        UINT8_C(0x1E)
+#define BMI2_SYNC_COMMAND_ADDR                    UINT8_C(0x1E)
+#define BMI2_GYR_CAS_GPIO0_ADDR                   UINT8_C(0x1E)
+#define BMI2_INTERNAL_STATUS_ADDR                 UINT8_C(0x21)
+#define BMI2_FIFO_LENGTH_0_ADDR                   UINT8_C(0X24)
+#define BMI2_FIFO_DATA_ADDR                       UINT8_C(0X26)
+#define BMI2_FEAT_PAGE_ADDR                       UINT8_C(0x2F)
+#define BMI2_FEATURES_REG_ADDR                    UINT8_C(0x30)
+#define BMI2_ACC_CONF_ADDR                        UINT8_C(0x40)
+#define BMI2_GYR_CONF_ADDR                        UINT8_C(0x42)
+#define BMI2_AUX_CONF_ADDR                        UINT8_C(0x44)
+#define BMI2_FIFO_DOWNS_ADDR                      UINT8_C(0X45)
+#define BMI2_FIFO_WTM_0_ADDR                      UINT8_C(0X46)
+#define BMI2_FIFO_WTM_1_ADDR                      UINT8_C(0X47)
+#define BMI2_FIFO_CONFIG_0_ADDR                   UINT8_C(0X48)
+#define BMI2_FIFO_CONFIG_1_ADDR                   UINT8_C(0X49)
+#define BMI2_AUX_DEV_ID_ADDR                      UINT8_C(0x4B)
+#define BMI2_AUX_IF_CONF_ADDR                     UINT8_C(0x4C)
+#define BMI2_AUX_RD_ADDR                          UINT8_C(0x4D)
+#define BMI2_AUX_WR_ADDR                          UINT8_C(0x4E)
+#define BMI2_AUX_WR_DATA_ADDR                     UINT8_C(0x4F)
+#define BMI2_INT1_IO_CTRL_ADDR                    UINT8_C(0x53)
+#define BMI2_INT2_IO_CTRL_ADDR                    UINT8_C(0x54)
+#define BMI2_INT_LATCH_ADDR                       UINT8_C(0x55)
+#define BMI2_INT1_MAP_FEAT_ADDR                   UINT8_C(0x56)
+#define BMI2_INT2_MAP_FEAT_ADDR                   UINT8_C(0x57)
+#define BMI2_INT_MAP_DATA_ADDR                    UINT8_C(0x58)
+#define BMI2_INIT_CTRL_ADDR                       UINT8_C(0x59)
+#define BMI2_INIT_ADDR_0                          UINT8_C(0x5B)
+#define BMI2_INIT_ADDR_1                          UINT8_C(0x5C)
+#define BMI2_INIT_DATA_ADDR                       UINT8_C(0x5E)
+#define BMI2_AUX_IF_TRIM                          UINT8_C(0x68)
+#define BMI2_GYR_CRT_CONF_ADDR                    UINT8_C(0X69)
+#define BMI2_NVM_CONF_ADDR                        UINT8_C(0x6A)
+#define BMI2_IF_CONF_ADDR                         UINT8_C(0X6B)
+#define BMI2_ACC_SELF_TEST_ADDR                   UINT8_C(0X6D)
+#define BMI2_GYR_SELF_TEST_AXES_ADDR              UINT8_C(0x6E)
+#define BMI2_SELF_TEST_MEMS_ADDR                  UINT8_C(0X6F)
+#define BMI2_NV_CONF_ADDR                         UINT8_C(0x70)
+#define BMI2_ACC_OFF_COMP_0_ADDR                  UINT8_C(0X71)
+#define BMI2_GYR_OFF_COMP_3_ADDR                  UINT8_C(0X74)
+#define BMI2_GYR_OFF_COMP_6_ADDR                  UINT8_C(0X77)
+#define BMI2_GYR_USR_GAIN_0_ADDR                  UINT8_C(0X78)
+#define BMI2_PWR_CONF_ADDR                        UINT8_C(0x7C)
+#define BMI2_PWR_CTRL_ADDR                        UINT8_C(0x7D)
+#define BMI2_CMD_REG_ADDR                         UINT8_C(0x7E)
+
+/*! @name BMI2 I2C address */
+#define BMI2_I2C_PRIM_ADDR                        UINT8_C(0x68)
+#define BMI2_I2C_SEC_ADDR                         UINT8_C(0x69)
+
+/*! @name BMI2 Commands */
+#define BMI2_G_TRIGGER_CMD                        UINT8_C(0x02)
+#define BMI2_USR_GAIN_CMD                         UINT8_C(0x03)
+#define BMI2_NVM_PROG_CMD                         UINT8_C(0xA0)
+#define BMI2_SOFT_RESET_CMD                       UINT8_C(0xB6)
+#define BMI2_FIFO_FLUSH_CMD                       UINT8_C(0xB0)
+
+/*! @name BMI2 sensor data bytes */
+
+#define BMI2_ACC_GYR_NUM_BYTES                    UINT8_C(6)
+#define BMI2_AUX_NUM_BYTES                        UINT8_C(8)
+#define BMI2_CRT_CONFIG_FILE_SIZE                 UINT16_C(2048)
+#define BMI2_FEAT_SIZE_IN_BYTES                   UINT8_C(16)
+#define BMI2_ACC_CONFIG_LENGTH                    UINT8_C(2)
+
+/*! @name BMI2 configuration load status */
+#define BMI2_CONFIG_LOAD_SUCCESS                  UINT8_C(1)
+
+/*! @name To define BMI2 pages */
+#define BMI2_PAGE_0                               UINT8_C(0)
+#define BMI2_PAGE_1                               UINT8_C(1)
+#define BMI2_PAGE_2                               UINT8_C(2)
+#define BMI2_PAGE_3                               UINT8_C(3)
+#define BMI2_PAGE_4                               UINT8_C(4)
+#define BMI2_PAGE_5                               UINT8_C(5)
+#define BMI2_PAGE_6                               UINT8_C(6)
+#define BMI2_PAGE_7                               UINT8_C(7)
+
+/*! @name Array Parameter DefinItions */
+#define BMI2_SENSOR_TIME_LSB_BYTE                 UINT8_C(0)
+#define BMI2_SENSOR_TIME_XLSB_BYTE                UINT8_C(1)
+#define BMI2_SENSOR_TIME_MSB_BYTE                 UINT8_C(2)
+
+/*! @name Mask definitions for Gyro CRT  */
+#define BMI2_GYR_RDY_FOR_DL_MASK                  UINT8_C(0x08)
+#define BMI2_GYR_CRT_RUNNING_MASK                 UINT8_C(0x04)
+
+/*! @name mask definition for status register */
+#define BMI2_AUX_BUSY_MASK                        UINT8_C(0x04)
+#define BMI2_CMD_RDY_MASK                         UINT8_C(0x10)
+#define BMI2_DRDY_AUX_MASK                        UINT8_C(0x20)
+#define BMI2_DRDY_GYR_MASK                        UINT8_C(0x40)
+#define BMI2_DRDY_ACC_MASK                        UINT8_C(0x80)
+
+/*! @name Mask definitions for SPI read/write address */
+#define BMI2_SPI_RD_MASK                          UINT8_C(0x80)
+#define BMI2_SPI_WR_MASK                          UINT8_C(0x7F)
+
+/*! @name Mask definitions for power configuration register */
+#define BMI2_ADV_POW_EN_MASK                      UINT8_C(0x01)
+
+/*! @name Mask definitions for initialization control register */
+#define BMI2_CONF_LOAD_EN_MASK                    UINT8_C(0x01)
+
+/*! @name Mask definitions for power control register */
+#define BMI2_AUX_EN_MASK                          UINT8_C(0x01)
+#define BMI2_GYR_EN_MASK                          UINT8_C(0x02)
+#define BMI2_ACC_EN_MASK                          UINT8_C(0x04)
+#define BMI2_TEMP_EN_MASK                         UINT8_C(0x08)
+
+/*! @name Mask definitions for sensor event flags */
+#define BMI2_EVENT_FLAG_MASK                      UINT8_C(0x1C)
+
+/*! @name Mask definitions to switch page */
+#define BMI2_SWITCH_PAGE_EN_MASK                  UINT8_C(0x07)
+
+/*! @name Mask definitions of NVM register */
+#define BMI2_NV_ACC_OFFSET_MASK                   UINT8_C(0x08)
+
+/*! @name Mask definition for config version */
+#define BMI2_CONFIG_MAJOR_MASK                    UINT16_C(0x3C0)
+#define BMI2_CONFIG_MINOR_MASK                    UINT8_C(0x3F)
+
+/*! @name mask and bit position for activity recognition settings */
+#define BMI2_ACT_RECG_POST_PROS_EN_DIS_MASK       UINT8_C(0x01)
+#define BMI2_ACT_RECG_BUFF_SIZE_MASK              UINT8_C(0x0F)
+#define BMI2_ACT_RECG_MIN_SEG_CONF_MASK           UINT8_C(0x0F)
+
+/*! @name mask and bit position for activity recognition hc settings */
+#define BMI2_HC_ACT_RECG_SEGMENT_SIZE_MASK        UINT8_C(0x03)
+#define BMI2_HC_ACT_RECG_PP_EN_MASK               UINT8_C(0x01)
+#define BMI2_HC_ACT_RECG_MIN_GDI_THRES_MASK       UINT16_C(0xFFFF)
+#define BMI2_HC_ACT_RECG_MAX_GDI_THRES_MASK       UINT16_C(0xFFFF)
+#define BMI2_HC_ACT_RECG_BUF_SIZE_MASK            UINT16_C(0xFFFF)
+#define BMI2_HC_ACT_RECG_MIN_SEG_CONF_MASK        UINT16_C(0xFFFF)
+
+#define BMI2_GYRO_CROSS_AXES_SENSE_MASK           UINT8_C(0x7F)
+#define BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK  UINT8_C(0x40)
+
+/*! @name Bit position definitions for Gyro CRT */
+#define BMI2_GYR_RDY_FOR_DL_POS                   UINT8_C(0x03)
+#define BMI2_GYR_CRT_RUNNING_POS                  UINT8_C(0x02)
+
+/*! @name Bit position for status register*/
+#define BMI2_AUX_BUSY_POS                         UINT8_C(0x02)
+#define BMI2_CMD_RDY_POS                          UINT8_C(0x04)
+#define BMI2_DRDY_AUX_POS                         UINT8_C(0x05)
+#define BMI2_DRDY_GYR_POS                         UINT8_C(0x06)
+#define BMI2_DRDY_ACC_POS                         UINT8_C(0x07)
+
+/*! @name Bit position definitions for power control register */
+#define BMI2_GYR_EN_POS                           UINT8_C(0x01)
+#define BMI2_ACC_EN_POS                           UINT8_C(0x02)
+#define BMI2_TEMP_EN_POS                          UINT8_C(0x03)
+
+/*! @name Bit position definitions for sensor event flags */
+#define BMI2_EVENT_FLAG_POS                       UINT8_C(0x02)
+
+/*! @name Bit position definitions of NVM register */
+#define BMI2_NV_ACC_OFFSET_POS                    UINT8_C(0x03)
+
+/*! @name Bit position for major version from config */
+#define BMI2_CONFIG_MAJOR_POS                     UINT8_C(0x06)
+
+/*! @name Accelerometer and Gyroscope Filter/Noise performance modes */
+/* Power optimized mode */
+#define BMI2_POWER_OPT_MODE                       UINT8_C(0)
+
+/* Performance optimized  */
+#define BMI2_PERF_OPT_MODE                        UINT8_C(1)
+
+/*! @name index for config major minor information */
+#define BMI2_CONFIG_INFO_LOWER                    UINT8_C(52)
+#define BMI2_CONFIG_INFO_HIGHER                   UINT8_C(53)
+
+/*! @name Sensor status */
+#define BMI2_DRDY_ACC                             UINT8_C(0x80)
+#define BMI2_DRDY_GYR                             UINT8_C(0x40)
+#define BMI2_DRDY_AUX                             UINT8_C(0x20)
+#define BMI2_CMD_RDY                              UINT8_C(0x10)
+#define BMI2_AUX_BUSY                             UINT8_C(0x04)
+
+/*! @name Macro to define accelerometer configuration value for FOC */
+#define BMI2_FOC_ACC_CONF_VAL                     UINT8_C(0xB7)
+
+/*! @name Macro to define gyroscope configuration value for FOC */
+#define BMI2_FOC_GYR_CONF_VAL                     UINT8_C(0xB6)
+
+/*! @name Macro to define X Y and Z axis for an array */
+#define BMI2_X_AXIS                               UINT8_C(0)
+#define BMI2_Y_AXIS                               UINT8_C(1)
+#define BMI2_Z_AXIS                               UINT8_C(2)
+
+/******************************************************************************/
+/*! @name        Sensor Macro Definitions                 */
+/******************************************************************************/
+/*!  @name Macros to define BMI2 sensor/feature types */
+#define BMI2_ACCEL                                UINT8_C(0)
+#define BMI2_GYRO                                 UINT8_C(1)
+#define BMI2_AUX                                  UINT8_C(2)
+#define BMI2_SIG_MOTION                           UINT8_C(3)
+#define BMI2_ANY_MOTION                           UINT8_C(4)
+#define BMI2_NO_MOTION                            UINT8_C(5)
+#define BMI2_STEP_DETECTOR                        UINT8_C(6)
+#define BMI2_STEP_COUNTER                         UINT8_C(7)
+#define BMI2_STEP_ACTIVITY                        UINT8_C(8)
+#define BMI2_GYRO_GAIN_UPDATE                     UINT8_C(9)
+#define BMI2_TILT                                 UINT8_C(10)
+#define BMI2_UP_HOLD_TO_WAKE                      UINT8_C(11)
+#define BMI2_GLANCE_DETECTOR                      UINT8_C(12)
+#define BMI2_WAKE_UP                              UINT8_C(13)
+#define BMI2_ORIENTATION                          UINT8_C(14)
+#define BMI2_HIGH_G                               UINT8_C(15)
+#define BMI2_LOW_G                                UINT8_C(16)
+#define BMI2_FLAT                                 UINT8_C(17)
+#define BMI2_EXT_SENS_SYNC                        UINT8_C(18)
+#define BMI2_WRIST_GESTURE                        UINT8_C(19)
+#define BMI2_WRIST_WEAR_WAKE_UP                   UINT8_C(20)
+#define BMI2_WRIST_WEAR_WAKE_UP_WH                UINT8_C(21)
+#define BMI2_WRIST_GESTURE_WH                     UINT8_C(22)
+#define BMI2_PRIMARY_OIS                          UINT8_C(23)
+#define BMI2_FREE_FALL_DET                        UINT8_C(24)
+#define BMI2_SINGLE_TAP                           UINT8_C(25)
+#define BMI2_DOUBLE_TAP                           UINT8_C(26)
+#define BMI2_TRIPLE_TAP                           UINT8_C(27)
+#define BMI2_TAP                                  UINT8_C(28)
+
+/* Non virtual sensor features */
+#define BMI2_STEP_COUNTER_PARAMS                  UINT8_C(29)
+#define BMI2_TAP_DETECTOR_1                       UINT8_C(30)
+#define BMI2_TAP_DETECTOR_2                       UINT8_C(31)
+#define BMI2_TEMP                                 UINT8_C(32)
+#define BMI2_ACCEL_SELF_TEST                      UINT8_C(33)
+#define BMI2_GYRO_SELF_OFF                        UINT8_C(34)
+#define BMI2_ACTIVITY_RECOGNITION                 UINT8_C(35)
+#define BMI2_MAX_BURST_LEN                        UINT8_C(36)
+#define BMI2_SENS_MAX_NUM                         UINT8_C(37)
+#define BMI2_AXIS_MAP                             UINT8_C(38)
+#define BMI2_NVM_STATUS                           UINT8_C(39)
+#define BMI2_VFRM_STATUS                          UINT8_C(40)
+#define BMI2_GYRO_CROSS_SENSE                     UINT8_C(41)
+#define BMI2_CRT_GYRO_SELF_TEST                   UINT8_C(42)
+#define BMI2_ABORT_CRT_GYRO_SELF_TEST             UINT8_C(43)
+#define BMI2_NVM_PROG_PREP                        UINT8_C(44)
+#define BMI2_ACTIVITY_RECOGNITION_SETTINGS        UINT8_C(45)
+#define BMI2_OIS_OUTPUT                           UINT8_C(46)
+#define BMI2_CONFIG_ID                            UINT8_C(47)
+
+/*! @name Bit wise for selecting BMI2 sensors/features */
+#define BMI2_ACCEL_SENS_SEL                       (1)
+#define BMI2_GYRO_SENS_SEL                        (1 << BMI2_GYRO)
+#define BMI2_AUX_SENS_SEL                         (1 << BMI2_AUX)
+#define BMI2_TEMP_SENS_SEL                        ((uint64_t)1 << BMI2_TEMP)
+#define BMI2_ANY_MOT_SEL                          (1 << BMI2_ANY_MOTION)
+#define BMI2_NO_MOT_SEL                           (1 << BMI2_NO_MOTION)
+#define BMI2_TILT_SEL                             (1 << BMI2_TILT)
+#define BMI2_ORIENT_SEL                           (1 << BMI2_ORIENTATION)
+#define BMI2_SIG_MOTION_SEL                       (1 << BMI2_SIG_MOTION)
+#define BMI2_STEP_DETECT_SEL                      (1 << BMI2_STEP_DETECTOR)
+#define BMI2_STEP_COUNT_SEL                       (1 << BMI2_STEP_COUNTER)
+#define BMI2_STEP_ACT_SEL                         (1 << BMI2_STEP_ACTIVITY)
+#define BMI2_GYRO_GAIN_UPDATE_SEL                 (1 << BMI2_GYRO_GAIN_UPDATE)
+#define BMI2_UP_HOLD_TO_WAKE_SEL                  (1 << BMI2_UP_HOLD_TO_WAKE)
+#define BMI2_GLANCE_DET_SEL                       (1 << BMI2_GLANCE_DETECTOR)
+#define BMI2_WAKE_UP_SEL                          (1 << BMI2_WAKE_UP)
+#define BMI2_TAP_SEL                              (1 << BMI2_TAP)
+#define BMI2_HIGH_G_SEL                           (1 << BMI2_HIGH_G)
+#define BMI2_LOW_G_SEL                            (1 << BMI2_LOW_G)
+#define BMI2_FLAT_SEL                             (1 << BMI2_FLAT)
+#define BMI2_EXT_SENS_SEL                         (1 << BMI2_EXT_SENS_SYNC)
+#define BMI2_SINGLE_TAP_SEL                       (1 << BMI2_SINGLE_TAP)
+#define BMI2_DOUBLE_TAP_SEL                       (1 << BMI2_DOUBLE_TAP)
+#define BMI2_TRIPLE_TAP_SEL                       (1 << BMI2_TRIPLE_TAP)
+#define BMI2_GYRO_SELF_OFF_SEL                    ((uint64_t)1 << BMI2_GYRO_SELF_OFF)
+#define BMI2_WRIST_GEST_SEL                       (1 << BMI2_WRIST_GESTURE)
+#define BMI2_WRIST_WEAR_WAKE_UP_SEL               (1 << BMI2_WRIST_WEAR_WAKE_UP)
+#define BMI2_ACTIVITY_RECOGNITION_SEL             ((uint64_t)1 << BMI2_ACTIVITY_RECOGNITION)
+#define BMI2_ACCEL_SELF_TEST_SEL                  ((uint64_t)1 << BMI2_ACCEL_SELF_TEST)
+#define BMI2_WRIST_GEST_W_SEL                     (1 << BMI2_WRIST_GESTURE_WH)
+#define BMI2_WRIST_WEAR_WAKE_UP_WH_SEL            (1 << BMI2_WRIST_WEAR_WAKE_UP_WH)
+#define BMI2_PRIMARY_OIS_SEL                      (1 << BMI2_PRIMARY_OIS)
+#define BMI2_FREE_FALL_DET_SEL                    (1 << BMI2_FREE_FALL_DET)
+
+/*! @name Mask definitions for BMI2 wake-up feature configuration for bmi260 */
+#define BMI2_WAKEUP_SENSITIVITY_MASK              UINT8_C(0x0E)
+#define BMI2_WAKEUP_SINGLE_TAP_EN_MASK            UINT8_C(0x01)
+#define BMI2_WAKEUP_DOUBLE_TAP_EN_MASK            UINT8_C(0x02)
+#define BMI2_WAKEUP_TRIPLE_TAP_EN_MASK            UINT8_C(0x04)
+#define BMI2_WAKEUP_DATA_REG_EN_MASK              UINT8_C(0x08)
+#define BMI2_WAKEUP_AXIS_SEL_MASK                 UINT8_C(0x03)
+
+/*! @name Bit position definitions for BMI2 wake-up feature configuration for bmi260 */
+#define BMI2_WAKEUP_SENSITIVITY_POS               UINT8_C(0x01)
+#define BMI2_WAKEUP_DOUBLE_TAP_EN_POS             UINT8_C(0x01)
+#define BMI2_WAKEUP_TRIPLE_TAP_EN_POS             UINT8_C(0x02)
+#define BMI2_WAKEUP_DATA_REG_EN_POS               UINT8_C(0x03)
+
+/*! @name Mask definitions for BMI2 tap feature configuration for bmi260t */
+#define BMI2_TAP_SENSITIVITY_MASK                 UINT8_C(0x0E)
+#define BMI2_TAP_SINGLE_TAP_EN_MASK               UINT8_C(0x01)
+#define BMI2_TAP_DOUBLE_TAP_EN_MASK               UINT8_C(0x02)
+#define BMI2_TAP_TRIPLE_TAP_EN_MASK               UINT8_C(0x04)
+#define BMI2_TAP_DATA_REG_EN_MASK                 UINT8_C(0x08)
+#define BMI2_TAP_AXIS_SEL_MASK                    UINT8_C(0x03)
+
+/*! @name Bit position definitions for BMI2 tap feature configuration for bmi260t */
+#define BMI2_TAP_SENSITIVITY_POS                  UINT8_C(0x01)
+#define BMI2_TAP_DOUBLE_TAP_EN_POS                UINT8_C(0x01)
+#define BMI2_TAP_TRIPLE_TAP_EN_POS                UINT8_C(0x02)
+#define BMI2_TAP_DATA_REG_EN_POS                  UINT8_C(0x03)
+
+/*! @name Mask definitions for BMI2 wake-up feature configuration for other than bmi261 */
+#define BMI2_WAKE_UP_SENSITIVITY_MASK             UINT16_C(0x000E)
+#define BMI2_WAKE_UP_SINGLE_TAP_EN_MASK           UINT16_C(0x0010)
+
+/*! @name Bit position definitions for BMI2 wake-up feature configuration for other than bmi261 */
+#define BMI2_WAKE_UP_SENSITIVITY_POS              UINT8_C(0x01)
+#define BMI2_WAKE_UP_SINGLE_TAP_EN_POS            UINT8_C(0x04)
+
+/*! @name Offsets from feature start address for BMI2 feature enable/disable */
+#define BMI2_ANY_MOT_FEAT_EN_OFFSET               UINT8_C(0x03)
+#define BMI2_NO_MOT_FEAT_EN_OFFSET                UINT8_C(0x03)
+#define BMI2_SIG_MOT_FEAT_EN_OFFSET               UINT8_C(0x0A)
+#define BMI2_STEP_COUNT_FEAT_EN_OFFSET            UINT8_C(0x01)
+#define BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET         UINT8_C(0x05)
+#define BMI2_HIGH_G_FEAT_EN_OFFSET                UINT8_C(0x03)
+#define BMI2_LOW_G_FEAT_EN_OFFSET                 UINT8_C(0x03)
+#define BMI2_TILT_FEAT_EN_OFFSET                  UINT8_C(0x00)
+
+/*! @name Mask definitions for BMI2 feature enable/disable */
+#define BMI2_ANY_NO_MOT_EN_MASK                   UINT8_C(0x80)
+#define BMI2_TILT_FEAT_EN_MASK                    UINT8_C(0x01)
+#define BMI2_ORIENT_FEAT_EN_MASK                  UINT8_C(0x01)
+#define BMI2_SIG_MOT_FEAT_EN_MASK                 UINT8_C(0x01)
+#define BMI2_STEP_DET_FEAT_EN_MASK                UINT8_C(0x08)
+#define BMI2_STEP_COUNT_FEAT_EN_MASK              UINT8_C(0x10)
+#define BMI2_STEP_ACT_FEAT_EN_MASK                UINT8_C(0x20)
+#define BMI2_GYR_USER_GAIN_FEAT_EN_MASK           UINT8_C(0x08)
+#define BMI2_UP_HOLD_TO_WAKE_FEAT_EN_MASK         UINT8_C(0x01)
+#define BMI2_GLANCE_FEAT_EN_MASK                  UINT8_C(0x01)
+#define BMI2_WAKE_UP_FEAT_EN_MASK                 UINT8_C(0x01)
+#define BMI2_TAP_FEAT_EN_MASK                     UINT8_C(0x01)
+#define BMI2_HIGH_G_FEAT_EN_MASK                  UINT8_C(0x80)
+#define BMI2_LOW_G_FEAT_EN_MASK                   UINT8_C(0x10)
+#define BMI2_FLAT_FEAT_EN_MASK                    UINT8_C(0x01)
+#define BMI2_EXT_SENS_SYNC_FEAT_EN_MASK           UINT8_C(0x01)
+#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_MASK       UINT8_C(0x02)
+#define BMI2_WRIST_GEST_FEAT_EN_MASK              UINT8_C(0x20)
+#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_MASK      UINT8_C(0x10)
+#define BMI2_ACTIVITY_RECOG_EN_MASK               UINT8_C(0x01)
+#define BMI2_ACC_SELF_TEST_FEAT_EN_MASK           UINT8_C(0x02)
+#define BMI2_GYRO_SELF_TEST_CRT_EN_MASK           UINT8_C(0x01)
+#define BMI2_ABORT_FEATURE_EN_MASK                UINT8_C(0x02)
+#define BMI2_NVM_PREP_FEATURE_EN_MASK             UINT8_C(0x04)
+#define BMI2_FREE_FALL_DET_FEAT_EN_MASK           UINT8_C(0x01)
+#define BMI2_WRIST_GEST_WH_FEAT_EN_MASK           UINT8_C(0x02)
+
+/*! @name Bit position definitions for BMI2 feature enable/disable */
+#define BMI2_ANY_NO_MOT_EN_POS                    UINT8_C(0x07)
+#define BMI2_STEP_DET_FEAT_EN_POS                 UINT8_C(0x03)
+#define BMI2_STEP_COUNT_FEAT_EN_POS               UINT8_C(0x04)
+#define BMI2_STEP_ACT_FEAT_EN_POS                 UINT8_C(0x05)
+#define BMI2_GYR_USER_GAIN_FEAT_EN_POS            UINT8_C(0x03)
+#define BMI2_HIGH_G_FEAT_EN_POS                   UINT8_C(0x07)
+#define BMI2_LOW_G_FEAT_EN_POS                    UINT8_C(0x04)
+#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_POS        UINT8_C(0x01)
+#define BMI2_WRIST_GEST_FEAT_EN_POS               UINT8_C(0x05)
+#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_POS       UINT8_C(0x04)
+#define BMI2_ACC_SELF_TEST_FEAT_EN_POS            UINT8_C(0x01)
+#define BMI2_ABORT_FEATURE_EN_POS                 UINT8_C(0x1)
+#define BMI2_NVM_PREP_FEATURE_EN_POS              UINT8_C(0x02)
+#define BMI2_WRIST_GEST_WH_FEAT_EN_POS            UINT8_C(0x01)
+
+/*! Primary OIS low pass filter configuration position and mask */
+#define BMI2_LP_FILTER_EN_MASK                    UINT8_C(0x01)
+
+#define BMI2_LP_FILTER_CONFIG_POS                 UINT8_C(0x01)
+#define BMI2_LP_FILTER_CONFIG_MASK                UINT8_C(0x06)
+
+#define BMI2_PRIMARY_OIS_GYR_EN_POS               UINT8_C(0x06)
+#define BMI2_PRIMARY_OIS_GYR_EN_MASK              UINT8_C(0x40)
+
+#define BMI2_PRIMARY_OIS_ACC_EN_POS               UINT8_C(0x07)
+#define BMI2_PRIMARY_OIS_ACC_EN_MASK              UINT8_C(0x80)
+
+/*! @name Mask definitions for BMI2 any and no-motion feature configuration */
+#define BMI2_ANY_NO_MOT_DUR_MASK                  UINT16_C(0x1FFF)
+#define BMI2_ANY_NO_MOT_X_SEL_MASK                UINT16_C(0x2000)
+#define BMI2_ANY_NO_MOT_Y_SEL_MASK                UINT16_C(0x4000)
+#define BMI2_ANY_NO_MOT_Z_SEL_MASK                UINT16_C(0x8000)
+#define BMI2_ANY_NO_MOT_THRES_MASK                UINT16_C(0x07FF)
+#define BMI2_ANY_MOT_INT_MASK                     UINT8_C(0x40)
+
+/*! @name Mask definitions for BMI2 no-motion interrupt mapping */
+#define BMI2_NO_MOT_INT_MASK                      UINT8_C(0x20)
+
+/*! @name Bit position definitions for BMI2 any and no-motion feature
+ * configuration
+ */
+#define BMI2_ANY_NO_MOT_X_SEL_POS                 UINT8_C(0x0D)
+#define BMI2_ANY_NO_MOT_Y_SEL_POS                 UINT8_C(0x0E)
+#define BMI2_ANY_NO_MOT_Z_SEL_POS                 UINT8_C(0x0F)
+
+/*! @name Mask definitions for BMI2 orientation feature configuration */
+#define BMI2_ORIENT_UP_DOWN_MASK                  UINT16_C(0x0002)
+#define BMI2_ORIENT_SYMM_MODE_MASK                UINT16_C(0x000C)
+#define BMI2_ORIENT_BLOCK_MODE_MASK               UINT16_C(0x0030)
+#define BMI2_ORIENT_THETA_MASK                    UINT16_C(0x0FC0)
+#define BMI2_ORIENT_HYST_MASK                     UINT16_C(0x07FF)
+
+/*! @name Bit position definitions for BMI2 orientation feature configuration */
+#define BMI2_ORIENT_UP_DOWN_POS                   UINT8_C(0x01)
+#define BMI2_ORIENT_SYMM_MODE_POS                 UINT8_C(0x02)
+#define BMI2_ORIENT_BLOCK_MODE_POS                UINT8_C(0x04)
+#define BMI2_ORIENT_THETA_POS                     UINT8_C(0x06)
+
+/*! @name Mask definitions for BMI2 sig-motion feature configuration */
+#define BMI2_SIG_MOT_PARAM_1_MASK                 UINT16_C(0xFFFF)
+#define BMI2_SIG_MOT_PARAM_2_MASK                 UINT16_C(0xFFFF)
+#define BMI2_SIG_MOT_PARAM_3_MASK                 UINT16_C(0xFFFF)
+#define BMI2_SIG_MOT_PARAM_4_MASK                 UINT16_C(0xFFFF)
+#define BMI2_SIG_MOT_PARAM_5_MASK                 UINT16_C(0xFFFF)
+
+/*! @name Mask definitions for BMI2 parameter configurations */
+#define BMI2_STEP_COUNT_PARAMS_MASK               UINT16_C(0xFFFF)
+
+/*! @name Mask definitions for BMI2 step-counter/detector feature configuration */
+#define BMI2_STEP_COUNT_WM_LEVEL_MASK             UINT16_C(0x03FF)
+#define BMI2_STEP_COUNT_RST_CNT_MASK              UINT16_C(0x0400)
+#define BMI2_STEP_BUFFER_SIZE_MASK                UINT16_C(0XFF00)
+#define BMI2_STEP_COUNT_INT_MASK                  UINT8_C(0x02)
+#define BMI2_STEP_ACT_INT_MASK                    UINT8_C(0x04)
+
+/*! @name Bit position definitions for BMI2 step-counter/detector feature
+ * configuration
+ */
+#define BMI2_STEP_COUNT_RST_CNT_POS               UINT8_C(0x0A)
+#define BMI2_STEP_BUFFER_SIZE_POS                 UINT8_C(0X08)
+
+/*! @name Mask definitions for BMI2 gyroscope user gain feature
+ * configuration
+ */
+#define BMI2_GYR_USER_GAIN_RATIO_X_MASK           UINT16_C(0x07FF)
+#define BMI2_GYR_USER_GAIN_RATIO_Y_MASK           UINT16_C(0x07FF)
+#define BMI2_GYR_USER_GAIN_RATIO_Z_MASK           UINT16_C(0x07FF)
+
+/*! @name Mask definitions for BMI2 gyroscope user gain saturation status */
+#define BMI2_GYR_USER_GAIN_SAT_STAT_X_MASK        UINT8_C(0x01)
+#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_MASK        UINT8_C(0x02)
+#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_MASK        UINT8_C(0x04)
+#define BMI2_G_TRIGGER_STAT_MASK                  UINT8_C(0x38)
+
+/*! @name Bit position definitions for BMI2 gyroscope user gain saturation status */
+#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_POS         UINT8_C(0x01)
+#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_POS         UINT8_C(0x02)
+#define BMI2_G_TRIGGER_STAT_POS                   UINT8_C(0x03)
+
+/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation */
+#define BMI2_GYR_OFF_COMP_MSB_X_MASK              UINT8_C(0x03)
+#define BMI2_GYR_OFF_COMP_MSB_Y_MASK              UINT8_C(0x0C)
+#define BMI2_GYR_OFF_COMP_MSB_Z_MASK              UINT8_C(0x30)
+
+/*! @name Bit positions for MSB values of BMI2 gyroscope compensation */
+#define BMI2_GYR_OFF_COMP_MSB_Y_POS               UINT8_C(0x02)
+#define BMI2_GYR_OFF_COMP_MSB_Z_POS               UINT8_C(0x04)
+
+/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation from user input */
+#define BMI2_GYR_OFF_COMP_MSB_MASK                UINT16_C(0x0300)
+#define BMI2_GYR_OFF_COMP_LSB_MASK                UINT16_C(0x00FF)
+
+/*! @name Mask definitions for BMI2 orientation status */
+#define BMI2_ORIENT_DETECT_MASK                   UINT8_C(0x03)
+#define BMI2_ORIENT_FACE_UP_DWN_MASK              UINT8_C(0x04)
+
+/*! @name Bit position definitions for BMI2 orientation status */
+#define BMI2_ORIENT_FACE_UP_DWN_POS               UINT8_C(0x02)
+
+/*! @name Mask definitions for NVM-VFRM error status */
+#define BMI2_NVM_LOAD_ERR_STATUS_MASK             UINT8_C(0x01)
+#define BMI2_NVM_PROG_ERR_STATUS_MASK             UINT8_C(0x02)
+#define BMI2_NVM_ERASE_ERR_STATUS_MASK            UINT8_C(0x04)
+#define BMI2_NVM_END_EXCEED_STATUS_MASK           UINT8_C(0x08)
+#define BMI2_NVM_PRIV_ERR_STATUS_MASK             UINT8_C(0x10)
+#define BMI2_VFRM_LOCK_ERR_STATUS_MASK            UINT8_C(0x20)
+#define BMI2_VFRM_WRITE_ERR_STATUS_MASK           UINT8_C(0x40)
+#define BMI2_VFRM_FATAL_ERR_STATUS_MASK           UINT8_C(0x80)
+
+/*! @name Bit positions for NVM-VFRM error status */
+#define BMI2_NVM_PROG_ERR_STATUS_POS              UINT8_C(0x01)
+#define BMI2_NVM_ERASE_ERR_STATUS_POS             UINT8_C(0x02)
+#define BMI2_NVM_END_EXCEED_STATUS_POS            UINT8_C(0x03)
+#define BMI2_NVM_PRIV_ERR_STATUS_POS              UINT8_C(0x04)
+#define BMI2_VFRM_LOCK_ERR_STATUS_POS             UINT8_C(0x05)
+#define BMI2_VFRM_WRITE_ERR_STATUS_POS            UINT8_C(0x06)
+#define BMI2_VFRM_FATAL_ERR_STATUS_POS            UINT8_C(0x07)
+
+/*! @name Mask definitions for accelerometer self-test status */
+#define BMI2_ACC_SELF_TEST_DONE_MASK              UINT8_C(0x01)
+#define BMI2_ACC_X_OK_MASK                        UINT8_C(0x02)
+#define BMI2_ACC_Y_OK_MASK                        UINT8_C(0x04)
+#define BMI2_ACC_Z_OK_MASK                        UINT8_C(0x08)
+
+/*! @name Bit Positions for accelerometer self-test status */
+#define BMI2_ACC_X_OK_POS                         UINT8_C(0x01)
+#define BMI2_ACC_Y_OK_POS                         UINT8_C(0x02)
+#define BMI2_ACC_Z_OK_POS                         UINT8_C(0x03)
+
+/*! @name Mask definitions for BMI2 high-g feature configuration */
+#define BMI2_HIGH_G_THRES_MASK                    UINT16_C(0x7FFF)
+#define BMI2_HIGH_G_HYST_MASK                     UINT16_C(0x0FFF)
+#define BMI2_HIGH_G_X_SEL_MASK                    UINT16_C(0x1000)
+#define BMI2_HIGH_G_Y_SEL_MASK                    UINT16_C(0x2000)
+#define BMI2_HIGH_G_Z_SEL_MASK                    UINT16_C(0x4000)
+#define BMI2_HIGH_G_DUR_MASK                      UINT16_C(0x0FFF)
+
+/*! @name Bit position definitions for BMI2 high-g feature configuration */
+#define BMI2_HIGH_G_X_SEL_POS                     UINT8_C(0x0C)
+#define BMI2_HIGH_G_Y_SEL_POS                     UINT8_C(0x0D)
+#define BMI2_HIGH_G_Z_SEL_POS                     UINT8_C(0x0E)
+
+/*! @name Mask definitions for BMI2 low-g feature configuration */
+#define BMI2_LOW_G_THRES_MASK                     UINT16_C(0x7FFF)
+#define BMI2_LOW_G_HYST_MASK                      UINT16_C(0x0FFF)
+#define BMI2_LOW_G_DUR_MASK                       UINT16_C(0x0FFF)
+
+/*! @name Mask definitions for BMI2 free-fall detection feature configuration */
+#define BMI2_FREE_FALL_ACCEL_SETT_MASK            UINT16_C(0xFFFF)
+
+/*! @name Mask definitions for BMI2 flat feature configuration */
+#define BMI2_FLAT_THETA_MASK                      UINT16_C(0x007E)
+#define BMI2_FLAT_BLOCK_MASK                      UINT16_C(0x0180)
+#define BMI2_FLAT_HYST_MASK                       UINT16_C(0x003F)
+#define BMI2_FLAT_HOLD_TIME_MASK                  UINT16_C(0x3FC0)
+
+/*! @name Bit position definitions for BMI2 flat feature configuration */
+#define BMI2_FLAT_THETA_POS                       UINT8_C(0x01)
+#define BMI2_FLAT_BLOCK_POS                       UINT8_C(0x07)
+#define BMI2_FLAT_HOLD_TIME_POS                   UINT8_C(0x06)
+
+/*! @name Mask definitions for BMI2 wrist gesture configuration */
+#define BMI2_WRIST_GEST_WEAR_ARM_MASK             UINT16_C(0x0010)
+
+/*! @name Bit position definitions for wrist gesture configuration */
+#define BMI2_WRIST_GEST_WEAR_ARM_POS              UINT8_C(0x04)
+
+/*! @name Mask definitions for BMI2 wrist gesture wh configuration */
+#define BMI2_WRIST_GEST_WH_DEVICE_POS_MASK        UINT16_C(0x0001)
+#define BMI2_WRIST_GEST_WH_INT                    UINT8_C(0x10)
+#define BMI2_WRIST_GEST_WH_START_ADD              UINT8_C(0x08)
+
+/*! @name Mask definitions for BMI2 wrist wear wake-up configuration */
+#define BMI2_WRIST_WAKE_UP_WH_INT_MASK            UINT8_C(0x08)
+
+/*! @name Mask definition for BMI2 wrist wear wake-up configuration for wearable variant */
+#define BMI2_WRIST_WAKE_UP_ANGLE_LR_MASK          UINT16_C(0x00FF)
+#define BMI2_WRIST_WAKE_UP_ANGLE_LL_MASK          UINT16_C(0xFF00)
+#define BMI2_WRIST_WAKE_UP_ANGLE_PD_MASK          UINT16_C(0x00FF)
+#define BMI2_WRIST_WAKE_UP_ANGLE_PU_MASK          UINT16_C(0xFF00)
+#define BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED_MASK     UINT16_C(0x00FF)
+#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_MASK     UINT16_C(0xFF00)
+
+/*! @name Bit position definition for BMI2 wrist wear wake-up configuration for wearable variant */
+#define BMI2_WRIST_WAKE_UP_ANGLE_LL_POS           UINT16_C(0x0008)
+#define BMI2_WRIST_WAKE_UP_ANGLE_PU_POS           UINT16_C(0x0008)
+#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_POS      UINT16_C(0x0008)
+
+/*! @name Macros to define values of BMI2 axis and its sign for re-map
+ * settings
+ */
+#define BMI2_MAP_X_AXIS                           UINT8_C(0x00)
+#define BMI2_MAP_Y_AXIS                           UINT8_C(0x01)
+#define BMI2_MAP_Z_AXIS                           UINT8_C(0x02)
+#define BMI2_MAP_POSITIVE                         UINT8_C(0x00)
+#define BMI2_MAP_NEGATIVE                         UINT8_C(0x01)
+
+/*! @name Mask definitions of BMI2 axis re-mapping */
+#define BMI2_X_AXIS_MASK                          UINT8_C(0x03)
+#define BMI2_X_AXIS_SIGN_MASK                     UINT8_C(0x04)
+#define BMI2_Y_AXIS_MASK                          UINT8_C(0x18)
+#define BMI2_Y_AXIS_SIGN_MASK                     UINT8_C(0x20)
+#define BMI2_Z_AXIS_MASK                          UINT8_C(0xC0)
+#define BMI2_Z_AXIS_SIGN_MASK                     UINT8_C(0x01)
+
+/*! @name Bit position definitions of BMI2 axis re-mapping */
+#define BMI2_X_AXIS_SIGN_POS                      UINT8_C(0x02)
+#define BMI2_Y_AXIS_POS                           UINT8_C(0x03)
+#define BMI2_Y_AXIS_SIGN_POS                      UINT8_C(0x05)
+#define BMI2_Z_AXIS_POS                           UINT8_C(0x06)
+
+/*! @name Macros to define polarity */
+#define BMI2_NEG_SIGN                             UINT8_C(1)
+#define BMI2_POS_SIGN                             UINT8_C(0)
+
+/*! @name Macro to define related to CRT */
+#define BMI2_CRT_READY_FOR_DOWNLOAD_US            UINT16_C(2000)
+#define BMI2_CRT_READY_FOR_DOWNLOAD_RETRY         UINT8_C(100)
+
+#define BMI2_CRT_WAIT_RUNNING_US                  UINT16_C(10000)
+#define BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION     UINT8_C(200)
+
+#define BMI2_CRT_MIN_BURST_WORD_LENGTH            UINT8_C(2)
+#define BMI2_CRT_MAX_BURST_WORD_LENGTH            UINT16_C(255)
+
+#define BMI2_ACC_FOC_2G_REF                       UINT16_C(16384)
+#define BMI2_ACC_FOC_4G_REF                       UINT16_C(8192)
+#define BMI2_ACC_FOC_8G_REF                       UINT16_C(4096)
+#define BMI2_ACC_FOC_16G_REF                      UINT16_C(2048)
+
+#define BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE        INT8_C(-20)
+#define BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE        INT8_C(20)
+
+/* reference value with positive and negative noise range in lsb */
+#define BMI2_ACC_2G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_2G_REF + UINT16_C(255))
+#define BMI2_ACC_2G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_2G_REF - UINT16_C(255))
+#define BMI2_ACC_4G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_4G_REF + UINT16_C(255))
+#define BMI2_ACC_4G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_4G_REF - UINT16_C(255))
+#define BMI2_ACC_8G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_8G_REF + UINT16_C(255))
+#define BMI2_ACC_8G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_8G_REF - UINT16_C(255))
+#define BMI2_ACC_16G_MAX_NOISE_LIMIT              (BMI2_ACC_FOC_16G_REF + UINT16_C(255))
+#define BMI2_ACC_16G_MIN_NOISE_LIMIT              (BMI2_ACC_FOC_16G_REF - UINT16_C(255))
+
+#define BMI2_FOC_SAMPLE_LIMIT                     UINT8_C(128)
+
+/*! @name Bit wise selection of BMI2 sensors */
+#define BMI2_MAIN_SENSORS \
+    (BMI2_ACCEL_SENS_SEL | BMI2_GYRO_SENS_SEL \
+     | BMI2_AUX_SENS_SEL | BMI2_TEMP_SENS_SEL)
+
+/*!  @name Maximum number of BMI2 main sensors */
+#define BMI2_MAIN_SENS_MAX_NUM                    UINT8_C(4)
+
+/*! @name Macro to specify the number of step counter parameters */
+#define BMI2_STEP_CNT_N_PARAMS                    UINT8_C(25)
+
+/*! @name Macro to specify the number of free-fall accel setting parameters */
+#define BMI2_FREE_FALL_ACCEL_SET_PARAMS           UINT8_C(7)
+
+#define BMI2_SELECT_GYRO_SELF_TEST                UINT8_C(0)
+#define BMI2_SELECT_CRT                           UINT8_C(1)
+
+/*! @name Macro for NVM enable */
+#define BMI2_NVM_UNLOCK_ENABLE                    UINT8_C(0x02)
+#define BMI2_NVM_UNLOCK_DISABLE                   UINT8_C(0x00)
+
+/*! @name macro to select between gyro self test and CRT */
+#define BMI2_GYRO_SELF_TEST_SEL                   UINT8_C(0)
+#define BMI2_CRT_SEL                              UINT8_C(1)
+
+/******************************************************************************/
+/*! @name       Accelerometer Macro Definitions               */
+/******************************************************************************/
+/*! @name Accelerometer Bandwidth parameters */
+#define BMI2_ACC_OSR4_AVG1                        UINT8_C(0x00)
+#define BMI2_ACC_OSR2_AVG2                        UINT8_C(0x01)
+#define BMI2_ACC_NORMAL_AVG4                      UINT8_C(0x02)
+#define BMI2_ACC_CIC_AVG8                         UINT8_C(0x03)
+#define BMI2_ACC_RES_AVG16                        UINT8_C(0x04)
+#define BMI2_ACC_RES_AVG32                        UINT8_C(0x05)
+#define BMI2_ACC_RES_AVG64                        UINT8_C(0x06)
+#define BMI2_ACC_RES_AVG128                       UINT8_C(0x07)
+
+/*! @name Accelerometer Output Data Rate */
+#define BMI2_ACC_ODR_0_78HZ                       UINT8_C(0x01)
+#define BMI2_ACC_ODR_1_56HZ                       UINT8_C(0x02)
+#define BMI2_ACC_ODR_3_12HZ                       UINT8_C(0x03)
+#define BMI2_ACC_ODR_6_25HZ                       UINT8_C(0x04)
+#define BMI2_ACC_ODR_12_5HZ                       UINT8_C(0x05)
+#define BMI2_ACC_ODR_25HZ                         UINT8_C(0x06)
+#define BMI2_ACC_ODR_50HZ                         UINT8_C(0x07)
+#define BMI2_ACC_ODR_100HZ                        UINT8_C(0x08)
+#define BMI2_ACC_ODR_200HZ                        UINT8_C(0x09)
+#define BMI2_ACC_ODR_400HZ                        UINT8_C(0x0A)
+#define BMI2_ACC_ODR_800HZ                        UINT8_C(0x0B)
+#define BMI2_ACC_ODR_1600HZ                       UINT8_C(0x0C)
+
+/*! @name Accelerometer G Range */
+#define BMI2_ACC_RANGE_2G                         UINT8_C(0x00)
+#define BMI2_ACC_RANGE_4G                         UINT8_C(0x01)
+#define BMI2_ACC_RANGE_8G                         UINT8_C(0x02)
+#define BMI2_ACC_RANGE_16G                        UINT8_C(0x03)
+
+/*! @name Mask definitions for accelerometer configuration register */
+#define BMI2_ACC_RANGE_MASK                       UINT8_C(0x03)
+#define BMI2_ACC_ODR_MASK                         UINT8_C(0x0F)
+#define BMI2_ACC_BW_PARAM_MASK                    UINT8_C(0x70)
+#define BMI2_ACC_FILTER_PERF_MODE_MASK            UINT8_C(0x80)
+
+/*! @name Bit position definitions for accelerometer configuration register */
+#define BMI2_ACC_BW_PARAM_POS                     UINT8_C(0x04)
+#define BMI2_ACC_FILTER_PERF_MODE_POS             UINT8_C(0x07)
+
+/*! @name Self test macro to define range */
+#define BMI2_ACC_SELF_TEST_RANGE                  UINT8_C(16)
+
+/*! @name Self test macro to show resulting minimum and maximum difference
+ * signal of the axes in mg
+ */
+#define BMI2_ST_ACC_X_SIG_MIN_DIFF                INT16_C(16000)
+#define BMI2_ST_ACC_Y_SIG_MIN_DIFF                INT16_C(-15000)
+#define BMI2_ST_ACC_Z_SIG_MIN_DIFF                INT16_C(10000)
+
+/*! @name Mask definitions for accelerometer self-test */
+#define BMI2_ACC_SELF_TEST_EN_MASK                UINT8_C(0x01)
+#define BMI2_ACC_SELF_TEST_SIGN_MASK              UINT8_C(0x04)
+#define BMI2_ACC_SELF_TEST_AMP_MASK               UINT8_C(0x08)
+
+/*! @name Bit Positions for accelerometer self-test */
+#define BMI2_ACC_SELF_TEST_SIGN_POS               UINT8_C(0x02)
+#define BMI2_ACC_SELF_TEST_AMP_POS                UINT8_C(0x03)
+
+/*! @name MASK definition for gyro self test status  */
+#define BMI2_GYR_ST_AXES_DONE_MASK                UINT8_C(0X01)
+#define BMI2_GYR_AXIS_X_OK_MASK                   UINT8_C(0x02)
+#define BMI2_GYR_AXIS_Y_OK_MASK                   UINT8_C(0x04)
+#define BMI2_GYR_AXIS_Z_OK_MASK                   UINT8_C(0x08)
+
+/*! @name Bit position for gyro self test status  */
+#define BMI2_GYR_AXIS_X_OK_POS                    UINT8_C(0x01)
+#define BMI2_GYR_AXIS_Y_OK_POS                    UINT8_C(0x02)
+#define BMI2_GYR_AXIS_Z_OK_POS                    UINT8_C(0x03)
+
+/******************************************************************************/
+/*! @name       Gyroscope Macro Definitions               */
+/******************************************************************************/
+/*! @name Gyroscope Bandwidth parameters */
+#define BMI2_GYR_OSR4_MODE                        UINT8_C(0x00)
+#define BMI2_GYR_OSR2_MODE                        UINT8_C(0x01)
+#define BMI2_GYR_NORMAL_MODE                      UINT8_C(0x02)
+#define BMI2_GYR_CIC_MODE                         UINT8_C(0x03)
+
+/*! @name Gyroscope Output Data Rate */
+#define BMI2_GYR_ODR_25HZ                         UINT8_C(0x06)
+#define BMI2_GYR_ODR_50HZ                         UINT8_C(0x07)
+#define BMI2_GYR_ODR_100HZ                        UINT8_C(0x08)
+#define BMI2_GYR_ODR_200HZ                        UINT8_C(0x09)
+#define BMI2_GYR_ODR_400HZ                        UINT8_C(0x0A)
+#define BMI2_GYR_ODR_800HZ                        UINT8_C(0x0B)
+#define BMI2_GYR_ODR_1600HZ                       UINT8_C(0x0C)
+#define BMI2_GYR_ODR_3200HZ                       UINT8_C(0x0D)
+
+/*! @name Gyroscope OIS Range */
+#define BMI2_GYR_OIS_250                          UINT8_C(0x00)
+#define BMI2_GYR_OIS_2000                         UINT8_C(0x01)
+
+/*! @name Gyroscope Angular Rate Measurement Range */
+#define BMI2_GYR_RANGE_2000                       UINT8_C(0x00)
+#define BMI2_GYR_RANGE_1000                       UINT8_C(0x01)
+#define BMI2_GYR_RANGE_500                        UINT8_C(0x02)
+#define BMI2_GYR_RANGE_250                        UINT8_C(0x03)
+#define BMI2_GYR_RANGE_125                        UINT8_C(0x04)
+
+/*! @name Mask definitions for gyroscope configuration register */
+#define BMI2_GYR_RANGE_MASK                       UINT8_C(0x07)
+#define BMI2_GYR_OIS_RANGE_MASK                   UINT8_C(0x08)
+#define BMI2_GYR_ODR_MASK                         UINT8_C(0x0F)
+#define BMI2_GYR_BW_PARAM_MASK                    UINT8_C(0x30)
+#define BMI2_GYR_NOISE_PERF_MODE_MASK             UINT8_C(0x40)
+#define BMI2_GYR_FILTER_PERF_MODE_MASK            UINT8_C(0x80)
+
+/*! @name Bit position definitions for gyroscope configuration register */
+#define BMI2_GYR_OIS_RANGE_POS                    UINT8_C(0x03)
+#define BMI2_GYR_BW_PARAM_POS                     UINT8_C(0x04)
+#define BMI2_GYR_NOISE_PERF_MODE_POS              UINT8_C(0x06)
+#define BMI2_GYR_FILTER_PERF_MODE_POS             UINT8_C(0x07)
+
+/******************************************************************************/
+/*! @name       Auxiliary Macro Definitions               */
+/******************************************************************************/
+/*! @name Auxiliary Output Data Rate */
+#define BMI2_AUX_ODR_RESERVED                     UINT8_C(0x00)
+#define BMI2_AUX_ODR_0_78HZ                       UINT8_C(0x01)
+#define BMI2_AUX_ODR_1_56HZ                       UINT8_C(0x02)
+#define BMI2_AUX_ODR_3_12HZ                       UINT8_C(0x03)
+#define BMI2_AUX_ODR_6_25HZ                       UINT8_C(0x04)
+#define BMI2_AUX_ODR_12_5HZ                       UINT8_C(0x05)
+#define BMI2_AUX_ODR_25HZ                         UINT8_C(0x06)
+#define BMI2_AUX_ODR_50HZ                         UINT8_C(0x07)
+#define BMI2_AUX_ODR_100HZ                        UINT8_C(0x08)
+#define BMI2_AUX_ODR_200HZ                        UINT8_C(0x09)
+#define BMI2_AUX_ODR_400HZ                        UINT8_C(0x0A)
+#define BMI2_AUX_ODR_800HZ                        UINT8_C(0x0B)
+
+/*! @name Macro to define burst read lengths for both manual and auto modes */
+#define BMI2_AUX_READ_LEN_0                       UINT8_C(0x00)
+#define BMI2_AUX_READ_LEN_1                       UINT8_C(0x01)
+#define BMI2_AUX_READ_LEN_2                       UINT8_C(0x02)
+#define BMI2_AUX_READ_LEN_3                       UINT8_C(0x03)
+
+/*! @name Mask definitions for auxiliary interface configuration register */
+#define BMI2_AUX_SET_I2C_ADDR_MASK                UINT8_C(0xFE)
+#define BMI2_AUX_MAN_MODE_EN_MASK                 UINT8_C(0x80)
+#define BMI2_AUX_FCU_WR_EN_MASK                   UINT8_C(0x40)
+#define BMI2_AUX_MAN_READ_BURST_MASK              UINT8_C(0x0C)
+#define BMI2_AUX_READ_BURST_MASK                  UINT8_C(0x03)
+#define BMI2_AUX_ODR_EN_MASK                      UINT8_C(0x0F)
+#define BMI2_AUX_OFFSET_READ_OUT_MASK             UINT8_C(0xF0)
+
+/*! @name Bit positions for auxiliary interface configuration register */
+#define BMI2_AUX_SET_I2C_ADDR_POS                 UINT8_C(0x01)
+#define BMI2_AUX_MAN_MODE_EN_POS                  UINT8_C(0x07)
+#define BMI2_AUX_FCU_WR_EN_POS                    UINT8_C(0x06)
+#define BMI2_AUX_MAN_READ_BURST_POS               UINT8_C(0x02)
+#define BMI2_AUX_OFFSET_READ_OUT_POS              UINT8_C(0x04)
+
+/******************************************************************************/
+/*! @name       FIFO Macro Definitions                                        */
+/******************************************************************************/
+/*! @name Macros to define virtual FIFO frame mode */
+#define BMI2_FIFO_VIRT_FRM_MODE                   UINT8_C(0x03)
+
+/*! @name FIFO Header Mask definitions */
+#define BMI2_FIFO_HEADER_ACC_FRM                  UINT8_C(0x84)
+#define BMI2_FIFO_HEADER_AUX_FRM                  UINT8_C(0x90)
+#define BMI2_FIFO_HEADER_GYR_FRM                  UINT8_C(0x88)
+#define BMI2_FIFO_HEADER_GYR_ACC_FRM              UINT8_C(0x8C)
+#define BMI2_FIFO_HEADER_AUX_ACC_FRM              UINT8_C(0x94)
+#define BMI2_FIFO_HEADER_AUX_GYR_FRM              UINT8_C(0x98)
+#define BMI2_FIFO_HEADER_ALL_FRM                  UINT8_C(0x9C)
+#define BMI2_FIFO_HEADER_SENS_TIME_FRM            UINT8_C(0x44)
+#define BMI2_FIFO_HEADER_SKIP_FRM                 UINT8_C(0x40)
+#define BMI2_FIFO_HEADER_INPUT_CFG_FRM            UINT8_C(0x48)
+#define BMI2_FIFO_HEAD_OVER_READ_MSB              UINT8_C(0x80)
+#define BMI2_FIFO_VIRT_ACT_RECOG_FRM              UINT8_C(0xC8)
+
+/*! @name BMI2 sensor selection for header-less frames  */
+#define BMI2_FIFO_HEAD_LESS_ACC_FRM               UINT8_C(0x40)
+#define BMI2_FIFO_HEAD_LESS_AUX_FRM               UINT8_C(0x20)
+#define BMI2_FIFO_HEAD_LESS_GYR_FRM               UINT8_C(0x80)
+#define BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM           UINT8_C(0xA0)
+#define BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM           UINT8_C(0xC0)
+#define BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM           UINT8_C(0x60)
+#define BMI2_FIFO_HEAD_LESS_ALL_FRM               UINT8_C(0xE0)
+
+/*! @name Mask definitions for FIFO frame content configuration */
+#define BMI2_FIFO_STOP_ON_FULL                    UINT16_C(0x0001)
+#define BMI2_FIFO_TIME_EN                         UINT16_C(0x0002)
+#define BMI2_FIFO_TAG_INT1                        UINT16_C(0x0300)
+#define BMI2_FIFO_TAG_INT2                        UINT16_C(0x0C00)
+#define BMI2_FIFO_HEADER_EN                       UINT16_C(0x1000)
+#define BMI2_FIFO_AUX_EN                          UINT16_C(0x2000)
+#define BMI2_FIFO_ACC_EN                          UINT16_C(0x4000)
+#define BMI2_FIFO_GYR_EN                          UINT16_C(0x8000)
+#define BMI2_FIFO_ALL_EN                          UINT16_C(0xE000)
+
+/*! @name FIFO sensor data lengths */
+#define BMI2_FIFO_ACC_LENGTH                      UINT8_C(6)
+#define BMI2_FIFO_GYR_LENGTH                      UINT8_C(6)
+#define BMI2_FIFO_AUX_LENGTH                      UINT8_C(8)
+#define BMI2_FIFO_ACC_AUX_LENGTH                  UINT8_C(14)
+#define BMI2_FIFO_GYR_AUX_LENGTH                  UINT8_C(14)
+#define BMI2_FIFO_ACC_GYR_LENGTH                  UINT8_C(12)
+#define BMI2_FIFO_ALL_LENGTH                      UINT8_C(20)
+#define BMI2_SENSOR_TIME_LENGTH                   UINT8_C(3)
+#define BMI2_FIFO_CONFIG_LENGTH                   UINT8_C(2)
+#define BMI2_FIFO_WM_LENGTH                       UINT8_C(2)
+#define BMI2_MAX_VALUE_FIFO_FILTER                UINT8_C(1)
+#define BMI2_FIFO_DATA_LENGTH                     UINT8_C(2)
+#define BMI2_FIFO_LENGTH_MSB_BYTE                 UINT8_C(1)
+#define BMI2_FIFO_INPUT_CFG_LENGTH                UINT8_C(4)
+#define BMI2_FIFO_SKIP_FRM_LENGTH                 UINT8_C(1)
+
+/*! @name FIFO sensor virtual data lengths: sensor data plus sensor time */
+#define BMI2_FIFO_VIRT_ACC_LENGTH                 UINT8_C(9)
+#define BMI2_FIFO_VIRT_GYR_LENGTH                 UINT8_C(9)
+#define BMI2_FIFO_VIRT_AUX_LENGTH                 UINT8_C(11)
+#define BMI2_FIFO_VIRT_ACC_AUX_LENGTH             UINT8_C(17)
+#define BMI2_FIFO_VIRT_GYR_AUX_LENGTH             UINT8_C(17)
+#define BMI2_FIFO_VIRT_ACC_GYR_LENGTH             UINT8_C(15)
+#define BMI2_FIFO_VIRT_ALL_LENGTH                 UINT8_C(23)
+
+/*! @name FIFO sensor virtual data lengths: activity recognition */
+#define BMI2_FIFO_VIRT_ACT_DATA_LENGTH            UINT8_C(6)
+#define BMI2_FIFO_VIRT_ACT_TIME_LENGTH            UINT8_C(4)
+#define BMI2_FIFO_VIRT_ACT_TYPE_LENGTH            UINT8_C(1)
+#define BMI2_FIFO_VIRT_ACT_STAT_LENGTH            UINT8_C(1)
+
+/*! @name BMI2 FIFO data filter modes */
+#define BMI2_FIFO_UNFILTERED_DATA                 UINT8_C(0)
+#define BMI2_FIFO_FILTERED_DATA                   UINT8_C(1)
+
+/*! @name FIFO frame masks */
+#define BMI2_FIFO_LSB_CONFIG_CHECK                UINT8_C(0x00)
+#define BMI2_FIFO_MSB_CONFIG_CHECK                UINT8_C(0x80)
+#define BMI2_FIFO_TAG_INTR_MASK                   UINT8_C(0xFF)
+
+/*! @name BMI2 Mask definitions of FIFO configuration registers */
+#define BMI2_FIFO_CONFIG_0_MASK                   UINT16_C(0x0003)
+#define BMI2_FIFO_CONFIG_1_MASK                   UINT16_C(0xFF00)
+
+/*! @name FIFO self wake-up mask definition */
+#define BMI2_FIFO_SELF_WAKE_UP_MASK               UINT8_C(0x02)
+
+/*! @name FIFO down sampling mask definition */
+#define BMI2_ACC_FIFO_DOWNS_MASK                  UINT8_C(0x70)
+#define BMI2_GYR_FIFO_DOWNS_MASK                  UINT8_C(0x07)
+
+/*! @name FIFO down sampling bit positions */
+#define BMI2_ACC_FIFO_DOWNS_POS                   UINT8_C(0x04)
+
+/*! @name FIFO filter mask definition */
+#define BMI2_ACC_FIFO_FILT_DATA_MASK              UINT8_C(0x80)
+#define BMI2_GYR_FIFO_FILT_DATA_MASK              UINT8_C(0x08)
+
+/*! @name FIFO filter bit positions */
+#define BMI2_ACC_FIFO_FILT_DATA_POS               UINT8_C(0x07)
+#define BMI2_GYR_FIFO_FILT_DATA_POS               UINT8_C(0x03)
+
+/*! @name FIFO byte counter mask definition */
+#define BMI2_FIFO_BYTE_COUNTER_MSB_MASK           UINT8_C(0x3F)
+
+/*! @name FIFO self wake-up bit positions */
+#define BMI2_FIFO_SELF_WAKE_UP_POS                UINT8_C(0x01)
+
+/*! @name Mask Definitions for Virtual FIFO frames */
+#define BMI2_FIFO_VIRT_FRM_MODE_MASK              UINT8_C(0xC0)
+#define BMI2_FIFO_VIRT_PAYLOAD_MASK               UINT8_C(0x3C)
+
+/*! @name Bit Positions for Virtual FIFO frames */
+#define BMI2_FIFO_VIRT_FRM_MODE_POS               UINT8_C(0x06)
+#define BMI2_FIFO_VIRT_PAYLOAD_POS                UINT8_C(0x02)
+
+/******************************************************************************/
+/*! @name        Interrupt Macro Definitions                  */
+/******************************************************************************/
+/*! @name BMI2 Interrupt Modes */
+/* Non latched */
+#define BMI2_INT_NON_LATCH                        UINT8_C(0)
+
+/* Permanently latched */
+#define BMI2_INT_LATCH                            UINT8_C(1)
+
+/*! @name BMI2 Interrupt Pin Behavior */
+#define BMI2_INT_PUSH_PULL                        UINT8_C(0)
+#define BMI2_INT_OPEN_DRAIN                       UINT8_C(1)
+
+/*! @name BMI2 Interrupt Pin Level */
+#define BMI2_INT_ACTIVE_LOW                       UINT8_C(0)
+#define BMI2_INT_ACTIVE_HIGH                      UINT8_C(1)
+
+/*! @name BMI2 Interrupt Output Enable */
+#define BMI2_INT_OUTPUT_DISABLE                   UINT8_C(0)
+#define BMI2_INT_OUTPUT_ENABLE                    UINT8_C(1)
+
+/*! @name BMI2 Interrupt Input Enable */
+#define BMI2_INT_INPUT_DISABLE                    UINT8_C(0)
+#define BMI2_INT_INPUT_ENABLE                     UINT8_C(1)
+
+/*! @name Mask definitions for interrupt pin configuration */
+#define BMI2_INT_LATCH_MASK                       UINT8_C(0x01)
+#define BMI2_INT_LEVEL_MASK                       UINT8_C(0x02)
+#define BMI2_INT_OPEN_DRAIN_MASK                  UINT8_C(0x04)
+#define BMI2_INT_OUTPUT_EN_MASK                   UINT8_C(0x08)
+#define BMI2_INT_INPUT_EN_MASK                    UINT8_C(0x10)
+
+/*! @name Bit position definitions for interrupt pin configuration */
+#define BMI2_INT_LEVEL_POS                        UINT8_C(0x01)
+#define BMI2_INT_OPEN_DRAIN_POS                   UINT8_C(0x02)
+#define BMI2_INT_OUTPUT_EN_POS                    UINT8_C(0x03)
+#define BMI2_INT_INPUT_EN_POS                     UINT8_C(0x04)
+
+/*! @name Mask definitions for data interrupt mapping */
+#define BMI2_FFULL_INT                            UINT8_C(0x01)
+#define BMI2_FWM_INT                              UINT8_C(0x02)
+#define BMI2_DRDY_INT                             UINT8_C(0x04)
+#define BMI2_ERR_INT                              UINT8_C(0x08)
+
+/*! @name Mask definitions for data interrupt status bits */
+#define BMI2_FFULL_INT_STATUS_MASK                UINT16_C(0x0100)
+#define BMI2_FWM_INT_STATUS_MASK                  UINT16_C(0x0200)
+#define BMI2_ERR_INT_STATUS_MASK                  UINT16_C(0x0400)
+#define BMI2_AUX_DRDY_INT_MASK                    UINT16_C(0x2000)
+#define BMI2_GYR_DRDY_INT_MASK                    UINT16_C(0x4000)
+#define BMI2_ACC_DRDY_INT_MASK                    UINT16_C(0x8000)
+
+/*!  @name Maximum number of interrupt pins */
+#define BMI2_INT_PIN_MAX_NUM                      UINT8_C(2)
+
+/*!  @name Macro for mapping feature interrupts */
+#define BMI2_FEAT_BIT_DISABLE                     UINT8_C(0)
+#define BMI2_FEAT_BIT0                            UINT8_C(1)
+#define BMI2_FEAT_BIT1                            UINT8_C(2)
+#define BMI2_FEAT_BIT2                            UINT8_C(3)
+#define BMI2_FEAT_BIT3                            UINT8_C(4)
+#define BMI2_FEAT_BIT4                            UINT8_C(5)
+#define BMI2_FEAT_BIT5                            UINT8_C(6)
+#define BMI2_FEAT_BIT6                            UINT8_C(7)
+#define BMI2_FEAT_BIT7                            UINT8_C(8)
+#define BMI2_FEAT_BIT_MAX                         UINT8_C(9)
+
+/******************************************************************************/
+/*! @name               OIS Interface Macro Definitions                       */
+/******************************************************************************/
+/*! @name Mask definitions for interface configuration register */
+#define BMI2_OIS_IF_EN_MASK                       UINT8_C(0x10)
+#define BMI2_AUX_IF_EN_MASK                       UINT8_C(0x20)
+
+/*! @name Bit positions for OIS interface enable */
+#define BMI2_OIS_IF_EN_POS                        UINT8_C(0x04)
+#define BMI2_AUX_IF_EN_POS                        UINT8_C(0x05)
+
+/******************************************************************************/
+/*! @name       Macro Definitions for Axes re-mapping             */
+/******************************************************************************/
+/*! @name Macros for the user-defined values of axes and their polarities */
+#define BMI2_X                                    UINT8_C(0x01)
+#define BMI2_NEG_X                                UINT8_C(0x09)
+#define BMI2_Y                                    UINT8_C(0x02)
+#define BMI2_NEG_Y                                UINT8_C(0x0A)
+#define BMI2_Z                                    UINT8_C(0x04)
+#define BMI2_NEG_Z                                UINT8_C(0x0C)
+#define BMI2_AXIS_MASK                            UINT8_C(0x07)
+#define BMI2_AXIS_SIGN                            UINT8_C(0x08)
+
+/******************************************************************************/
+/*! @name         Macro Definitions for offset and gain compensation          */
+/******************************************************************************/
+/*! @name Mask definitions of gyroscope offset compensation registers */
+#define BMI2_GYR_GAIN_EN_MASK                     UINT8_C(0x80)
+#define BMI2_GYR_OFF_COMP_EN_MASK                 UINT8_C(0x40)
+
+/*! @name Bit positions of gyroscope offset compensation registers */
+#define BMI2_GYR_OFF_COMP_EN_POS                  UINT8_C(0x06)
+
+/*! @name Mask definitions of gyroscope user-gain registers */
+#define BMI2_GYR_USR_GAIN_X_MASK                  UINT8_C(0x7F)
+#define BMI2_GYR_USR_GAIN_Y_MASK                  UINT8_C(0x7F)
+#define BMI2_GYR_USR_GAIN_Z_MASK                  UINT8_C(0x7F)
+
+/*! @name Bit positions of gyroscope offset compensation registers */
+#define BMI2_GYR_GAIN_EN_POS                      UINT8_C(0x07)
+
+/******************************************************************************/
+/*! @name       Macro Definitions for internal status                 */
+/******************************************************************************/
+#define BMI2_NOT_INIT                             UINT8_C(0x00)
+#define BMI2_INIT_OK                              UINT8_C(0x01)
+#define BMI2_INIT_ERR                             UINT8_C(0x02)
+#define BMI2_DRV_ERR                              UINT8_C(0x03)
+#define BMI2_SNS_STOP                             UINT8_C(0x04)
+#define BMI2_NVM_ERROR                            UINT8_C(0x05)
+#define BMI2_START_UP_ERROR                       UINT8_C(0x06)
+#define BMI2_COMPAT_ERROR                         UINT8_C(0x07)
+#define BMI2_VFM_SKIPPED                          UINT8_C(0x10)
+#define BMI2_AXES_MAP_ERROR                       UINT8_C(0x20)
+#define BMI2_ODR_50_HZ_ERROR                      UINT8_C(0x40)
+#define BMI2_ODR_HIGH_ERROR                       UINT8_C(0x80)
+
+/******************************************************************************/
+/*! @name        error status form gyro gain update status.               */
+/******************************************************************************/
+#define BMI2_G_TRIGGER_NO_ERROR                   UINT8_C(0x00)
+
+#define BMI2_G_TRIGGER_PRECON_ERROR               UINT8_C(0x01)
+#define BMI2_G_TRIGGER_DL_ERROR                   UINT8_C(0x02)
+#define BMI2_G_TRIGGER_ABORT_ERROR                UINT8_C(0x03)
+
+/******************************************************************************/
+/*! @name       Variant specific features selection macros            */
+/******************************************************************************/
+#define BMI2_CRT_RTOSK_ENABLE                     UINT8_C(0x01)
+#define BMI2_GYRO_CROSS_SENS_ENABLE               UINT8_C(0x02)
+#define BMI2_GYRO_USER_GAIN_ENABLE                UINT8_C(0x08)
+#define BMI2_NO_FEATURE_ENABLE                    UINT8_C(0x00)
+#define BMI2_CRT_IN_FIFO_NOT_REQ                  UINT8_C(0x10)
+#define BMI2_MAXIMUM_FIFO_VARIANT                 UINT8_C(0x20)
+
+/*! Pull-up configuration for ASDA               */
+#define BMI2_ASDA_PUPSEL_OFF                      UINT8_C(0x00)
+#define BMI2_ASDA_PUPSEL_40K                      UINT8_C(0x01)
+#define BMI2_ASDA_PUPSEL_10K                      UINT8_C(0x02)
+#define BMI2_ASDA_PUPSEL_2K                       UINT8_C(0x03)
+
+/******************************************************************************/
+/*! @name           Function Pointers                             */
+/******************************************************************************/
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific read functions of the user
+ *
+ * @param[in] reg_addr       : Register address from which data is read.
+ * @param[out] reg_data     : Pointer to data buffer where read data is stored.
+ * @param[in] len            : Number of bytes of data to be read.
+ * @param[in, out] intf_ptr  : Void pointer that can enable the linking of descriptors
+ *                                  for interface related call backs.
+ *
+ *  retval =  BMA4_INTF_RET_SUCCESS -> Success
+ *  retval != BMA4_INTF_RET_SUCCESS -> Failure
+ *
+ */
+typedef BMI2_INTF_RETURN_TYPE (*bmi2_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific write functions of the user
+ *
+ * @param[in] reg_addr      : Register address to which the data is written.
+ * @param[in] reg_data     : Pointer to data buffer in which data to be written
+ *                            is stored.
+ * @param[in] len           : Number of bytes of data to be written.
+ * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
+ *                            for interface related call backs
+ *
+ * retval  = BMA4_INTF_RET_SUCCESS -> Success
+ * retval != BMA4_INTF_RET_SUCCESS -> Failure
+ *
+ */
+typedef BMI2_INTF_RETURN_TYPE (*bmi2_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len,
+                                                   void *intf_ptr);
+
+/*!
+ * @brief Delay function pointer which should be mapped to
+ * delay function of the user
+ *
+ * @param[in] period              : Delay in microseconds.
+ * @param[in, out] intf_ptr       : Void pointer that can enable the linking of descriptors
+ *                                  for interface related call backs
+ *
+ */
+typedef void (*bmi2_delay_fptr_t)(uint32_t period, void *intf_ptr);
+
+/*!
+ * @brief To get the configurations for wake_up feature, since wakeup feature is different for bmi260 and bmi261.
+ *
+ * @param[out]      wake_up    : Void pointer to store bmi2_wake_up_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @return Result of API execution status
+ *
+ * @retval BMI2_OK - Success.
+ * @retval BMI2_E_COM_FAIL - Error: Communication fail
+ * @retval BMI2_E_NULL_PTR - Error: Null pointer error
+ * @retval BMI2_E_INVALID_PAGE - Error: Invalid Page
+ *
+ */
+typedef int8_t (*bmi2_wake_up_fptr_t)(void *wake_up, void *bmi2_dev);
+
+/*!
+ * @brief To get the configurations for tap feature.
+ *
+ * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @return Result of API execution status
+ *
+ * @retval BMI2_OK - Success.
+ * @retval BMI2_E_COM_FAIL - Error: Communication fail
+ * @retval BMI2_E_NULL_PTR - Error: Null pointer error
+ * @retval BMI2_E_INVALID_PAGE - Error: Invalid Page
+ *
+ */
+typedef int8_t (*bmi2_tap_fptr_t)(void *tap, void *bmi2_dev);
+
+/******************************************************************************/
+/*!  @name         Enum Declarations                                  */
+/******************************************************************************/
+/*!  @name Enum to define BMI2 sensor interfaces */
+enum bmi2_intf {
+    BMI2_SPI_INTF = 0,
+    BMI2_I2C_INTF,
+    BMI2_I3C_INTF
+};
+
+/*!  @name Enum to define BMI2 sensor configuration errors for accelerometer
+ *   and gyroscope
+ */
+enum bmi2_sensor_config_error {
+    BMI2_NO_ERROR,
+    BMI2_ACC_ERROR,
+    BMI2_GYR_ERROR,
+    BMI2_ACC_GYR_ERROR
+};
+
+/*!  @name Enum to define interrupt lines */
+enum bmi2_hw_int_pin {
+    BMI2_INT_NONE,
+    BMI2_INT1,
+    BMI2_INT2,
+    BMI2_INT_BOTH,
+    BMI2_INT_PIN_MAX
+};
+
+/*!  @name Enum for the position of the wearable device */
+enum bmi2_wear_arm_pos {
+    BMI2_ARM_LEFT,
+    BMI2_ARM_RIGHT
+};
+
+/*!  @name Enum to display type of activity recognition */
+enum bmi2_act_recog_type {
+    BMI2_ACT_UNKNOWN,
+    BMI2_ACT_STILL,
+    BMI2_ACT_WALK,
+    BMI2_ACT_RUN,
+    BMI2_ACT_BIKE,
+    BMI2_ACT_VEHICLE,
+    BMI2_ACT_TILTED
+};
+
+/*!  @name Enum to display activity recognition status */
+enum bmi2_act_recog_stat {
+    BMI2_ACT_START = 1,
+    BMI2_ACT_END
+};
+
+/******************************************************************************/
+/*!  @name         Structure Declarations                             */
+/******************************************************************************/
+/*! @name Structure to store the compensated user-gain data of gyroscope */
+struct bmi2_gyro_user_gain_data
+{
+    /*! x-axis */
+    int8_t x;
+
+    /*! y-axis */
+    int8_t y;
+
+    /*! z-axis */
+    int8_t z;
+};
+
+/*! @name Structure to store the re-mapped axis */
+struct bmi2_remap
+{
+    /*! Re-mapped x-axis */
+    uint8_t x;
+
+    /*! Re-mapped y-axis */
+    uint8_t y;
+
+    /*! Re-mapped z-axis */
+    uint8_t z;
+};
+
+/*! @name Structure to store the value of re-mapped axis and its sign */
+struct bmi2_axes_remap
+{
+    /*! Re-mapped x-axis */
+    uint8_t x_axis;
+
+    /*! Re-mapped y-axis */
+    uint8_t y_axis;
+
+    /*! Re-mapped z-axis */
+    uint8_t z_axis;
+
+    /*! Re-mapped x-axis sign */
+    uint8_t x_axis_sign;
+
+    /*! Re-mapped y-axis sign */
+    uint8_t y_axis_sign;
+
+    /*! Re-mapped z-axis sign */
+    uint8_t z_axis_sign;
+};
+
+/*! @name Structure to define the type of sensor and its interrupt pin */
+struct bmi2_sens_int_config
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Type of interrupt pin */
+    enum bmi2_hw_int_pin hw_int_pin;
+};
+
+/*! @name Structure to define output for activity recognition */
+struct bmi2_act_recog_output
+{
+    /*! Time stamp */
+    uint32_t time_stamp;
+
+    /*! current activity */
+    uint8_t curr_act;
+
+    /*! previous activity */
+    uint8_t prev_act;
+};
+
+/*! @name Structure to define FIFO frame configuration */
+struct bmi2_fifo_frame
+{
+    /*! Pointer to FIFO data */
+    uint8_t *data;
+
+    /*! Number of user defined bytes of FIFO to be read */
+    uint16_t length;
+
+    /*! Defines header/header-less mode */
+    uint8_t header_enable;
+
+    /*! Enables type of data to be streamed - accelerometer, auxiliary or
+     * gyroscope
+     */
+    uint16_t data_enable;
+
+    /*! To index accelerometer bytes */
+    uint16_t acc_byte_start_idx;
+
+    /*! To index activity output bytes */
+    uint16_t act_recog_byte_start_idx;
+
+    /*! To index auxiliary bytes */
+    uint16_t aux_byte_start_idx;
+
+    /*! To index gyroscope bytes */
+    uint16_t gyr_byte_start_idx;
+
+    /*! FIFO sensor time */
+    uint32_t sensor_time;
+
+    /*! Skipped frame count */
+    uint8_t skipped_frame_count;
+
+    /*! Type of data interrupt to be mapped */
+    uint8_t data_int_map;
+
+    /*! Water-mark level for water-mark interrupt */
+    uint16_t wm_lvl;
+
+    /*! Accelerometer frame length */
+    uint8_t acc_frm_len;
+
+    /*! Gyroscope frame length */
+    uint8_t gyr_frm_len;
+
+    /*! Auxiliary frame length */
+    uint8_t aux_frm_len;
+
+    /*! Accelerometer and gyroscope frame length */
+    uint8_t acc_gyr_frm_len;
+
+    /*! Accelerometer and auxiliary frame length */
+    uint8_t acc_aux_frm_len;
+
+    /*! Gyroscope and auxiliary frame length */
+    uint8_t aux_gyr_frm_len;
+
+    /*! Accelerometer, Gyroscope and auxiliary frame length */
+    uint8_t all_frm_len;
+};
+
+/*! @name Structure to define Interrupt pin configuration */
+struct bmi2_int_pin_cfg
+{
+    /*! Configure level of interrupt pin */
+    uint8_t lvl;
+
+    /*! Configure behavior of interrupt pin */
+    uint8_t od;
+
+    /*! Output enable for interrupt pin */
+    uint8_t output_en;
+
+    /*! Input enable for interrupt pin */
+    uint8_t input_en;
+};
+
+/*! @name Structure to define interrupt pin type, mode and configurations */
+struct bmi2_int_pin_config
+{
+    /*! Interrupt pin type: INT1 or INT2 or BOTH */
+    uint8_t pin_type;
+
+    /*! Latched or non-latched mode*/
+    uint8_t int_latch;
+
+    /*! Structure to define Interrupt pin configuration */
+    struct bmi2_int_pin_cfg pin_cfg[BMI2_INT_PIN_MAX_NUM];
+};
+
+/*! @name Structure to define an array of 8 auxiliary data bytes */
+struct bmi2_aux_fifo_data
+{
+    /*! Auxiliary data */
+    uint8_t data[8];
+
+    /*! Sensor time for virtual frames */
+    uint32_t virt_sens_time;
+};
+
+/*! @name Structure to define accelerometer and gyroscope sensor axes and
+ * sensor time for virtual frames
+ */
+struct bmi2_sens_axes_data
+{
+    /*! Data in x-axis */
+    int16_t x;
+
+    /*! Data in y-axis */
+    int16_t y;
+
+    /*! Data in z-axis */
+    int16_t z;
+
+    /*! Sensor time for virtual frames */
+    uint32_t virt_sens_time;
+};
+
+/*! @name Structure to define gyroscope saturation status of user gain */
+struct bmi2_gyr_user_gain_status
+{
+    /*! Status in x-axis */
+    uint8_t sat_x;
+
+    /*! Status in y-axis */
+    uint8_t sat_y;
+
+    /*! Status in z-axis */
+    uint8_t sat_z;
+
+    /*! G trigger status */
+    uint8_t g_trigger_status;
+};
+
+/*! @name Structure to store the status of gyro self test result */
+struct bmi2_gyro_self_test_status
+{
+    /*! gyro self test axes done */
+    uint8_t gyr_st_axes_done : 1;
+
+    /*! status of gyro X-axis self test */
+    uint8_t gyr_axis_x_ok : 1;
+
+    /*! status of gyro Y-axis self test */
+    uint8_t gyr_axis_y_ok : 1;
+
+    /*! status of gyro Z-axis self test */
+    uint8_t gyr_axis_z_ok : 1;
+};
+
+/*! @name Structure to define NVM error status */
+struct bmi2_nvm_err_status
+{
+    /*! NVM load action error */
+    uint8_t load_error;
+
+    /*! NVM program action error */
+    uint8_t prog_error;
+
+    /*! NVM erase action error */
+    uint8_t erase_error;
+
+    /*! NVM program limit exceeded */
+    uint8_t exceed_error;
+
+    /*! NVM privilege error */
+    uint8_t privil_error;
+};
+
+/*! @name Structure to define VFRM error status */
+struct bmi2_vfrm_err_status
+{
+    /*! VFRM lock acquire error */
+    uint8_t lock_error;
+
+    /*! VFRM write error */
+    uint8_t write_error;
+
+    /*! VFRM fatal err */
+    uint8_t fatal_error;
+};
+
+/*! @name Structure to define accelerometer self test feature status */
+struct bmi2_acc_self_test_status
+{
+    /*! Accelerometer test completed */
+    uint8_t acc_self_test_done;
+
+    /*! Bit is set to 1 when accelerometer X-axis test passed */
+    uint8_t acc_x_ok;
+
+    /*! Bit is set to 1 when accelerometer y-axis test passed */
+    uint8_t acc_y_ok;
+
+    /*! Bit is set to 1 when accelerometer z-axis test passed */
+    uint8_t acc_z_ok;
+};
+
+/*! @name Structure to define orientation output */
+struct bmi2_orientation_output
+{
+    /*! Orientation portrait landscape */
+    uint8_t portrait_landscape;
+
+    /*! Orientation face-up down  */
+    uint8_t faceup_down;
+};
+
+/*! @name Structure to define OIS output */
+struct bmi2_ois_output
+{
+    /*! OIS accel x axis */
+    int16_t ois_acc_x;
+
+    /*! OIS accel y axis */
+    int16_t ois_acc_y;
+
+    /*! OIS accel z axis */
+    int16_t ois_acc_z;
+
+    /*! ois gyro x axis */
+    int16_t ois_gyro_x;
+
+    /*! OIS gyro y axis */
+    int16_t ois_gyro_y;
+
+    /*! OIS gyro z axis */
+    int16_t ois_gyro_z;
+};
+
+/*! @name Union to define BMI2 sensor data */
+union bmi2_sens_data
+{
+    /*! Accelerometer axes data */
+    struct bmi2_sens_axes_data acc;
+
+    /*! Gyroscope axes data */
+    struct bmi2_sens_axes_data gyr;
+
+    /*! Auxiliary sensor data */
+    uint8_t aux_data[BMI2_AUX_NUM_BYTES];
+
+    /*! Step counter output */
+    uint32_t step_counter_output;
+
+    /*! Step activity output */
+    uint8_t activity_output;
+
+    /*! Orientation output */
+    struct bmi2_orientation_output orient_output;
+
+    /*! High-g output */
+    uint8_t high_g_output;
+
+    /*! Gyroscope user gain saturation status */
+    struct bmi2_gyr_user_gain_status gyro_user_gain_status;
+
+    /*! NVM error status */
+    struct bmi2_nvm_err_status nvm_status;
+
+    /*! Virtual frame error status */
+    struct bmi2_vfrm_err_status vfrm_status;
+
+    /*! Wrist gesture output */
+    uint8_t wrist_gesture_output;
+
+    /*! Gyroscope cross sense value of z axis */
+    int16_t correction_factor_zx;
+
+    /*! Accelerometer self test feature status */
+    struct bmi2_acc_self_test_status accel_self_test_output;
+
+    /*! OIS output */
+    struct bmi2_ois_output ois_output;
+};
+
+/*! @name Structure to define type of sensor and their respective data */
+struct bmi2_sensor_data
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Defines various sensor data */
+    union bmi2_sens_data sens_data;
+};
+
+/*! @name Structure to define accelerometer configuration */
+struct bmi2_accel_config
+{
+    /*! Output data rate in Hz */
+    uint8_t odr;
+
+    /*! Bandwidth parameter */
+    uint8_t bwp;
+
+    /*! Filter performance mode */
+    uint8_t filter_perf;
+
+    /*! g-range */
+    uint8_t range;
+};
+
+/*! @name Structure to define gyroscope configuration */
+struct bmi2_gyro_config
+{
+    /*! Output data rate in Hz */
+    uint8_t odr;
+
+    /*! Bandwidth parameter */
+    uint8_t bwp;
+
+    /*! Filter performance mode */
+    uint8_t filter_perf;
+
+    /*! OIS Range */
+    uint8_t ois_range;
+
+    /*! Gyroscope Range */
+    uint8_t range;
+
+    /*! Selects noise performance */
+    uint8_t noise_perf;
+};
+
+/*! @name Structure to define auxiliary sensor configuration */
+struct bmi2_aux_config
+{
+    /*! Enable/Disable auxiliary interface */
+    uint8_t aux_en;
+
+    /*! Manual or Auto mode*/
+    uint8_t manual_en;
+
+    /*! Enables FCU write command on auxiliary interface */
+    uint8_t fcu_write_en;
+
+    /*! Read burst length for manual mode */
+    uint8_t man_rd_burst;
+
+    /*! Read burst length for data mode */
+    uint8_t aux_rd_burst;
+
+    /*! Output data rate */
+    uint8_t odr;
+
+    /*! Read-out offset */
+    uint8_t offset;
+
+    /*! I2c address of auxiliary sensor */
+    uint8_t i2c_device_addr;
+
+    /*! Read address of auxiliary sensor */
+    uint8_t read_addr;
+};
+
+/*! @name Structure to define any-motion configuration */
+struct bmi2_any_motion_config
+{
+    /*! Duration in 50Hz samples(20msec) */
+    uint16_t duration;
+
+    /*! Acceleration slope threshold */
+    uint16_t threshold;
+
+    /*! To select per x-axis */
+    uint16_t select_x;
+
+    /*! To select per y-axis */
+    uint16_t select_y;
+
+    /*! To select per z-axis */
+    uint16_t select_z;
+};
+
+/*! @name Structure to define no-motion configuration */
+struct bmi2_no_motion_config
+{
+    /*! Duration in 50Hz samples(20msec) */
+    uint16_t duration;
+
+    /*! Acceleration slope threshold */
+    uint16_t threshold;
+
+    /*! To select per x-axis */
+    uint16_t select_x;
+
+    /*! To select per y-axis */
+    uint16_t select_y;
+
+    /*! To select per z-axis */
+    uint16_t select_z;
+};
+
+/*! @name Structure to define sig-motion configuration */
+struct bmi2_sig_motion_config
+{
+    /*! Block size */
+    uint16_t block_size;
+
+    /*! Parameter 2 */
+    uint16_t param_2;
+
+    /*! Parameter 3 */
+    uint16_t param_3;
+
+    /*! Parameter 4 */
+    uint16_t param_4;
+
+    /*! Parameter 5 */
+    uint16_t param_5;
+};
+
+/*! @name Structure to define step counter/detector/activity configuration */
+struct bmi2_step_config
+{
+    /*! Water-mark level */
+    uint16_t watermark_level;
+
+    /*! Reset counter */
+    uint16_t reset_counter;
+
+    /*! Step buffer size */
+    uint8_t step_buffer_size;
+};
+
+/*! @name Structure to define gyroscope user gain configuration */
+struct bmi2_gyro_user_gain_config
+{
+    /*! Gain update value for x-axis */
+    uint16_t ratio_x;
+
+    /*! Gain update value for y-axis */
+    uint16_t ratio_y;
+
+    /*! Gain update value for z-axis */
+    uint16_t ratio_z;
+};
+
+/*! @name Structure to define wake-up configuration */
+struct bmi2_wake_up_config
+{
+    /*! Wake-up sensitivity for bmi261 */
+    uint16_t sensitivity;
+
+    /*! Tap feature for BMI261
+     * For Single tap, single_tap_en = 1
+     * For Double tap, single_tap_en = 0
+     */
+    uint16_t single_tap_en;
+
+    /*! Enable -> Filtered tap data, Disable -> Unfiltered data */
+    uint16_t data_reg_en;
+
+    /*! Scaling factor of threshold */
+    uint16_t tap_sens_thres;
+
+    /*! Maximum duration between each taps */
+    uint16_t max_gest_dur;
+
+    /*! Minimum quite time between the two gesture detection */
+    uint16_t quite_time_after_gest;
+
+    /*! Wait time */
+    uint16_t wait_for_timeout;
+
+    /*! Axis selection */
+    uint16_t axis_sel;
+};
+
+/*! @name Structure to define tap configuration */
+struct bmi2_tap_config
+{
+    /*! Tap sensitivity */
+    uint16_t sensitivity;
+
+    /*! Tap feature.
+     * For Single tap, single_tap_en = 1
+     * For Double tap, single_tap_en = 0
+     */
+    uint16_t single_tap_en;
+
+    /*! Enable -> Filtered tap data, Disable -> Unfiltered data */
+    uint16_t data_reg_en;
+
+    /*! Scaling factor of threshold */
+    uint16_t tap_sens_thres;
+
+    /*! Maximum duration between each taps */
+    uint16_t max_gest_dur;
+
+    /*! Minimum quite time between the two gesture detection */
+    uint16_t quite_time_after_gest;
+
+    /*! Wait time */
+    uint16_t wait_for_timeout;
+
+    /*! Axis selection */
+    uint16_t axis_sel;
+};
+
+/*! @name Structure to define orientation configuration */
+struct bmi2_orient_config
+{
+    /*!  Upside/down detection */
+    uint16_t ud_en;
+
+    /*!  Symmetrical, high or low Symmetrical */
+    uint16_t mode;
+
+    /*!  Blocking mode */
+    uint16_t blocking;
+
+    /*!  Threshold angle */
+    uint16_t theta;
+
+    /*!  Acceleration hysteresis for orientation detection */
+    uint16_t hysteresis;
+};
+
+/*! @name Structure to define high-g configuration */
+struct bmi2_high_g_config
+{
+    /*!  Acceleration threshold */
+    uint16_t threshold;
+
+    /*!  Hysteresis */
+    uint16_t hysteresis;
+
+    /*! To select per x-axis */
+    uint16_t select_x;
+
+    /*! To select per y-axis */
+    uint16_t select_y;
+
+    /*! To select per z-axis */
+    uint16_t select_z;
+
+    /*!  Duration interval */
+    uint16_t duration;
+};
+
+/*! @name Structure to define low-g configuration */
+struct bmi2_low_g_config
+{
+    /*! Acceleration threshold */
+    uint16_t threshold;
+
+    /*! Hysteresis */
+    uint16_t hysteresis;
+
+    /*! Duration interval */
+    uint16_t duration;
+};
+
+/*! @name Structure to define flat configuration */
+struct bmi2_flat_config
+{
+    /*!  Theta angle for flat detection */
+    uint16_t theta;
+
+    /*!  Blocking mode */
+    uint16_t blocking;
+
+    /*!  Hysteresis for theta flat detection */
+    uint16_t hysteresis;
+
+    /*! Holds the duration in 50Hz samples(20msec) */
+    uint16_t hold_time;
+};
+
+/*! @name Structure to define wrist gesture configuration */
+struct bmi2_wrist_gest_config
+{
+    /*!  Wearable arm (left or right) */
+    uint16_t wearable_arm;
+
+    /*! Sine of the minimum tilt angle in portrait down direction of the device when wrist is rolled
+     *  away from user. The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle).
+     *  Range is 1448 to 1774. Default value is 1774.  */
+    uint16_t min_flick_peak;
+
+    /*! Value of minimum time difference between wrist roll-out and roll-in movement during flick gesture.
+     *  Range is 3 to 5 samples at 50Hz. Default value is 4 (i.e. 0.08 seconds).  */
+    uint16_t min_flick_samples;
+
+    /*! Maximum time within which gesture movement has to be completed. Range is 150 to 250 samples at 50Hz.
+     * Default value is 200 (i.e. 4 seconds).  */
+    uint16_t max_duration;
+};
+
+/*! @name Structure to define wrist wear wake-up configuration */
+struct bmi2_wrist_wear_wake_up_config
+{
+    /*! Cosine of min expected attitude change of the device within 1 second time window when
+     *  moving within focus position.
+     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774.
+     *  Default is 1448.  */
+    uint16_t min_angle_focus;
+
+    /*! Cosine of min expected attitude change of the device within 1 second time window when
+     *  moving from non-focus to focus position.
+     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856.
+     *  Default value is 1774.  */
+    uint16_t min_angle_nonfocus;
+
+    /*! Sine of the max allowed downward tilt angle in landscape right direction of the device,
+     *  when it is in focus position
+     *  (i.e. user is able to comfortably look at the dial of wear device).
+     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024.
+     *  Default value is 1024.  */
+    uint16_t max_tilt_lr;
+
+    /*! Sine of the max allowed downward tilt angle in landscape left direction of the device,
+     * when it is in focus position
+     *  (i.e. user is able to comfortably look at the dial of wear device).
+     *   The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to
+     * 1024. Default value is 700.  */
+    uint16_t max_tilt_ll;
+
+    /*! Sine of the max allowed backward tilt angle in portrait down direction of the device,
+     *  when it is in focus position
+     *  (i.e. user is able to comfortably look at the dial of wear device).
+     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 0 to179.
+     *  Default value is 179. */
+    uint16_t max_tilt_pd;
+
+    /*! Sine of the maximum allowed forward tilt angle in portrait up direction of the
+     *  device, when it is in focus position
+     *  (i.e. user is able to comfortably look at the dial of wear device).
+     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 1774 to 1978.
+     *  Default value is 1925. */
+    uint16_t max_tilt_pu;
+};
+
+/*! @name Structure to define wrist gesture configuration for wearable variant */
+struct bmi2_wrist_gest_w_config
+{
+    /*!  Wearable arm (left or right) */
+    uint8_t device_position;
+
+    /*! Minimum threshold for flick peak on y-axis */
+    uint16_t min_flick_peak_y_threshold;
+
+    /*! Minimum threshold for flick peak on z-axis */
+    uint16_t min_flick_peak_z_threshold;
+
+    /*! Maximum expected value of positive gravitational acceleration on x-axis
+     * when arm is in focus pose */
+    uint16_t gravity_bounds_x_pos;
+
+    /*! Maximum expected value of negative gravitational acceleration on x-axis
+     * when arm is in focus pose */
+    uint16_t gravity_bounds_x_neg;
+
+    /*! Maximum expected value of negative gravitational acceleration on y-axis
+     * when arm is in focus pose */
+    uint16_t gravity_bounds_y_neg;
+
+    /*! Maximum expected value of negative gravitational acceleration on z-axis
+     * when arm is in focus pose */
+    uint16_t gravity_bounds_z_neg;
+
+    /*! Exponential smoothing coefficient for adaptive peak threshold decay */
+    uint16_t flick_peak_decay_coeff;
+
+    /*! Exponential smoothing coefficient for acceleration mean estimation */
+    uint16_t lp_mean_filter_coeff;
+
+    /*! Maximum duration between 2 peaks of jiggle in samples @50Hz  */
+    uint16_t max_duration_jiggle_peaks;
+};
+
+/*! @name Structure to define wrist wear wake-up configuration for wearable configuration */
+struct bmi2_wrist_wear_wake_up_wh_config
+{
+    /*! Cosine of min expected attitude change of the device within 1 second time window when
+     * moving within focus position.
+     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774.
+     *  Default is 1448.  */
+    uint16_t min_angle_focus;
+
+    /*! Cosine of min expected attitude change of the device within 1 second time window when
+     * moving from non-focus to focus position.
+     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856.
+     *  Default value is 1774.  */
+    uint16_t min_angle_nonfocus;
+
+    /*! Sine of the max allowed downward tilt angle in landscape right direction of the device,
+     * when it is in focus position  (i.e. user is able to comfortably look at the dial of wear device).
+     *  The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 88 to 128.
+     * Default value is 128.  */
+    uint8_t angle_lr;
+
+    /*! Sine of the max allowed downward tilt angle in landscape left direction of the device,
+     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
+     *   The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 88 to 128.
+     * Default value is 128.  */
+    uint8_t angle_ll;
+
+    /*! Sine of the max allowed backward tilt angle in portrait down direction of the device,
+     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
+     *   The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 0 to 179.
+     * Default value is 22. */
+    uint8_t angle_pd;
+
+    /*! Sine of the maximum allowed forward tilt angle in portrait up direction of the device,
+     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
+     * The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 222 to 247.
+     * Default value is 241. */
+    uint8_t angle_pu;
+
+    /*! Minimum duration the arm should be moved while performing gesture. Range: 1 to 10,
+     * resolution = 20 ms.
+     * Default 2(40 ms)*/
+    uint8_t min_dur_mov;
+
+    /*! Minimum duration the arm should be static between two consecutive gestures. Range: 1 to
+     * 10, resolution = 20 ms
+     * Default 2(40 ms)*/
+    uint8_t min_dur_quite;
+};
+
+/*! @name Structure to define primary OIS configuration */
+struct bmi2_primary_ois_config
+{
+    uint8_t lp_filter_enable;
+
+    uint8_t lp_filter_config;
+
+    uint8_t primary_ois_reserved;
+
+    uint8_t primary_ois_gyro_en;
+
+    uint8_t primary_ois_accel_en;
+};
+
+/*! @name Structure to configure free-fall detection settings */
+struct bmi2_free_fall_det_config
+{
+    /*! free-fall accel settings */
+    uint16_t freefall_accel_settings[BMI2_FREE_FALL_ACCEL_SET_PARAMS];
+};
+
+/*!  @name Union to define the sensor configurations */
+union bmi2_sens_config_types
+{
+    /*! Accelerometer configuration */
+    struct bmi2_accel_config acc;
+
+    /*! Gyroscope configuration */
+    struct bmi2_gyro_config gyr;
+
+    /*! Auxiliary configuration */
+    struct bmi2_aux_config aux;
+
+    /*! Any-motion configuration */
+    struct bmi2_any_motion_config any_motion;
+
+    /*! No-motion configuration */
+    struct bmi2_no_motion_config no_motion;
+
+    /*! Sig_motion configuration */
+    struct bmi2_sig_motion_config sig_motion;
+
+    /*! Step counter parameter configuration */
+    uint16_t step_counter_params[BMI2_STEP_CNT_N_PARAMS];
+
+    /*! Step counter/detector/activity configuration */
+    struct bmi2_step_config step_counter;
+
+    /*! Gyroscope user gain configuration */
+    struct bmi2_gyro_user_gain_config gyro_gain_update;
+
+    /*! Wake-up configuration */
+    struct bmi2_wake_up_config tap;
+
+    /*! Tap configuration */
+    struct bmi2_tap_config tap_conf;
+
+    /*! Orientation configuration */
+    struct bmi2_orient_config orientation;
+
+    /*! High-g configuration */
+    struct bmi2_high_g_config high_g;
+
+    /*! Low-g configuration */
+    struct bmi2_low_g_config low_g;
+
+    /*! Flat configuration */
+    struct bmi2_flat_config flat;
+
+    /*! Wrist gesture configuration */
+    struct bmi2_wrist_gest_config wrist_gest;
+
+    /*! Wrist wear wake-up configuration */
+    struct bmi2_wrist_wear_wake_up_config wrist_wear_wake_up;
+
+    /*! Wrist gesture configuration for wearable variant */
+    struct bmi2_wrist_gest_w_config wrist_gest_w;
+
+    /*! Wrist wear wake-up configuration for wearable variant */
+    struct bmi2_wrist_wear_wake_up_wh_config wrist_wear_wake_up_wh;
+
+    /*! Primary OIS configuration */
+    struct bmi2_primary_ois_config primary_ois;
+
+    /* Free-fall detection configurations */
+    struct bmi2_free_fall_det_config free_fall_det;
+};
+
+/*!  @name Structure to define the type of the sensor and its configurations */
+struct bmi2_sens_config
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Defines various sensor configurations */
+    union bmi2_sens_config_types cfg;
+};
+
+/*!  @name Structure to define the feature configuration */
+struct bmi2_feature_config
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Page to where the feature is mapped */
+    uint8_t page;
+
+    /*! Address of the feature */
+    uint8_t start_addr;
+};
+
+/*!  @name Structure to define the feature interrupt configurations */
+struct bmi2_map_int
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Defines the feature interrupt */
+    uint8_t sens_map_int;
+};
+
+/*!  @name Structure to define BMI2 sensor configurations */
+struct bmi2_dev
+{
+    /*! Chip id of BMI2 */
+    uint8_t chip_id;
+
+    /*! The interface pointer is used to enable the user
+     * to link their interface descriptors for reference during the
+     * implementation of the read and write interfaces to the
+     * hardware.
+     */
+    void *intf_ptr;
+
+    /*! To store warnings */
+    uint8_t info;
+
+    /*! Type of Interface  */
+    enum bmi2_intf intf;
+
+    /*! To store interface pointer error */
+    BMI2_INTF_RETURN_TYPE intf_rslt;
+
+    /*! For switching from I2C to SPI */
+    uint8_t dummy_byte;
+
+    /*! Resolution for FOC */
+    uint8_t resolution;
+
+    /*! User set read/write length */
+    uint16_t read_write_len;
+
+    /*! Pointer to the configuration data buffer address */
+    const uint8_t *config_file_ptr;
+
+    /*! To define maximum page number */
+    uint8_t page_max;
+
+    /*! To define maximum number of input sensors/features */
+    uint8_t input_sens;
+
+    /*! To define maximum number of output sensors/features */
+    uint8_t out_sens;
+
+    /*! Indicate manual enable for auxiliary communication */
+    uint8_t aux_man_en;
+
+    /*! Defines manual read burst length for auxiliary communication */
+    uint8_t aux_man_rd_burst_len;
+
+    /*! Array of feature input configuration structure */
+    const struct bmi2_feature_config *feat_config;
+
+    /*! Array of feature output configuration structure */
+    const struct bmi2_feature_config *feat_output;
+
+    /*! Structure to maintain a copy of the re-mapped axis */
+    struct bmi2_axes_remap remap;
+
+    /*! Flag to hold enable status of sensors */
+    uint64_t sens_en_stat;
+
+    /*! Read function pointer */
+    bmi2_read_fptr_t read;
+
+    /*! Write function pointer */
+    bmi2_write_fptr_t write;
+
+    /*!  Delay function pointer */
+    bmi2_delay_fptr_t delay_us;
+
+    /*! To store the gyroscope cross sensitivity value */
+    int16_t gyr_cross_sens_zx;
+
+    /* gyro enable status, used as a flag in CRT enabling and aborting */
+    uint8_t gyro_en : 1;
+
+    /* advance power saving mode status, used as a flag in CRT enabling and aborting */
+    uint8_t aps_status;
+
+    /* used as a flag to enable variant specific features like crt */
+    uint16_t variant_feature;
+
+    /* To store hold the size of config file */
+    uint16_t config_size;
+
+    /*! Function pointer to get wakeup configurations */
+    bmi2_wake_up_fptr_t get_wakeup_config;
+
+    /*! Function pointer to set wakeup configurations */
+    bmi2_wake_up_fptr_t set_wakeup_config;
+
+    /*! Function pointer to get tap configurations */
+    bmi2_tap_fptr_t get_tap_config;
+
+    /*! Function pointer to set tap configurations */
+    bmi2_tap_fptr_t set_tap_config;
+
+    /*! Array of feature interrupts configuration structure */
+    struct bmi2_map_int *map_int;
+
+    /*! To define maximum number of interrupts */
+    uint8_t sens_int_map;
+};
+
+/*!  @name Structure to enable an accel axis for foc */
+struct bmi2_accel_foc_g_value
+{
+    /*! '0' to disable x axis and '1' to enable x axis */
+    uint8_t x;
+
+    /*! '0' to disable y axis and '1' to enable y axis */
+    uint8_t y;
+
+    /*! '0' to disable z axis and '1' to enable z axis */
+    uint8_t z;
+
+    /*! '0' for positive input and '1' for negative input */
+    uint8_t sign;
+};
+
+/*! @name Structure to configure activity recognition settings */
+struct bmi2_act_recg_sett
+{
+    /*! Activity recognition register 1 */
+    uint8_t act_rec_1 : 1;
+
+    /*! Activity recognition register 2 */
+    uint16_t act_rec_2;
+
+    /*! Activity recognition register 3 */
+    uint16_t act_rec_3;
+
+    /*! Activity recognition register 4 */
+    uint8_t act_rec_4 : 4;
+
+    /*! Activity recognition register 5 */
+    uint8_t act_rec_5 : 4;
+};
+
+/*! @name Structure to configure activity recognition settings for bmi270hc */
+struct bmi2_hc_act_recg_sett
+{
+    /*! Static segment size for activity classification. */
+    uint8_t segment_size;
+
+    /*! Enable/Disable post processing of the activity detected */
+    uint8_t pp_en;
+
+    /*! Minimum threshold of the Gini's diversity index (GDI) */
+    uint16_t min_gdi_thres;
+
+    /*! Maximum threshold of the Gini's diversity index (GDI) */
+    uint16_t max_gdi_thres;
+
+    /*! Buffer size for post processing of the activity detected */
+    uint16_t buf_size;
+
+    /*! Minimum segments belonging to a certain activity type */
+    uint16_t min_seg_conf;
+};
+
+#endif /* BMI2_DEFS_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c
new file mode 100644
index 0000000000..04350db08d
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c
@@ -0,0 +1,417 @@
+/**
+ * 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       bmi2_ois.c
+ * @date       2020-05-05
+ * @version    v2.23.2
+ *
+ */
+
+/******************************************************************************/
+
+/*!  @name          Header Files                                  */
+/******************************************************************************/
+#include "bmi2_ois.h"
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API gets the OIS accelerometer and the gyroscope data.
+ *
+ * @param[out] ois_data                     : Structure instance of bmi2_sens_axes_data.
+ * @param[in] reg_addr                      : Register address where data is stored.
+ * @param[in] ois_dev                       : Structure instance of bmi2_ois_dev.
+ * @param[in] ois_gyr_cross_sens_zx         :"gyroscope cross sensitivity value which was calculated during
+ * bmi2xy_init(), refer the example ois_accel_gyro.c for more info"
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
+                                   uint8_t reg_addr,
+                                   struct bmi2_ois_dev *ois_dev,
+                                   int16_t ois_gyr_cross_sens_zx);
+
+/*!
+ * @brief This internal API is used to validate the OIS device pointer for null
+ * conditions.
+ *
+ * @param[in] ois_dev : Structure instance of bmi2_ois_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev);
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ *
+ * @param[in] ois_dev               : Structure instance of bmi2_ois_dev.
+ * @param[in] ois_gyr_cross_sens_zx : "gyroscope cross sensitivity value which was calculated during bmi2xy_init(),
+ * refer the example ois_accel_gyro.c for more info"
+ *
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx);
+
+/******************************************************************************/
+/*!  @name      User Interface Definitions                            */
+/******************************************************************************/
+
+/*!
+ * @brief This API reads the data from the given OIS register address of bmi2
+ * sensor.
+ */
+int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define dummy byte for SPI read */
+    uint8_t dummy_byte = 1;
+
+    /* Variable to define temporary length */
+    uint16_t temp_len = data_len + dummy_byte;
+
+    /* Variable to define temporary buffer */
+    uint8_t temp_buf[temp_len];
+
+    /* Variable to index bytes read */
+    uint16_t index = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(ois_dev);
+    if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
+    {
+        /* Configuring reg_addr for SPI Interface */
+        ois_reg_addr = (ois_reg_addr | BMI2_OIS_SPI_RD_MASK);
+
+        /* Read from OIS register through OIS interface */
+        ois_dev->intf_rslt = ois_dev->ois_read(ois_reg_addr, temp_buf, temp_len, ois_dev->intf_ptr);
+        if (ois_dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
+        {
+            /* Read the data from the position next to dummy byte */
+            while (index < data_len)
+            {
+                ois_reg_data[index] = temp_buf[index + dummy_byte];
+                index++;
+            }
+        }
+        else
+        {
+            rslt = BMI2_OIS_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_OIS_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes data to the given OIS register address of bmi2 sensor.
+ */
+int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
+                         const uint8_t *ois_reg_data,
+                         uint16_t data_len,
+                         struct bmi2_ois_dev *ois_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(ois_dev);
+    if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
+    {
+        /* Configuring reg_addr for SPI Interface */
+        ois_reg_addr = (ois_reg_addr & BMI2_OIS_SPI_WR_MASK);
+
+        /* Burst write to OIS register through OIS interface */
+        ois_dev->intf_rslt = ois_dev->ois_write(ois_reg_addr, ois_reg_data, data_len, ois_dev->intf_ptr);
+        if (ois_dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
+        {
+            rslt = BMI2_OIS_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_OIS_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables accelerometer/gyroscope data read through
+ * OIS interface.
+ */
+int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(ois_dev);
+    if (rslt == BMI2_OIS_OK)
+    {
+        rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
+        if (rslt == BMI2_OIS_OK)
+        {
+            /* Enable/Disable Low pass filter */
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN, ois_dev->lp_filter_en);
+
+            /* Configures Low pass filter cut-off frequency */
+            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG, ois_dev->lp_filter_config);
+
+            /* Low pass filter - mute on secondary interface */
+            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE, ois_dev->lp_filter_mute);
+
+            /* Enable/Disable ois on accelerometer */
+            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_ACC_EN, ois_dev->acc_en);
+
+            /* Enable/Disable ois on gyroscope */
+            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_GYR_EN, ois_dev->gyr_en);
+
+            /* Set the OIS configurations */
+            rslt = bmi2_ois_set_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of accelerometer/gyroscope enable for data
+ * read through OIS interface.
+ */
+int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(ois_dev);
+    if (rslt == BMI2_OIS_OK)
+    {
+        rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
+        if (rslt == BMI2_OIS_OK)
+        {
+            /* Get the status of Low pass filter enable */
+            ois_dev->lp_filter_en = BMI2_GET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN);
+
+            /* Get the status of Low pass filter cut-off frequency */
+            ois_dev->lp_filter_config = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG);
+
+            /* Get the status of Low pass filter mute */
+            ois_dev->lp_filter_mute = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE);
+
+            /* Get the status of accelerometer enable */
+            ois_dev->acc_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_ACC_EN);
+
+            /* Get the status of gyroscope enable */
+            ois_dev->gyr_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_GYR_EN);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads accelerometer/gyroscope data through OIS interface.
+ */
+int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
+                          uint8_t n_sens,
+                          struct bmi2_ois_dev *ois_dev,
+                          int16_t gyr_cross_sens_zx)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to update register address */
+    uint8_t reg_addr = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(ois_dev);
+    if ((rslt == BMI2_OIS_OK) && (sens_sel != NULL))
+    {
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_sel[loop])
+            {
+                case BMI2_OIS_ACCEL:
+
+                    /* Update OIS accelerometer address */
+                    reg_addr = BMI2_OIS_ACC_X_LSB_ADDR;
+
+                    /* Get OIS accelerometer data */
+                    rslt = get_ois_acc_gyr_data(&ois_dev->acc_data, reg_addr, ois_dev, 0);
+                    break;
+                case BMI2_OIS_GYRO:
+
+                    /* Update OIS gyroscope address */
+                    reg_addr = BMI2_OIS_GYR_X_LSB_ADDR;
+
+                    /* Get OIS gyroscope data */
+                    rslt = get_ois_acc_gyr_data(&ois_dev->gyr_data, reg_addr, ois_dev, gyr_cross_sens_zx);
+                    break;
+                default:
+                    rslt = BMI2_OIS_E_INVALID_SENSOR;
+                    break;
+            }
+
+            /* Return error if any of the get sensor data fails */
+            if (rslt != BMI2_OIS_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_OIS_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*! @cond DOXYGEN_SUPRESS */
+
+/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
+ * directories */
+
+/*!
+ * @brief This internal API gets the accelerometer and the gyroscope data.
+ */
+static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
+                                   uint8_t reg_addr,
+                                   struct bmi2_ois_dev *ois_dev,
+                                   int16_t ois_gyr_cross_sens_zx)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variables to store MSB value */
+    uint8_t msb;
+
+    /* Variables to store LSB value */
+    uint8_t lsb;
+
+    /* Variables to store both MSB and LSB value */
+    uint16_t msb_lsb;
+
+    /* Variables to define index */
+    uint8_t index = 0;
+
+    /* Array to define data stored in register */
+    uint8_t reg_data[BMI2_OIS_ACC_GYR_NUM_BYTES] = { 0 };
+
+    /* Read the sensor data */
+    rslt = bmi2_ois_get_regs(reg_addr, reg_data, BMI2_OIS_ACC_GYR_NUM_BYTES, ois_dev);
+    if (rslt == BMI2_OIS_OK)
+    {
+        /* Read x-axis data */
+        lsb = reg_data[index++];
+        msb = reg_data[index++];
+        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+        ois_data->x = (int16_t)msb_lsb;
+
+        /* Read y-axis data */
+        lsb = reg_data[index++];
+        msb = reg_data[index++];
+        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+        ois_data->y = (int16_t)msb_lsb;
+
+        /* Read z-axis data */
+        lsb = reg_data[index++];
+        msb = reg_data[index++];
+        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+        ois_data->z = (int16_t)msb_lsb;
+
+        comp_gyro_cross_axis_sensitivity(ois_data, ois_gyr_cross_sens_zx);
+    }
+
+    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 bmi2_ois_dev *ois_dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OIS_OK;
+
+    if ((ois_dev == NULL) || (ois_dev->ois_read == NULL) || (ois_dev->ois_write == NULL) ||
+        (ois_dev->ois_delay_us == NULL))
+    {
+        /* Device structure pointer is NULL */
+        rslt = BMI2_OIS_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx)
+{
+
+    /* Get the compensated gyroscope x-axis */
+    ois_data->x = ois_data->x - (int16_t)(((int32_t)ois_gyr_cross_sens_zx * (int32_t)ois_data->z) / 512);
+}
+
+/*! @endcond */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h
new file mode 100644
index 0000000000..9b700cd955
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h
@@ -0,0 +1,387 @@
+/**
+ * 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       bmi2_ois.h
+ * @date       2020-05-05
+ * @version    v2.23.2
+ *
+ */
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi2_ois BMI2_OIS
+ * @brief Sensor driver for BMI2_OIS sensor
+ */
+#ifndef _BMI2_OIS_H
+#define _BMI2_OIS_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/******************************************************************************/
+/*!  @name          Macros                                        */
+/******************************************************************************/
+
+#ifndef BMI2_INTF_RETURN_TYPE
+#define BMI2_INTF_RETURN_TYPE  int8_t
+#endif
+
+/*! @name  Utility macros */
+#define BMI2_OIS_SET_BITS(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MASK)) | \
+     ((data << bitname##_POS) & bitname##_MASK))
+
+#define BMI2_OIS_GET_BITS(reg_data, bitname) \
+    ((reg_data & (bitname##_MASK)) >> \
+     (bitname##_POS))
+
+#define BMI2_SET_BIT_POS0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MASK)) | \
+     (data & bitname##_MASK))
+
+#define BMI2_GET_BIT_POS0(reg_data, bitname)  (reg_data & (bitname##_MASK))
+
+/*! @name For enable and disable */
+#define BMI2_OIS_ENABLE                       UINT8_C(1)
+#define BMI2_OIS_DISABLE                      UINT8_C(0)
+
+/*! @name To define sensor interface success code */
+#define BMI2_INTF_RET_SUCCESS                 INT8_C(0)
+
+/*! @name To define success code */
+#define BMI2_OIS_OK                           UINT8_C(0)
+
+/*! @name To define error codes */
+#define BMI2_OIS_E_NULL_PTR                   INT8_C(-1)
+#define BMI2_OIS_E_COM_FAIL                   INT8_C(-2)
+#define BMI2_OIS_E_INVALID_SENSOR             INT8_C(-8)
+
+/*! @name Mask definitions for SPI read/write address for OIS */
+#define BMI2_OIS_SPI_RD_MASK                  UINT8_C(0x80)
+#define BMI2_OIS_SPI_WR_MASK                  UINT8_C(0x7F)
+
+/*! @name BMI2 OIS data bytes */
+#define BMI2_OIS_ACC_GYR_NUM_BYTES            UINT8_C(6)
+
+/*!  @name Macros to select sensor for OIS data read */
+#define BMI2_OIS_ACCEL                        UINT8_C(0x01)
+#define BMI2_OIS_GYRO                         UINT8_C(0x02)
+
+/*!  @name Macros to define OIS register addresses */
+#define BMI2_OIS_CONFIG_ADDR                  UINT8_C(0x40)
+#define BMI2_OIS_ACC_X_LSB_ADDR               UINT8_C(0x0C)
+#define BMI2_OIS_GYR_X_LSB_ADDR               UINT8_C(0x12)
+
+/*! @name Mask definitions for OIS configurations */
+#define BMI2_OIS_GYR_EN_MASK                  UINT8_C(0x40)
+#define BMI2_OIS_ACC_EN_MASK                  UINT8_C(0x80)
+
+/*! @name Bit Positions for OIS configurations */
+#define BMI2_OIS_GYR_EN_POS                   UINT8_C(0x06)
+#define BMI2_OIS_ACC_EN_POS                   UINT8_C(0x07)
+
+/*! Low pass filter configuration position and mask */
+#define BMI2_OIS_LP_FILTER_EN_POS             UINT8_C(0x00)
+#define BMI2_OIS_LP_FILTER_EN_MASK            UINT8_C(0x01)
+
+#define BMI2_OIS_LP_FILTER_CONFIG_POS         UINT8_C(0x01)
+#define BMI2_OIS_LP_FILTER_CONFIG_MASK        UINT8_C(0x06)
+
+#define BMI2_OIS_LP_FILTER_MUTE_POS           UINT8_C(0x05)
+#define BMI2_OIS_LP_FILTER_MUTE_MASK          UINT8_C(0x20)
+
+/******************************************************************************/
+/*! @name           Function Pointers                             */
+/******************************************************************************/
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific read functions of the user
+ *
+ * @param[in] reg_addr       : Register address from which data is read.
+ * @param[out] reg_data     : Pointer to data buffer where read data is stored.
+ * @param[in] len            : Number of bytes of data to be read.
+ * @param[in, out] intf_ptr  : Void pointer that can enable the linking of descriptors
+ *                                  for interface related call backs.
+ *
+ *  retval =  BMI2_INTF_RET_SUCCESS -> Success
+ *  retval != BMI2_INTF_RET_SUCCESS -> Failure
+ *
+ */
+typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_read_fptr_t)(uint8_t reg_addr, uint8_t *data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief Bus communication function pointer which should be mapped to
+ * the platform specific write functions of the user
+ *
+ * @param[in] reg_addr      : Register address to which the data is written.
+ * @param[in] reg_data     : Pointer to data buffer in which data to be written
+ *                            is stored.
+ * @param[in] len           : Number of bytes of data to be written.
+ * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
+ *                            for interface related call backs
+ *
+ * retval  = BMI2_INTF_RET_SUCCESS -> Success
+ * retval != BMI2_INTF_RET_SUCCESS -> Failure
+ *
+ */
+typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_write_fptr_t)(uint8_t reg_addr, const uint8_t *data, uint32_t len,
+                                                       void *intf_ptr);
+
+/*!
+ * @brief Delay function pointer which should be mapped to
+ * delay function of the user
+ *
+ * @param[in] period              : Delay in microseconds.
+ * @param[in, out] intf_ptr       : Void pointer that can enable the linking of descriptors
+ *                                  for interface related call backs
+ *
+ */
+typedef void (*bmi2_ois_delay_fptr_t)(uint32_t period, void *intf_ptr);
+
+/******************************************************************************/
+/*!  @name         Structure Declarations                             */
+/******************************************************************************/
+/*! @name Structure to define accelerometer and gyroscope sensor axes for OIS */
+struct bmi2_ois_sens_axes_data
+{
+    /*! Data in x-axis */
+    int16_t x;
+
+    /*! Data in y-axis */
+    int16_t y;
+
+    /*! Data in z-axis */
+    int16_t z;
+
+};
+
+/*!  @name Structure to define bmi2 OIS sensor configurations */
+struct bmi2_ois_dev
+{
+    /*! Read function pointer */
+    bmi2_ois_read_fptr_t ois_read;
+
+    /*! Write function pointer */
+    bmi2_ois_write_fptr_t ois_write;
+
+    /*!  Delay function pointer */
+    bmi2_ois_delay_fptr_t ois_delay_us;
+
+    /*!  Low pass filter en/dis  */
+    uint8_t lp_filter_en;
+
+    /*! Void interface pointer */
+    void *intf_ptr;
+
+    /*! To store interface pointer error */
+    int8_t intf_rslt;
+
+    /*!  Low pass filter cut-off frequency  */
+    uint8_t lp_filter_config;
+
+    /*!  Low pass filter mute  */
+    uint8_t lp_filter_mute;
+
+    /*! Accelerometer enable for OIS */
+    uint8_t acc_en;
+
+    /*! Gyroscope enable for OIS */
+    uint8_t gyr_en;
+
+    /*! Accelerometer data axes */
+    struct bmi2_ois_sens_axes_data acc_data;
+
+    /*! Gyroscope data axes */
+    struct bmi2_ois_sens_axes_data gyr_data;
+};
+
+/***************************************************************************/
+
+/*!     BMI2 OIS User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi2_ois
+ * \defgroup bmi2_oisApiRegs Registers
+ * @brief Read data from the given OIS register address of bmi2
+ */
+
+/*!
+ * \ingroup bmi2_oisApiRegs
+ * \page bmi2_ois_api_bmi2_ois_get_regs bmi2_ois_get_regs
+ * \code
+ * int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
+ *                        uint8_t *ois_reg_data,
+ *                        uint16_t data_len,
+ *                        const struct bmi2_ois_dev *ois_dev);
+ * \endcode
+ *  @details This API reads the data from the given OIS register address of bmi2
+ * sensor.
+ *
+ * @param[in]  ois_reg_addr : OIS register address from which data is read.
+ * @param[out] ois_reg_data : Pointer to data buffer where read data is stored.
+ * @param[in]  data_len     : No. of bytes of data to be read.
+ * @param[in]  ois_dev      : Structure instance of bmi2_ois_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev);
+
+/*!
+ * \ingroup bmi2_oisApiRegs
+ * \page bmi2_ois_api_bmi2_ois_set_regs bmi2_ois_set_regs
+ * \code
+ * int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
+ *                        uint8_t *ois_reg_data,
+ *                        uint16_t data_len,
+ *                        const struct bmi2_ois_dev *ois_dev);
+ * \endcode
+ *  @details This API writes data to the given OIS register address of bmi2 sensor.
+ *
+ * @param[in] ois_reg_addr  : OIS register address to which the data is written.
+ * @param[in] ois_reg_data  : Pointer to data buffer in which data to be written
+ *                is stored.
+ * @param[in] data_len      : No. of bytes of data to be written.
+ * @param[in] ois_dev       : Structure instance of bmi2_ois_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
+                         const uint8_t *ois_reg_data,
+                         uint16_t data_len,
+                         struct bmi2_ois_dev *ois_dev);
+
+/**
+ * \ingroup bmi2_ois
+ * \defgroup bmi2_oisApiConfig Status update
+ * @brief Get / Set the status of Enable / Disable accelerometer / gyroscope data read through OIS interface
+ */
+
+/*!
+ * \ingroup bmi2_oisApiConfig
+ * \page bmi2_ois_api_bmi2_ois_set_config bmi2_ois_set_config
+ * \code
+ * int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev);
+ * \endcode
+ *  @details This API sets the status of enable/disable accelerometer/gyroscope data read through
+ * OIS interface.
+ *
+ * @param[in] ois_dev   : Structure instance of bmi2_ois_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev);
+
+/*!
+ * \ingroup bmi2_oisApiConfig
+ * \page bmi2_ois_api_bmi2_ois_get_config bmi2_ois_get_config
+ * \code
+ * int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
+ * \endcode
+ *  @details This API gets the status of accelerometer/gyroscope enable for data
+ * read through OIS interface.
+ *
+ * @param[in, out] ois_dev : Structure instance of bmi2_ois_dev.
+ *
+ * @note Enabling and disabling is done during OIS structure initialization.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
+
+/**
+ * \ingroup bmi2_ois
+ * \defgroup bmi2_oisApiRead Data read
+ * @brief Read accelerometer / gyroscope data through OIS interface
+ */
+
+/*!
+ * \ingroup bmi2_oisApiRead
+ * \page bmi2_ois_api_bmi2_ois_read_data bmi2_ois_read_data
+ * \code
+ * int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
+ *                         uint8_t n_sens,
+ *                         struct bmi2_ois_dev *ois_dev,
+ *                         int16_t gyr_cross_sens_zx);
+ * \endcode
+ *  @details This API reads accelerometer/gyroscope data through OIS interface.
+ *
+ * @param[in] sens_sel          : Select sensor whose data is to be read.
+ * @param[in] n_sens            : Number of sensors selected.
+ * @param[in, out] ois_dev      : Structure instance of bmi2_ois_dev.
+ * @param[in] gyr_cross_sens_zx : Store the gyroscope cross sensitivity values taken from the bmi2xy
+ *                                (refer bmi2_ois example).
+ *
+ *@verbatim
+ *  sens_sel      |   Value
+ * ---------------|---------------
+ * BMI2_OIS_ACCEL |   0x01
+ * BMI2_OIS_GYRO  |   0x02
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
+                          uint8_t n_sens,
+                          struct bmi2_ois_dev *ois_dev,
+                          int16_t gyr_cross_sens_zx);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* End of _BMI2_OIS_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile
new file mode 100644
index 0000000000..c63d602ce5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c
new file mode 100644
index 0000000000..ea385d7441
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c
@@ -0,0 +1,200 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 20;
+
+    /* Assign accel sensor to variable. */
+    uint8_t sensor_list = BMI2_ACCEL;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Initialize the interrupt status of accel. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 0;
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel sensor. */
+        rslt = bmi270_sensor_enable(&sensor_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel configuration settings. */
+            rslt = set_accel_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel sensor. */
+            sensor_data.type = BMI2_ACCEL;
+            printf("Accel and m/s2 data \n");
+            printf("Accel data collected at 2G Range with 16-bit resolution\n");
+
+            /* Loop to print the accel data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the status of accel data ready interrupt. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the accel data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_ACC_DRDY_INT_MASK)
+                {
+                    /* Get accelerometer data for x, y and z axis. */
+                    rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
+                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
+                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer configuration. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ACCEL;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel configurations. */
+        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Map data ready interrupt to interrupt pin. */
+        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile
new file mode 100644
index 0000000000..c0617d02e2
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c
new file mode 100644
index 0000000000..1e7c9dfc06
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c
@@ -0,0 +1,268 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 10;
+
+    /* Assign accel and gyro sensor to variable. */
+    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
+
+    /* Initialize the interrupt status of accel and gyro. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 1;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_SPI_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel and gyro sensor. */
+        rslt = bmi270_sensor_enable(sensor_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel and gyro configuration settings. */
+            rslt = set_accel_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel and gyro sensor. */
+            sensor_data[ACCEL].type = BMI2_ACCEL;
+            sensor_data[GYRO].type = BMI2_GYRO;
+
+            /* Loop to print accel and gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of accel and gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
+                {
+                    /* Get accel and gyro data for x, y and z axis. */
+                    rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
+
+                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer and gyro configuration. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel and gyro configurations. */
+        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile
new file mode 100644
index 0000000000..9158f05773
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= any_motion_interrupt.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c
new file mode 100644
index 0000000000..062b29eb31
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c
@@ -0,0 +1,135 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for any-motion.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and any-motion feature are listed in array. */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_ANY_MOTION };
+
+    /* Variable to get any-motion interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set feature configurations for any-motion. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for any-motion. */
+                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Move the board\n");
+
+                /* Loop to get any-motion interrupt. */
+                do
+                {
+                    /* Clear buffer. */
+                    int_status = 0;
+
+                    /* To get the interrupt status of any-motion. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of any-motion. */
+                    if (int_status & BMI270_ANY_MOT_STATUS_MASK)
+                    {
+                        printf("Any-motion interrupt is generated\n");
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for any-motion.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ANY_MOTION;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
+        config.cfg.any_motion.duration = 0x04;
+
+        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
+        config.cfg.any_motion.threshold = 0x68;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c
new file mode 100644
index 0000000000..afff37bc84
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c
@@ -0,0 +1,372 @@
+/**
+ * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!                 Macro definitions                                         */
+#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
+
+/*! Macro that defines read write length */
+#define READ_WRITE_LEN     UINT8_C(46)
+
+/******************************************************************************/
+/*!                Static variable definition                                 */
+
+/*! Variable that holds the I2C device address or SPI chip selection */
+static uint8_t dev_addr;
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * I2C write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *  Also to initialize coines platform
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
+{
+    int8_t rslt = BMI2_OK;
+    struct coines_board_info board_info;
+
+    if (bmi != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        result = coines_get_board_info(&board_info);
+
+#if defined(PC)
+        setbuf(stdout, NULL);
+#endif
+
+        if (result == COINES_SUCCESS)
+        {
+            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
+            {
+                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                exit(COINES_E_FAILURE);
+            }
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        /* Bus configuration : I2C */
+        if (intf == BMI2_I2C_INTF)
+        {
+            printf("I2C Interface \n");
+
+            /* To initialize the user I2C function */
+            dev_addr = BMI2_I2C_PRIM_ADDR;
+            bmi->intf = BMI2_I2C_INTF;
+            bmi->read = bmi2_i2c_read;
+            bmi->write = bmi2_i2c_write;
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+        }
+        /* Bus configuration : SPI */
+        else if (intf == BMI2_SPI_INTF)
+        {
+            printf("SPI Interface \n");
+
+            /* To initialize the user SPI function */
+            dev_addr = COINES_SHUTTLE_PIN_7;
+            bmi->intf = BMI2_SPI_INTF;
+            bmi->read = bmi2_spi_read;
+            bmi->write = bmi2_spi_write;
+            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+        }
+
+        /* Assign device address to interface pointer */
+        bmi->intf_ptr = &dev_addr;
+
+        /* Configure delay in microseconds */
+        bmi->delay_us = bmi2_delay_us;
+
+        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
+        bmi->read_write_len = READ_WRITE_LEN;
+
+        /* Assign to NULL to load the default config file. */
+        bmi->config_file_ptr = NULL;
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+        case BMI2_OK:
+
+            /* Do nothing */
+            break;
+
+        case BMI2_W_FIFO_EMPTY:
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+            break;
+        case BMI2_W_PARTIAL_READ:
+            printf("Warning [%d] : FIFO partial read\r\n", rslt);
+            break;
+        case BMI2_E_NULL_PTR:
+            printf(
+                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_COM_FAIL:
+            printf(
+                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DEV_NOT_FOUND:
+            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+                   rslt);
+            break;
+
+        case BMI2_E_INVALID_SENSOR:
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_FAIL:
+            printf(
+                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INT_PIN:
+            printf(
+                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_OUT_OF_RANGE:
+            printf(
+                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYRO_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_GYR_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CONFIG_LOAD:
+            printf(
+                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_PAGE:
+            printf(
+                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SET_APS_FAIL:
+            printf(
+                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_BUSY:
+            printf(
+                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_REMAP_ERROR:
+            printf(
+                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+            printf(
+                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_NOT_DONE:
+            printf(
+                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INPUT:
+            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_INVALID_STATUS:
+            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_CRT_ERROR:
+            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+            break;
+
+        case BMI2_E_ST_ALREADY_RUNNING:
+            printf(
+                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+            printf(
+                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DL_ERROR:
+            printf(
+                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_PRECON_ERROR:
+            printf(
+                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ABORT_ERROR:
+            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+            break;
+
+        case BMI2_E_WRITE_CYCLE_ONGOING:
+            printf(
+                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ST_NOT_RUNING:
+            printf(
+                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DATA_RDY_INT_FAILED:
+            printf(
+                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_FOC_POSITION:
+            printf(
+                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
+                rslt);
+            break;
+
+        default:
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+            break;
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h
new file mode 100644
index 0000000000..763983da4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h
@@ -0,0 +1,122 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *  @param[in] intf : Interface selection parameter
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_error_codes_print_result(int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile
new file mode 100644
index 0000000000..aad6a0b877
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= component_retrim.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c
new file mode 100644
index 0000000000..d85c148d2a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c
@@ -0,0 +1,52 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* This API runs the CRT process. */
+        rslt = bmi2_do_crt(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
+        if (rslt == BMI2_OK)
+        {
+            printf("CRT successfully completed.");
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile
new file mode 100644
index 0000000000..83a8f49ff9
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c
new file mode 100644
index 0000000000..2118c241df
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c
@@ -0,0 +1,315 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data. */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO. */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO. */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
+ * totaling to 13) which equals to 157.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
+
+/*! Number of gyro frames to be extracted from FIFO. */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
+
+/*! Macro to read sensortime byte in FIFO. */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+    uint16_t fifo_length = 0;
+    uint16_t config = 0;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    int8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
+
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile
new file mode 100644
index 0000000000..ae9a413fe5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c
new file mode 100644
index 0000000000..53dddc4ba6
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c
@@ -0,0 +1,304 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
+ * 12) which equals to 170.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
+
+/******************************************************************************/
+/*!                 Static Function Declaration                               */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint8_t try = 1;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile
new file mode 100644
index 0000000000..08158205b5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c
new file mode 100644
index 0000000000..faaeb307ea
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c
@@ -0,0 +1,335 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
+ * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
+ * NOTE: Extra frames are read in order to get sensor time
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/*! Macro to read sensortime byte in FIFO */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile
new file mode 100644
index 0000000000..527a18ab8e
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
new file mode 100644
index 0000000000..b3adf89659
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
@@ -0,0 +1,331 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
+ * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameter according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile
new file mode 100644
index 0000000000..e1f03b8bd2
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c
new file mode 100644
index 0000000000..1bb0ca471b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c
@@ -0,0 +1,195 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print gyro data. */
+    uint8_t limit = 10;
+
+    uint8_t indx = 0;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Assign gyro sensor to variable. */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Initialize the interrupt status of gyro. */
+    uint16_t int_status = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_sensor_enable(&sens_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Gyro configuration settings. */
+            rslt = set_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Select gyro sensor. */
+            sensor_data.type = BMI2_GYRO;
+            printf("Gyro and DPS data\n");
+            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
+
+            /* Loop to print gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_GYR_DRDY_INT_MASK)
+                {
+                    /* Get gyro data for x, y and z axis. */
+                    rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
+                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the gyro configurations. */
+        rslt = bmi270_set_sensor_config(&config, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile
new file mode 100644
index 0000000000..c5df6dfb3c
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= no_motion_interrupt.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c
new file mode 100644
index 0000000000..5c46306602
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c
@@ -0,0 +1,134 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for no-motion.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and no-motion feature are listed in array. */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
+
+    /* Variable to get no-motion interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set feature configurations for no-motion. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for no-motion. */
+                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Do not move the board\n");
+
+                /* Loop to get no-motion interrupt. */
+                do
+                {
+                    /* Clear buffer. */
+                    int_status = 0;
+
+                    /* To get the interrupt status of no-motion. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of no-motion. */
+                    if (int_status & BMI270_NO_MOT_STATUS_MASK)
+                    {
+                        printf("No-motion interrupt is generated\n");
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for no-motion.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_NO_MOTION;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
+        config.cfg.no_motion.duration = 0x04;
+
+        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
+        config.cfg.no_motion.threshold = 0x68;
+
+        /* Set new configurations. */
+        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile
new file mode 100644
index 0000000000..db669c09dc
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile
@@ -0,0 +1,23 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_aux_data_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+BMM150_SOURCE ?= ../../../bmm150
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(BMM150_SOURCE)/bmm150.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(BMM150_SOURCE) \
+$(COMMON_LOCATION)/common 
+
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c
new file mode 100644
index 0000000000..a542f97c61
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c
@@ -0,0 +1,327 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "bmm150.h"
+#include "coines.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+#define AUX            UINT8_C(0x02)
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*****************************************************************************/
+/*!         Structure declaration                                            */
+
+/* Sensor initialization configuration. */
+struct bmi2_dev bmi2_dev;
+
+/*******************************************************************************/
+/*!                 Functions                                                  */
+
+/**
+ * user_aux_read - Reads data from auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/**
+ * user_aux_write - Writes data to the auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the data being written.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to select the pull-up resistor which is set to trim register */
+    uint8_t regdata;
+
+    /* Variable to define limit to print aux data. */
+    uint8_t limit = 20;
+
+    /* Accel, Gyro and Aux sensors are listed in array. */
+    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
+
+    /* Structure to define the type of the sensor and its configurations. */
+    struct bmi2_sens_config config[3];
+
+    /* Sensor initialization configuration. */
+    struct bmm150_dev bmm150_dev;
+
+    /* bmm150 settings configuration */
+    struct bmm150_settings settings;
+
+    /* bmm150 magnetometer data */
+    struct bmm150_mag_data mag_data;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data[3];
+
+    /* Variables to define read the accel and gyro data in float */
+    float x = 0, y = 0, z = 0;
+
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+    config[AUX].type = BMI2_AUX;
+
+    /* To enable the i2c interface settings for bmm150. */
+    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    bmm150_dev.intf_ptr = &bmm150_dev_addr;
+    bmm150_dev.read = user_aux_read;
+    bmm150_dev.write = user_aux_write;
+    bmm150_dev.delay_us = user_delay_us;
+
+    /* As per datasheet, aux interface with bmi270 will support only for I2C */
+    bmm150_dev.intf = BMM150_I2C_INTF;
+
+    sensor_data[ACCEL].type = BMI2_ACCEL;
+    sensor_data[GYRO].type = BMI2_GYRO;
+    sensor_data[AUX].type = BMI2_AUX;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Pull-up resistor 2k is set to the trim regiter */
+    regdata = BMI2_ASDA_PUPSEL_2K;
+    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable the accel, gyro and aux sensor. */
+    rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configurations for accel. */
+    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
+    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+    /* Configurations for gyro. */
+    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
+    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+    /* Configurations for aux. */
+    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
+    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
+    config[AUX].cfg.aux.read_addr = BMM150_REG_DATA_X_LSB;
+
+    /* Set new configurations for accel, gyro and aux. */
+    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmm150. */
+    rslt = bmm150_init(&bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set the power mode to normal mode. */
+    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
+    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Disable manual mode so that the data mode is enabled. */
+    config[AUX].cfg.aux.manual_en = BMI2_DISABLE;
+
+    /* Set the aux configurations. */
+    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("MAGNETOMETER, ACCEL, AND GYRO DATA IN DATA MODE\n");
+
+    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
+    {
+        while (limit--)
+        {
+            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
+            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
+
+            rslt = bmi270_get_sensor_data(sensor_data, 3, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                /* Print the data in m/s2. */
+                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                printf("Gyr_Z= %d", sensor_data[GYRO].sens_data.gyr.z);
+
+                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                /* Print the data in dps. */
+                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                /* Compensating the raw auxiliary data available from the BMM150 API. */
+                rslt = bmm150_aux_mag_data(sensor_data[AUX].sens_data.aux_data, &mag_data, &bmm150_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("\nMag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n",
+                       mag_data.x,
+                       mag_data.y,
+                       mag_data.z);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This function reads the data from auxiliary sensor in manual mode.
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This function writes the data to auxiliary sensor in manual mode.
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile
new file mode 100644
index 0000000000..cc9e6e4e74
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile
@@ -0,0 +1,23 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_aux_manual_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+BMM150_SOURCE ?= ../../../bmm150
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(BMM150_SOURCE)/bmm150.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(BMM150_SOURCE) \
+$(COMMON_LOCATION)/common 
+
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c
new file mode 100644
index 0000000000..ced8f59c7a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c
@@ -0,0 +1,322 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "bmm150.h"
+#include "coines.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+#define AUX            UINT8_C(0x02)
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*****************************************************************************/
+/*!         Structure declaration                                            */
+
+/* Sensor initialization configuration. */
+struct bmi2_dev bmi2_dev;
+
+/******************************************************************************/
+/*!                 Functions                                                 */
+
+/**
+ * user_aux_read - Reads data from auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/**
+ * user_aux_write - Writes data to the auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the data being written.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to select the pull-up resistor which is set to trim register */
+    uint8_t regdata;
+
+    /* Variable to define limit to print aux data. */
+    uint8_t limit = 20;
+
+    /* Accel, Gyro and Aux sensors are listed in array. */
+    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
+
+    /* Sensor initialization configuration. */
+    struct bmm150_dev bmm150_dev;
+
+    /* bmm150 settings configuration */
+    struct bmm150_settings settings;
+
+    /* bmm150 magnetometer data */
+    struct bmm150_mag_data mag_data;
+
+    /* Structure to define the type of the sensor and its configurations. */
+    struct bmi2_sens_config config[3];
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data[2];
+
+    /* Variables to define read the accel and gyro data in float */
+    float x = 0, y = 0, z = 0;
+
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+    config[AUX].type = BMI2_AUX;
+
+    sensor_data[ACCEL].type = BMI2_ACCEL;
+    sensor_data[GYRO].type = BMI2_GYRO;
+
+    /* Array of eight bytes to store x, y, z and r axis aux data. */
+    uint8_t aux_data[8] = { 0 };
+
+    /* To enable the i2c interface settings for bmm150. */
+    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    bmm150_dev.intf_ptr = &bmm150_dev_addr;
+    bmm150_dev.read = user_aux_read;
+    bmm150_dev.write = user_aux_write;
+    bmm150_dev.delay_us = user_delay_us;
+
+    /* As per datasheet, aux interface with bmi270 will support only for I2C */
+    bmm150_dev.intf = BMM150_I2C_INTF;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Pull-up resistor 2k is set to the trim register */
+    regdata = BMI2_ASDA_PUPSEL_2K;
+    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable the accel, gyro and aux sensor. */
+    rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configurations for accel. */
+    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
+    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+    /* Configurations for gyro. */
+    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
+    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+    /* Configurations for aux. */
+    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
+    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
+
+    /* Set new configurations for accel, gyro and aux. */
+    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmm150. */
+    rslt = bmm150_init(&bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set the power mode to normal mode. */
+    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
+    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("MAGNETOMETER, ACCEL AND GYRO DATA IN MANUAL MODE\n");
+
+    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
+    {
+        while (limit--)
+        {
+            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
+            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
+
+            rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                /* Print the data in m/s2. */
+                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                printf("Gyr_Z = %d", sensor_data[GYRO].sens_data.gyr.z);
+
+                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                /* Print the data in dps. */
+                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+            }
+
+            /* Read aux data from the bmm150 data registers. */
+            rslt = bmi2_read_aux_man_mode(BMM150_REG_DATA_X_LSB, aux_data, 8, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+            if (rslt == BMI2_OK)
+            {
+                /* Compensating the raw auxiliary data available from the BMM150 API. */
+                rslt = bmm150_aux_mag_data(aux_data, &mag_data, &bmm150_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Mag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n", mag_data.x, mag_data.y,
+                       mag_data.z);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This function reads the data from auxiliary sensor in manual mode.
+ */
+int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This function writes the data to auxiliary sensor in manual mode.
+ */
+int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile
new file mode 100644
index 0000000000..97edcc2d16
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= sig_motion.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c
new file mode 100644
index 0000000000..47e1c2864d
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c
@@ -0,0 +1,93 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Accel sensor and significant-motion feature are listed in array. */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_SIG_MOTION };
+
+    /* Variable to get significant-motion interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_SIG_MOTION, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Configure the type of feature. */
+        config.type = BMI2_SIG_MOTION;
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get default configurations for the type of feature selected. */
+            rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for significant-motion. */
+                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* By default the significant-motion interrupt occurs when the sensor is in motion for about 5 seconds.
+                 * */
+                printf("Move the board for 5 secs in any direction\n");
+
+                do
+                {
+                    /* To get the interrupt status of significant-motion. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of significant-motion. */
+                    if (int_status & BMI270_SIG_MOT_STATUS_MASK)
+                    {
+                        printf("Significant motion interrupt is generated\n");
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile
new file mode 100644
index 0000000000..91962d5026
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_activity.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c
new file mode 100644
index 0000000000..87775b706b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c
@@ -0,0 +1,110 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define the type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step activity feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_ACTIVITY };
+
+    /* Type of sensor to get step activity data. */
+    sensor_data.type = BMI2_STEP_ACTIVITY;
+
+    /* Variable to get step activity interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t loop = 10;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_ACTIVITY, .hw_int_pin = BMI2_INT2 };
+
+    /* The step activities are listed in array. */
+    const char *activity_output[4] = { "BMI2_STILL", "BMI2_WALK", "BMI2_RUN", "BMI2_UNKNOWN" };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Configure the type of sensor. */
+        config.type = BMI2_STEP_ACTIVITY;
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get default configurations for the type of feature selected. */
+            rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for step activity. */
+                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                printf("\nMove the board in steps to perform step activity:\n");
+
+                /* Loop to get step activity. */
+                while (loop)
+                {
+                    /* To get the interrupt status of step detector. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of step detector. */
+                    if (int_status & BMI270_STEP_ACT_STATUS_MASK)
+                    {
+                        printf("Step detected\n");
+
+                        /* Get step activity output. */
+                        rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step activity output. */
+                        printf("Step activity = %s\n", activity_output[sensor_data.sens_data.activity_output]);
+
+                        loop--;
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile
new file mode 100644
index 0000000000..b47fb0e9d1
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_counter.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c
new file mode 100644
index 0000000000..b08f958a22
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c
@@ -0,0 +1,146 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step counter feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
+
+    /* Variable to get step counter interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
+
+    /* Type of sensor to get step counter data. */
+    sensor_data.type = BMI2_STEP_COUNTER;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the feature configuration for step counter. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("Step counter watermark level set to 1 (20 steps)\n");
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the step counter feature interrupt. */
+                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* Move the board in steps for 20 times to get step counter interrupt. */
+                printf("Move the board in steps\n");
+
+                /* Loop to get number of steps counted. */
+                do
+                {
+                    /* To get the interrupt status of the step counter. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the step counter. */
+                    if (int_status & BMI270_STEP_CNT_STATUS_MASK)
+                    {
+                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
+
+                        /* Get step counter output. */
+                        rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step counter output. */
+                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for step counter.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of sensor. */
+    config.type = BMI2_STEP_COUNTER;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
+         * output triggers. */
+        config.cfg.step_counter.watermark_level = 1;
+
+        /* Set new configuration. */
+        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile
new file mode 100644
index 0000000000..0f959907ba
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= wrist_gesture.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c
new file mode 100644
index 0000000000..be494b8be9
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c
@@ -0,0 +1,147 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!            Header Files                                  */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set the sensor configuration.
+ *
+ *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program */
+int main(void)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* Initialize status of wrist gesture interrupt */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_GESTURE, .hw_int_pin = BMI2_INT1 };
+
+    /* Sensor data structure */
+    struct bmi2_sensor_data sens_data = { 0 };
+
+    /* The gesture movements are listed in array */
+    const char *gesture_output[6] =
+    { "unknown_gesture", "push_arm_down", "pivot_up", "wrist_shake_jiggle", "flick_in", "flick_out" };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        sens_data.type = BMI2_WRIST_GESTURE;
+
+        /* Set the sensor configuration */
+        rslt = bmi2_set_config(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Map the feature interrupt */
+            rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("Flip the board in portrait/landscape mode:\n");
+
+                /* Loop to print the wrist gesture data when interrupt occurs */
+                while (1)
+                {
+                    /* Get the interrupt status of the wrist gesture */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_GEST_STATUS_MASK))
+                    {
+                        printf("Wrist gesture detected\n");
+
+                        /* Get wrist gesture output */
+                        rslt = bmi270_get_sensor_data(&sens_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        printf("Wrist gesture = %d\r\n", sens_data.sens_data.wrist_gesture_output);
+
+                        printf("Gesture output = %s\n", gesture_output[sens_data.sens_data.wrist_gesture_output]);
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the sensor configuration
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* List the sensors which are required to enable */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_GESTURE };
+
+    /* Structure to define the type of the sensor and its configurations */
+    struct bmi2_sens_config config;
+
+    /* Configure type of feature */
+    config.type = BMI2_WRIST_GESTURE;
+
+    /* Enable the selected sensors */
+    rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Get default configurations for the type of feature selected */
+        rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            config.cfg.wrist_gest.wearable_arm = BMI2_ARM_LEFT;
+
+            /* Set the new configuration along with interrupt mapping */
+            rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile
new file mode 100644
index 0000000000..1e20da2ea8
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= wrist_wear_wakeup.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c
new file mode 100644
index 0000000000..3547b2d309
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c
@@ -0,0 +1,131 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!            Header Files                                  */
+#include <stdio.h>
+#include "bmi270.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set the sensor configuration.
+ *
+ *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program */
+int main(void)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* Initialize status of wrist wear wakeup interrupt */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Set the sensor configuration */
+        rslt = bmi2_set_config(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Map the feature interrupt */
+            rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("Tilt the board in landscape position to trigger wrist wear wakeup\n");
+
+                /* Loop to print the wrist wear wakeup data when interrupt occurs */
+                while (1)
+                {
+                    int_status = 0;
+
+                    /* To get the interrupt status of the wrist wear wakeup */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the wrist gesture */
+                    if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_WAKE_UP_STATUS_MASK))
+                    {
+                        printf("Wrist wear wakeup detected\n");
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the sensor configuration
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* List the sensors which are required to enable */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP };
+
+    /* Structure to define the type of the sensor and its configurations */
+    struct bmi2_sens_config config;
+
+    /* Configure type of feature */
+    config.type = BMI2_WRIST_WEAR_WAKE_UP;
+
+    /* Enable the selected sensors */
+    rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Get default configurations for the type of feature selected */
+        rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the new configuration */
+            rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile
new file mode 100644
index 0000000000..d215172455
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c
new file mode 100644
index 0000000000..5b36fffe42
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c
@@ -0,0 +1,200 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 20;
+
+    /* Assign accel sensor to variable. */
+    uint8_t sensor_list = BMI2_ACCEL;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Initialize the interrupt status of accel. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 0;
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel sensor. */
+        rslt = bmi270_context_sensor_enable(&sensor_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel configuration settings. */
+            rslt = set_accel_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel sensor. */
+            sensor_data.type = BMI2_ACCEL;
+            printf("Accel and m/s2 data \n");
+            printf("Accel data collected at 2G Range with 16-bit resolution\n");
+
+            /* Loop to print the accel data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the status of accel data ready interrupt. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the accel data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_ACC_DRDY_INT_MASK)
+                {
+                    /* Get accelerometer data for x, y and z axis. */
+                    rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
+                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
+                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer configuration. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ACCEL;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel configurations. */
+        rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Map data ready interrupt to interrupt pin. */
+        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile
new file mode 100644
index 0000000000..2eed195611
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c
new file mode 100644
index 0000000000..7458969efb
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c
@@ -0,0 +1,268 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 10;
+
+    /* Assign accel and gyro sensor to variable. */
+    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
+
+    /* Initialize the interrupt status of accel and gyro. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 1;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel and gyro sensor. */
+        rslt = bmi270_context_sensor_enable(sensor_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel and gyro configuration settings. */
+            rslt = set_accel_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel and gyro sensor. */
+            sensor_data[ACCEL].type = BMI2_ACCEL;
+            sensor_data[GYRO].type = BMI2_GYRO;
+
+            /* Loop to print accel and gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of accel and gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
+                {
+                    /* Get accel and gyro data for x, y and z axis. */
+                    rslt = bmi270_context_get_sensor_data(sensor_data, 2, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
+
+                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                    printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer and gyro configuration. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel and gyro configurations. */
+        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile
new file mode 100644
index 0000000000..28ed939cd6
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= activity_recognition.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c
new file mode 100644
index 0000000000..9f0714d384
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c
@@ -0,0 +1,154 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define index for FIFO data */
+    uint8_t count;
+
+    /* Various Activity recognitions are listed in array. */
+    const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
+
+    /* Accel sensor and step activity feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
+
+    /* Array to define FIFO data */
+    uint8_t fifo_data[516] = { 0 };
+
+    /* Variable to store number of activity frames */
+    uint16_t act_frames;
+
+    /* Structure to define a FIFO */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Structure to define output for activity recognition */
+    struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
+
+    uint16_t fifo_length;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = set_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Update FIFO structure */
+                fifoframe.data = fifo_data;
+                fifoframe.length = 516;
+
+                rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+                printf("Fifo length = %d \n", fifo_length);
+
+                /* Read FIFO data */
+                rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                while (rslt != BMI2_W_FIFO_EMPTY)
+                {
+                    /* Provide the number of frames to be read */
+                    act_frames = 5;
+
+                    printf("Requested FIFO data frames : %d\n", act_frames);
+
+                    /* Get the activity output */
+                    rslt = bmi270_context_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("Parsed FIFO data frames : %d\r\n", act_frames);
+
+                    for (count = 0; count < act_frames; count++)
+                    {
+                        printf(
+                            "Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
+                            count,
+                            act_recog_data[count].time_stamp,
+                            activity_reg_output[act_recog_data[count].prev_act],
+                            activity_reg_output[act_recog_data[count].curr_act]);
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+static int8_t set_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint8_t temp_data[2];
+
+    /* Disable advanced power save */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Reset FIFO */
+        rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        printf("Move the board for activity recognition for 30 sec :\n");
+        bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c
new file mode 100644
index 0000000000..afff37bc84
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c
@@ -0,0 +1,372 @@
+/**
+ * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!                 Macro definitions                                         */
+#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
+
+/*! Macro that defines read write length */
+#define READ_WRITE_LEN     UINT8_C(46)
+
+/******************************************************************************/
+/*!                Static variable definition                                 */
+
+/*! Variable that holds the I2C device address or SPI chip selection */
+static uint8_t dev_addr;
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * I2C write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *  Also to initialize coines platform
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
+{
+    int8_t rslt = BMI2_OK;
+    struct coines_board_info board_info;
+
+    if (bmi != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        result = coines_get_board_info(&board_info);
+
+#if defined(PC)
+        setbuf(stdout, NULL);
+#endif
+
+        if (result == COINES_SUCCESS)
+        {
+            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
+            {
+                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                exit(COINES_E_FAILURE);
+            }
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        /* Bus configuration : I2C */
+        if (intf == BMI2_I2C_INTF)
+        {
+            printf("I2C Interface \n");
+
+            /* To initialize the user I2C function */
+            dev_addr = BMI2_I2C_PRIM_ADDR;
+            bmi->intf = BMI2_I2C_INTF;
+            bmi->read = bmi2_i2c_read;
+            bmi->write = bmi2_i2c_write;
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+        }
+        /* Bus configuration : SPI */
+        else if (intf == BMI2_SPI_INTF)
+        {
+            printf("SPI Interface \n");
+
+            /* To initialize the user SPI function */
+            dev_addr = COINES_SHUTTLE_PIN_7;
+            bmi->intf = BMI2_SPI_INTF;
+            bmi->read = bmi2_spi_read;
+            bmi->write = bmi2_spi_write;
+            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+        }
+
+        /* Assign device address to interface pointer */
+        bmi->intf_ptr = &dev_addr;
+
+        /* Configure delay in microseconds */
+        bmi->delay_us = bmi2_delay_us;
+
+        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
+        bmi->read_write_len = READ_WRITE_LEN;
+
+        /* Assign to NULL to load the default config file. */
+        bmi->config_file_ptr = NULL;
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+        case BMI2_OK:
+
+            /* Do nothing */
+            break;
+
+        case BMI2_W_FIFO_EMPTY:
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+            break;
+        case BMI2_W_PARTIAL_READ:
+            printf("Warning [%d] : FIFO partial read\r\n", rslt);
+            break;
+        case BMI2_E_NULL_PTR:
+            printf(
+                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_COM_FAIL:
+            printf(
+                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DEV_NOT_FOUND:
+            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+                   rslt);
+            break;
+
+        case BMI2_E_INVALID_SENSOR:
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_FAIL:
+            printf(
+                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INT_PIN:
+            printf(
+                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_OUT_OF_RANGE:
+            printf(
+                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYRO_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_GYR_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CONFIG_LOAD:
+            printf(
+                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_PAGE:
+            printf(
+                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SET_APS_FAIL:
+            printf(
+                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_BUSY:
+            printf(
+                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_REMAP_ERROR:
+            printf(
+                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+            printf(
+                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_NOT_DONE:
+            printf(
+                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INPUT:
+            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_INVALID_STATUS:
+            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_CRT_ERROR:
+            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+            break;
+
+        case BMI2_E_ST_ALREADY_RUNNING:
+            printf(
+                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+            printf(
+                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DL_ERROR:
+            printf(
+                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_PRECON_ERROR:
+            printf(
+                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ABORT_ERROR:
+            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+            break;
+
+        case BMI2_E_WRITE_CYCLE_ONGOING:
+            printf(
+                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ST_NOT_RUNING:
+            printf(
+                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DATA_RDY_INT_FAILED:
+            printf(
+                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_FOC_POSITION:
+            printf(
+                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
+                rslt);
+            break;
+
+        default:
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+            break;
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h
new file mode 100644
index 0000000000..763983da4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h
@@ -0,0 +1,122 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *  @param[in] intf : Interface selection parameter
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_error_codes_print_result(int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile
new file mode 100644
index 0000000000..61db2e1351
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= component_retrim.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c
new file mode 100644
index 0000000000..94ed043772
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c
@@ -0,0 +1,52 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* This API runs the CRT process. */
+        rslt = bmi2_do_crt(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
+        if (rslt == BMI2_OK)
+        {
+            printf("CRT successfully completed.");
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile
new file mode 100644
index 0000000000..2d328d5f8a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c
new file mode 100644
index 0000000000..3a5a810ec7
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c
@@ -0,0 +1,315 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data. */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO. */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO. */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
+ * totaling to 13) which equals to 157.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
+
+/*! Number of gyro frames to be extracted from FIFO. */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
+
+/*! Macro to read sensortime byte in FIFO. */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+    uint16_t fifo_length = 0;
+    uint16_t config = 0;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    int8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
+
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_50HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile
new file mode 100644
index 0000000000..8f1f9609dd
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c
new file mode 100644
index 0000000000..bfc11455a8
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c
@@ -0,0 +1,304 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
+ * 12) which equals to 170.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
+
+/******************************************************************************/
+/*!                 Static Function Declaration                               */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint8_t try = 1;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile
new file mode 100644
index 0000000000..38c5ce6a59
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c
new file mode 100644
index 0000000000..59ff8f758a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c
@@ -0,0 +1,335 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
+ * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
+ * NOTE: Extra frames are read in order to get sensor time
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/*! Macro to read sensortime byte in FIFO */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_context_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile
new file mode 100644
index 0000000000..9d5e86e564
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
new file mode 100644
index 0000000000..878fe43bb0
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
@@ -0,0 +1,331 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
+ * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameter according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_context_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile
new file mode 100644
index 0000000000..135fe5ba3f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c
new file mode 100644
index 0000000000..0a057e4647
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c
@@ -0,0 +1,195 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print gyro data. */
+    uint8_t limit = 10;
+
+    uint8_t indx = 0;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Assign gyro sensor to variable. */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Initialize the interrupt status of gyro. */
+    uint16_t int_status = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_context_sensor_enable(&sens_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Gyro configuration settings. */
+            rslt = set_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Select gyro sensor. */
+            sensor_data.type = BMI2_GYRO;
+            printf("Gyro and DPS data\n");
+            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
+
+            /* Loop to print gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_GYR_DRDY_INT_MASK)
+                {
+                    /* Get gyro data for x, y and z axis. */
+                    rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
+                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(&config, 1, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the gyro configurations. */
+        rslt = bmi270_context_set_sensor_config(&config, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile
new file mode 100644
index 0000000000..1e8be48cdc
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_counter.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_context.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c
new file mode 100644
index 0000000000..2513b028ac
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c
@@ -0,0 +1,146 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_context.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step counter feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
+
+    /* Variable to get step counter interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
+
+    /* Type of sensor to get step counter data. */
+    sensor_data.type = BMI2_STEP_COUNTER;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_context. */
+    rslt = bmi270_context_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the feature configuration for step counter. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("Step counter watermark level set to 1 (20 steps)\n");
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the step counter feature interrupt. */
+                rslt = bmi270_context_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* Move the board in steps for 20 times to get step counter interrupt. */
+                printf("Move the board in steps\n");
+
+                /* Loop to get number of steps counted. */
+                do
+                {
+                    /* To get the interrupt status of the step counter. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the step counter. */
+                    if (int_status & BMI270_CONTEXT_STEP_CNT_STATUS_MASK)
+                    {
+                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
+
+                        /* Get step counter output. */
+                        rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step counter output. */
+                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for step counter.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of sensor. */
+    config.type = BMI2_STEP_COUNTER;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
+         * output triggers. */
+        config.cfg.step_counter.watermark_level = 1;
+
+        /* Set new configuration. */
+        rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile
new file mode 100644
index 0000000000..d4cc64caf4
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c
new file mode 100644
index 0000000000..553db37724
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c
@@ -0,0 +1,201 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 20;
+
+    /* Assign accel sensor to variable. */
+    uint8_t sensor_list = BMI2_ACCEL;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Initialize the interrupt status of accel. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 0;
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel sensor. */
+        rslt = bmi270_hc_sensor_enable(&sensor_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel configuration settings. */
+            rslt = set_accel_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel sensor. */
+            sensor_data.type = BMI2_ACCEL;
+            printf("Accel and m/s2 data \n");
+            printf("Accel data collected at 2G Range with 16-bit resolution\n");
+
+            /* Loop to print the accel data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the status of accel data ready interrupt. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the accel data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_ACC_DRDY_INT_MASK)
+                {
+                    /* Get accelerometer data for x, y and z axis. */
+                    rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
+                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
+                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
+{
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer configuration. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ACCEL;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel configurations. */
+        rslt = bmi270_hc_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Map data ready interrupt to interrupt pin. */
+        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile
new file mode 100644
index 0000000000..19eb609eae
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c
new file mode 100644
index 0000000000..c92a1b82d5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c
@@ -0,0 +1,268 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 10;
+
+    /* Assign accel and gyro sensor to variable. */
+    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
+
+    /* Initialize the interrupt status of accel and gyro. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 1;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel and gyro sensor. */
+        rslt = bmi270_hc_sensor_enable(sensor_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel and gyro configuration settings. */
+            rslt = set_accel_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel and gyro sensor. */
+            sensor_data[ACCEL].type = BMI2_ACCEL;
+            sensor_data[GYRO].type = BMI2_GYRO;
+
+            /* Loop to print accel and gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of accel and gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
+                {
+                    /* Get accel and gyro data for x, y and z axis. */
+                    rslt = bmi270_hc_get_sensor_data(sensor_data, 2, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
+
+                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                    printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer and gyro configuration. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel and gyro configurations. */
+        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile
new file mode 100644
index 0000000000..ae036b47c1
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= activity_recognition.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c
new file mode 100644
index 0000000000..11750ca538
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c
@@ -0,0 +1,154 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define index for FIFO data */
+    uint8_t count;
+
+    /* Various Activity recognitions are listed in array. */
+    const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
+
+    /* Accel sensor and step activity feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
+
+    /* Array to define FIFO data */
+    uint8_t fifo_data[516] = { 0 };
+
+    /* Variable to store number of activity frames */
+    uint16_t act_frames;
+
+    /* Structure to define a FIFO */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Structure to define output for activity recognition */
+    struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
+
+    uint16_t fifo_length;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = set_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Update FIFO structure */
+                fifoframe.data = fifo_data;
+                fifoframe.length = 516;
+
+                rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+                printf("Fifo length = %d \n", fifo_length);
+
+                /* Read FIFO data */
+                rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                while (rslt != BMI2_W_FIFO_EMPTY)
+                {
+                    /* Provide the number of frames to be read */
+                    act_frames = 5;
+
+                    printf("Requested FIFO data frames : %d\n", act_frames);
+
+                    /* Get the activity output */
+                    rslt = bmi270_hc_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("Parsed FIFO data frames : %d\r\n", act_frames);
+
+                    for (count = 0; count < act_frames; count++)
+                    {
+                        printf(
+                            "Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
+                            count,
+                            act_recog_data[count].time_stamp,
+                            activity_reg_output[act_recog_data[count].prev_act],
+                            activity_reg_output[act_recog_data[count].curr_act]);
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+static int8_t set_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint8_t temp_data[2];
+
+    /* Disable advanced power save */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Reset FIFO */
+        rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        printf("Move the board for activity recognition for 30 sec :\n");
+        bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c
new file mode 100644
index 0000000000..afff37bc84
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c
@@ -0,0 +1,372 @@
+/**
+ * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!                 Macro definitions                                         */
+#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
+
+/*! Macro that defines read write length */
+#define READ_WRITE_LEN     UINT8_C(46)
+
+/******************************************************************************/
+/*!                Static variable definition                                 */
+
+/*! Variable that holds the I2C device address or SPI chip selection */
+static uint8_t dev_addr;
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * I2C write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *  Also to initialize coines platform
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
+{
+    int8_t rslt = BMI2_OK;
+    struct coines_board_info board_info;
+
+    if (bmi != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        result = coines_get_board_info(&board_info);
+
+#if defined(PC)
+        setbuf(stdout, NULL);
+#endif
+
+        if (result == COINES_SUCCESS)
+        {
+            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
+            {
+                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                exit(COINES_E_FAILURE);
+            }
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        /* Bus configuration : I2C */
+        if (intf == BMI2_I2C_INTF)
+        {
+            printf("I2C Interface \n");
+
+            /* To initialize the user I2C function */
+            dev_addr = BMI2_I2C_PRIM_ADDR;
+            bmi->intf = BMI2_I2C_INTF;
+            bmi->read = bmi2_i2c_read;
+            bmi->write = bmi2_i2c_write;
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+        }
+        /* Bus configuration : SPI */
+        else if (intf == BMI2_SPI_INTF)
+        {
+            printf("SPI Interface \n");
+
+            /* To initialize the user SPI function */
+            dev_addr = COINES_SHUTTLE_PIN_7;
+            bmi->intf = BMI2_SPI_INTF;
+            bmi->read = bmi2_spi_read;
+            bmi->write = bmi2_spi_write;
+            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+        }
+
+        /* Assign device address to interface pointer */
+        bmi->intf_ptr = &dev_addr;
+
+        /* Configure delay in microseconds */
+        bmi->delay_us = bmi2_delay_us;
+
+        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
+        bmi->read_write_len = READ_WRITE_LEN;
+
+        /* Assign to NULL to load the default config file. */
+        bmi->config_file_ptr = NULL;
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+        case BMI2_OK:
+
+            /* Do nothing */
+            break;
+
+        case BMI2_W_FIFO_EMPTY:
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+            break;
+        case BMI2_W_PARTIAL_READ:
+            printf("Warning [%d] : FIFO partial read\r\n", rslt);
+            break;
+        case BMI2_E_NULL_PTR:
+            printf(
+                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_COM_FAIL:
+            printf(
+                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DEV_NOT_FOUND:
+            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+                   rslt);
+            break;
+
+        case BMI2_E_INVALID_SENSOR:
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_FAIL:
+            printf(
+                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INT_PIN:
+            printf(
+                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_OUT_OF_RANGE:
+            printf(
+                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYRO_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_GYR_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CONFIG_LOAD:
+            printf(
+                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_PAGE:
+            printf(
+                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SET_APS_FAIL:
+            printf(
+                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_BUSY:
+            printf(
+                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_REMAP_ERROR:
+            printf(
+                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+            printf(
+                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_NOT_DONE:
+            printf(
+                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INPUT:
+            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_INVALID_STATUS:
+            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_CRT_ERROR:
+            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+            break;
+
+        case BMI2_E_ST_ALREADY_RUNNING:
+            printf(
+                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+            printf(
+                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DL_ERROR:
+            printf(
+                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_PRECON_ERROR:
+            printf(
+                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ABORT_ERROR:
+            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+            break;
+
+        case BMI2_E_WRITE_CYCLE_ONGOING:
+            printf(
+                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ST_NOT_RUNING:
+            printf(
+                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DATA_RDY_INT_FAILED:
+            printf(
+                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_FOC_POSITION:
+            printf(
+                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
+                rslt);
+            break;
+
+        default:
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+            break;
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h
new file mode 100644
index 0000000000..763983da4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h
@@ -0,0 +1,122 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *  @param[in] intf : Interface selection parameter
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_error_codes_print_result(int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile
new file mode 100644
index 0000000000..633a817299
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= component_retrim.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c
new file mode 100644
index 0000000000..6084574f4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c
@@ -0,0 +1,52 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* This API runs the CRT process. */
+        rslt = bmi2_do_crt(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
+        if (rslt == BMI2_OK)
+        {
+            printf("CRT successfully completed.");
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile
new file mode 100644
index 0000000000..00794a37a0
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c
new file mode 100644
index 0000000000..6f11642843
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c
@@ -0,0 +1,316 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data. */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO. */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO. */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
+ * totaling to 13) which equals to 157.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
+
+/*! Number of gyro frames to be extracted from FIFO. */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
+
+/*! Macro to read sensortime byte in FIFO. */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+    uint16_t fifo_length = 0;
+    uint16_t config = 0;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    int8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
+
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile
new file mode 100644
index 0000000000..5eefc71ab8
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c
new file mode 100644
index 0000000000..1bce488be0
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c
@@ -0,0 +1,304 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
+ * 12) which equals to 170.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
+
+/******************************************************************************/
+/*!                 Static Function Declaration                               */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint8_t try = 1;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile
new file mode 100644
index 0000000000..8dea084da5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c
new file mode 100644
index 0000000000..46599f21cd
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c
@@ -0,0 +1,335 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
+ * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
+ * NOTE: Extra frames are read in order to get sensor time
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/*! Macro to read sensortime byte in FIFO */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_hc_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile
new file mode 100644
index 0000000000..bd842a8170
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
new file mode 100644
index 0000000000..bb0bfd1118
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
@@ -0,0 +1,331 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
+ * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameter according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_hc_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile
new file mode 100644
index 0000000000..cb6bfaa3e1
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c
new file mode 100644
index 0000000000..c7c50277fd
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c
@@ -0,0 +1,195 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print gyro data. */
+    uint8_t limit = 10;
+
+    uint8_t indx = 0;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Assign gyro sensor to variable. */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Initialize the interrupt status of gyro. */
+    uint16_t int_status = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_hc_sensor_enable(&sens_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Gyro configuration settings. */
+            rslt = set_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Select gyro sensor. */
+            sensor_data.type = BMI2_GYRO;
+            printf("Gyro and DPS data\n");
+            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
+
+            /* Loop to print gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_GYR_DRDY_INT_MASK)
+                {
+                    /* Get gyro data for x, y and z axis. */
+                    rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
+                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(&config, 1, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the gyro configurations. */
+        rslt = bmi270_hc_set_sensor_config(&config, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile
new file mode 100644
index 0000000000..fc47b9bb1d
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_counter.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_hc.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c
new file mode 100644
index 0000000000..785dc28ffc
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c
@@ -0,0 +1,146 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_hc.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step counter feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
+
+    /* Variable to get step counter interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
+
+    /* Type of sensor to get step counter data. */
+    sensor_data.type = BMI2_STEP_COUNTER;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_hc. */
+    rslt = bmi270_hc_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the feature configuration for step counter. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("Step counter watermark level set to 1 (20 steps)\n");
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the step counter feature interrupt. */
+                rslt = bmi270_hc_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* Move the board in steps for 20 times to get step counter interrupt. */
+                printf("Move the board in steps\n");
+
+                /* Loop to get number of steps counted. */
+                do
+                {
+                    /* To get the interrupt status of the step counter. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the step counter. */
+                    if (int_status & BMI270_HC_STEP_CNT_STATUS_MASK)
+                    {
+                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
+
+                        /* Get step counter output. */
+                        rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step counter output. */
+                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for step counter.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of sensor. */
+    config.type = BMI2_STEP_COUNTER;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_hc_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
+         * output triggers. */
+        config.cfg.step_counter.watermark_level = 1;
+
+        /* Set new configuration. */
+        rslt = bmi270_hc_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile
new file mode 100644
index 0000000000..e4400a45ba
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c
new file mode 100644
index 0000000000..c32a43a41f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c
@@ -0,0 +1,200 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 20;
+
+    /* Assign accel sensor to variable. */
+    uint8_t sensor_list = BMI2_ACCEL;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Initialize the interrupt status of accel. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 0;
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_maximum_fifo. */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel sensor. */
+        rslt = bmi2_sensor_enable(&sensor_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel configuration settings. */
+            rslt = set_accel_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel sensor. */
+            sensor_data.type = BMI2_ACCEL;
+            printf("Accel and m/s2 data \n");
+            printf("Accel data collected at 2G Range with 16-bit resolution\n");
+
+            /* Loop to print the accel data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the status of accel data ready interrupt. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the accel data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_ACC_DRDY_INT_MASK)
+                {
+                    /* Get accelerometer data for x, y and z axis. */
+                    rslt = bmi2_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
+                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
+                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer configuration. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ACCEL;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel configurations. */
+        rslt = bmi2_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Map data ready interrupt to interrupt pin. */
+        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile
new file mode 100644
index 0000000000..a33f36617a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c
new file mode 100644
index 0000000000..b77ea1d810
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c
@@ -0,0 +1,268 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 10;
+
+    /* Assign accel and gyro sensor to variable. */
+    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
+
+    /* Initialize the interrupt status of accel and gyro. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 1;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_maximum_fifo. */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel and gyro sensor. */
+        rslt = bmi2_sensor_enable(sensor_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel and gyro configuration settings. */
+            rslt = set_accel_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel and gyro sensor. */
+            sensor_data[ACCEL].type = BMI2_ACCEL;
+            sensor_data[GYRO].type = BMI2_GYRO;
+
+            /* Loop to print accel and gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of accel and gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
+                {
+                    /* Get accel and gyro data for x, y and z axis. */
+                    rslt = bmi2_get_sensor_data(sensor_data, 2, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
+
+                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer and gyro configuration. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel and gyro configurations. */
+        rslt = bmi2_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c
new file mode 100644
index 0000000000..afff37bc84
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c
@@ -0,0 +1,372 @@
+/**
+ * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!                 Macro definitions                                         */
+#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
+
+/*! Macro that defines read write length */
+#define READ_WRITE_LEN     UINT8_C(46)
+
+/******************************************************************************/
+/*!                Static variable definition                                 */
+
+/*! Variable that holds the I2C device address or SPI chip selection */
+static uint8_t dev_addr;
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * I2C write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *  Also to initialize coines platform
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
+{
+    int8_t rslt = BMI2_OK;
+    struct coines_board_info board_info;
+
+    if (bmi != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        result = coines_get_board_info(&board_info);
+
+#if defined(PC)
+        setbuf(stdout, NULL);
+#endif
+
+        if (result == COINES_SUCCESS)
+        {
+            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
+            {
+                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                exit(COINES_E_FAILURE);
+            }
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        /* Bus configuration : I2C */
+        if (intf == BMI2_I2C_INTF)
+        {
+            printf("I2C Interface \n");
+
+            /* To initialize the user I2C function */
+            dev_addr = BMI2_I2C_PRIM_ADDR;
+            bmi->intf = BMI2_I2C_INTF;
+            bmi->read = bmi2_i2c_read;
+            bmi->write = bmi2_i2c_write;
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+        }
+        /* Bus configuration : SPI */
+        else if (intf == BMI2_SPI_INTF)
+        {
+            printf("SPI Interface \n");
+
+            /* To initialize the user SPI function */
+            dev_addr = COINES_SHUTTLE_PIN_7;
+            bmi->intf = BMI2_SPI_INTF;
+            bmi->read = bmi2_spi_read;
+            bmi->write = bmi2_spi_write;
+            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+        }
+
+        /* Assign device address to interface pointer */
+        bmi->intf_ptr = &dev_addr;
+
+        /* Configure delay in microseconds */
+        bmi->delay_us = bmi2_delay_us;
+
+        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
+        bmi->read_write_len = READ_WRITE_LEN;
+
+        /* Assign to NULL to load the default config file. */
+        bmi->config_file_ptr = NULL;
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+        case BMI2_OK:
+
+            /* Do nothing */
+            break;
+
+        case BMI2_W_FIFO_EMPTY:
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+            break;
+        case BMI2_W_PARTIAL_READ:
+            printf("Warning [%d] : FIFO partial read\r\n", rslt);
+            break;
+        case BMI2_E_NULL_PTR:
+            printf(
+                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_COM_FAIL:
+            printf(
+                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DEV_NOT_FOUND:
+            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+                   rslt);
+            break;
+
+        case BMI2_E_INVALID_SENSOR:
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_FAIL:
+            printf(
+                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INT_PIN:
+            printf(
+                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_OUT_OF_RANGE:
+            printf(
+                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYRO_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_GYR_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CONFIG_LOAD:
+            printf(
+                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_PAGE:
+            printf(
+                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SET_APS_FAIL:
+            printf(
+                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_BUSY:
+            printf(
+                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_REMAP_ERROR:
+            printf(
+                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+            printf(
+                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_NOT_DONE:
+            printf(
+                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INPUT:
+            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_INVALID_STATUS:
+            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_CRT_ERROR:
+            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+            break;
+
+        case BMI2_E_ST_ALREADY_RUNNING:
+            printf(
+                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+            printf(
+                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DL_ERROR:
+            printf(
+                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_PRECON_ERROR:
+            printf(
+                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ABORT_ERROR:
+            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+            break;
+
+        case BMI2_E_WRITE_CYCLE_ONGOING:
+            printf(
+                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ST_NOT_RUNING:
+            printf(
+                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DATA_RDY_INT_FAILED:
+            printf(
+                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_FOC_POSITION:
+            printf(
+                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
+                rslt);
+            break;
+
+        default:
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+            break;
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h
new file mode 100644
index 0000000000..763983da4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h
@@ -0,0 +1,122 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *  @param[in] intf : Interface selection parameter
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_error_codes_print_result(int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile
new file mode 100644
index 0000000000..0729972a20
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= component_retrim.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c
new file mode 100644
index 0000000000..ea24ab2e9f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c
@@ -0,0 +1,52 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_maximum_fifo. */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* This API runs the CRT process. */
+        rslt = bmi2_do_crt(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
+        if (rslt == BMI2_OK)
+        {
+            printf("CRT successfully completed.");
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile
new file mode 100644
index 0000000000..131538f30c
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c
new file mode 100644
index 0000000000..f031379f78
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c
@@ -0,0 +1,335 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
+ * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
+ * NOTE: Extra frames are read in order to get sensor time
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/*! Macro to read sensortime byte in FIFO */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_maximum_fifo. */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi2_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi2_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile
new file mode 100644
index 0000000000..9790a92d4b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
new file mode 100644
index 0000000000..541ff11163
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
@@ -0,0 +1,331 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
+ * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi2_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameter according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi2_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile
new file mode 100644
index 0000000000..5ab6e7fd76
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_maximum_fifo.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c
new file mode 100644
index 0000000000..8b56f08429
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c
@@ -0,0 +1,195 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_maximum_fifo.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print gyro data. */
+    uint8_t limit = 10;
+
+    uint8_t indx = 0;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Assign gyro sensor to variable. */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Initialize the interrupt status of gyro. */
+    uint16_t int_status = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_maximum_fifo_init */
+    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi2_sensor_enable(&sens_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Gyro configuration settings. */
+            rslt = set_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Select gyro sensor. */
+            sensor_data.type = BMI2_GYRO;
+            printf("Gyro and DPS data\n");
+            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
+
+            /* Loop to print gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_GYR_DRDY_INT_MASK)
+                {
+                    /* Get gyro data for x, y and z axis. */
+                    rslt = bmi2_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
+                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(&config, 1, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the gyro configurations. */
+        rslt = bmi2_set_sensor_config(&config, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile
new file mode 100644
index 0000000000..3ab55f00e4
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c
new file mode 100644
index 0000000000..cf6825229e
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c
@@ -0,0 +1,201 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 20;
+
+    /* Assign accel sensor to variable. */
+    uint8_t sensor_list = BMI2_ACCEL;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Initialize the interrupt status of accel. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 0;
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel sensor. */
+        rslt = bmi270_wh_sensor_enable(&sensor_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel configuration settings. */
+            rslt = set_accel_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel sensor. */
+            sensor_data.type = BMI2_ACCEL;
+            printf("Accel and m/s2 data \n");
+            printf("Accel data collected at 2G Range with 16-bit resolution\n");
+
+            /* Loop to print the accel data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the status of accel data ready interrupt. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the accel data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_ACC_DRDY_INT_MASK)
+                {
+                    /* Get accelerometer data for x, y and z axis. */
+                    rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
+                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
+                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
+{
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer configuration. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ACCEL;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel configurations. */
+        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Map data ready interrupt to interrupt pin. */
+        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile
new file mode 100644
index 0000000000..1d3ea28c5f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c
new file mode 100644
index 0000000000..e543cca7cf
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c
@@ -0,0 +1,268 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print accel data. */
+    uint8_t limit = 10;
+
+    /* Assign accel and gyro sensor to variable. */
+    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
+
+    /* Initialize the interrupt status of accel and gyro. */
+    uint16_t int_status = 0;
+
+    uint8_t indx = 1;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the accel and gyro sensor. */
+        rslt = bmi270_wh_sensor_enable(sensor_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Accel and gyro configuration settings. */
+            rslt = set_accel_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Assign accel and gyro sensor. */
+            sensor_data[ACCEL].type = BMI2_ACCEL;
+            sensor_data[GYRO].type = BMI2_GYRO;
+
+            /* Loop to print accel and gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of accel and gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
+                {
+                    /* Get accel and gyro data for x, y and z axis. */
+                    rslt = bmi270_wh_get_sensor_data(sensor_data, 2, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
+
+                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                    /* Print the data in m/s2. */
+                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accelerometer and gyro configuration. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples.
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the accel and gyro configurations. */
+        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile
new file mode 100644
index 0000000000..1598c62cbf
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= any_motion_interrupt.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c
new file mode 100644
index 0000000000..d1953e322c
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c
@@ -0,0 +1,134 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for any-motion.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and any-motion feature are listed in array. */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_ANY_MOTION };
+
+    /* Variable to get any-motion interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_wh_sensor_enable(sens_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set feature configurations for any-motion. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for any-motion. */
+                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Move the board\n");
+
+                /* Loop to get any-motion interrupt. */
+                do
+                {
+                    /* Clear buffer. */
+                    int_status = 0;
+
+                    /* To get the interrupt status of any-motion. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of any-motion. */
+                    if (int_status & BMI270_WH_ANY_MOT_STATUS_MASK)
+                    {
+                        printf("Any-motion interrupt is generated\n");
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for any-motion.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ANY_MOTION;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
+        config.cfg.any_motion.duration = 0x04;
+
+        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
+        config.cfg.any_motion.threshold = 0x68;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c
new file mode 100644
index 0000000000..afff37bc84
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c
@@ -0,0 +1,372 @@
+/**
+ * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!                 Macro definitions                                         */
+#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
+
+/*! Macro that defines read write length */
+#define READ_WRITE_LEN     UINT8_C(46)
+
+/******************************************************************************/
+/*!                Static variable definition                                 */
+
+/*! Variable that holds the I2C device address or SPI chip selection */
+static uint8_t dev_addr;
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * I2C write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI read function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *  Also to initialize coines platform
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
+{
+    int8_t rslt = BMI2_OK;
+    struct coines_board_info board_info;
+
+    if (bmi != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        result = coines_get_board_info(&board_info);
+
+#if defined(PC)
+        setbuf(stdout, NULL);
+#endif
+
+        if (result == COINES_SUCCESS)
+        {
+            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
+            {
+                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                exit(COINES_E_FAILURE);
+            }
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        /* Bus configuration : I2C */
+        if (intf == BMI2_I2C_INTF)
+        {
+            printf("I2C Interface \n");
+
+            /* To initialize the user I2C function */
+            dev_addr = BMI2_I2C_PRIM_ADDR;
+            bmi->intf = BMI2_I2C_INTF;
+            bmi->read = bmi2_i2c_read;
+            bmi->write = bmi2_i2c_write;
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+        }
+        /* Bus configuration : SPI */
+        else if (intf == BMI2_SPI_INTF)
+        {
+            printf("SPI Interface \n");
+
+            /* To initialize the user SPI function */
+            dev_addr = COINES_SHUTTLE_PIN_7;
+            bmi->intf = BMI2_SPI_INTF;
+            bmi->read = bmi2_spi_read;
+            bmi->write = bmi2_spi_write;
+            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+        }
+
+        /* Assign device address to interface pointer */
+        bmi->intf_ptr = &dev_addr;
+
+        /* Configure delay in microseconds */
+        bmi->delay_us = bmi2_delay_us;
+
+        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
+        bmi->read_write_len = READ_WRITE_LEN;
+
+        /* Assign to NULL to load the default config file. */
+        bmi->config_file_ptr = NULL;
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+        case BMI2_OK:
+
+            /* Do nothing */
+            break;
+
+        case BMI2_W_FIFO_EMPTY:
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+            break;
+        case BMI2_W_PARTIAL_READ:
+            printf("Warning [%d] : FIFO partial read\r\n", rslt);
+            break;
+        case BMI2_E_NULL_PTR:
+            printf(
+                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_COM_FAIL:
+            printf(
+                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DEV_NOT_FOUND:
+            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+                   rslt);
+            break;
+
+        case BMI2_E_INVALID_SENSOR:
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_FAIL:
+            printf(
+                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INT_PIN:
+            printf(
+                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_OUT_OF_RANGE:
+            printf(
+                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYRO_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ACC_GYR_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CONFIG_LOAD:
+            printf(
+                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_PAGE:
+            printf(
+                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SET_APS_FAIL:
+            printf(
+                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_INVALID_CFG:
+            printf(
+                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_AUX_BUSY:
+            printf(
+                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_REMAP_ERROR:
+            printf(
+                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+            printf(
+                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_SELF_TEST_NOT_DONE:
+            printf(
+                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_INPUT:
+            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_INVALID_STATUS:
+            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+            break;
+
+        case BMI2_E_CRT_ERROR:
+            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+            break;
+
+        case BMI2_E_ST_ALREADY_RUNNING:
+            printf(
+                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+            printf(
+                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DL_ERROR:
+            printf(
+                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_PRECON_ERROR:
+            printf(
+                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ABORT_ERROR:
+            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+            break;
+
+        case BMI2_E_WRITE_CYCLE_ONGOING:
+            printf(
+                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_ST_NOT_RUNING:
+            printf(
+                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_DATA_RDY_INT_FAILED:
+            printf(
+                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
+                rslt);
+            break;
+
+        case BMI2_E_INVALID_FOC_POSITION:
+            printf(
+                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
+                rslt);
+            break;
+
+        default:
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+            break;
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h
new file mode 100644
index 0000000000..763983da4a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h
@@ -0,0 +1,122 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through I2C bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to select the interface between SPI and I2C.
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *  @param[in] intf : Interface selection parameter
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_error_codes_print_result(int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile
new file mode 100644
index 0000000000..bde7c19627
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c
new file mode 100644
index 0000000000..ab331eaeed
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c
@@ -0,0 +1,316 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data. */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO. */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO. */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
+ * totaling to 13) which equals to 157.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
+
+/*! Number of gyro frames to be extracted from FIFO. */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
+
+/*! Macro to read sensortime byte in FIFO. */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+    uint16_t fifo_length = 0;
+    uint16_t config = 0;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    int8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
+
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile
new file mode 100644
index 0000000000..5c407e9094
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_full_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c
new file mode 100644
index 0000000000..14b0b22b3d
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c
@@ -0,0 +1,304 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
+ * 12) which equals to 170.
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
+
+/******************************************************************************/
+/*!                 Static Function Declaration                               */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint8_t try = 1;
+
+    /* Variable to get fifo full interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 170 * (6 axes bytes) = 1020 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* Map FIFO full interrupt. */
+    fifoframe.data_int_map = BMI2_FFULL_INT;
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExtracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile
new file mode 100644
index 0000000000..e0a42e369a
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_header_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c
new file mode 100644
index 0000000000..f33bb5ebff
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c
@@ -0,0 +1,335 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
+ * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
+ * NOTE: Extra frames are read in order to get sensor time
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/*! Macro to read sensortime byte in FIFO */
+#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* To read sensortime, extra 3 bytes are added to fifo buffer */
+    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[fifo_buffer_size];
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 55 * (6 axes bytes) = 330 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    /* To read sensortime, extra 3 bytes are added to fifo user length. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
+
+    /* Set FIFO configuration by enabling accel, gyro and timestamp.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode.
+     * NOTE 3: Sensortime is enabled by default */
+    printf("FIFO is configured in header mode\n");
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+
+                /* Print control frames like sensor time and skipped frame count. */
+                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
+                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
+
+                try++;
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel and gyro.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile
new file mode 100644
index 0000000000..ce97737eab
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
new file mode 100644
index 0000000000..160c01de5b
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
@@ -0,0 +1,331 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                  Macros                                                   */
+
+/*! Buffer size allocated to store raw FIFO data */
+#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
+
+/*! Length of data to be read from FIFO */
+#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
+
+/*! Number of accel frames to be extracted from FIFO */
+
+/*!
+ * Calculation:
+ * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
+ * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
+ */
+#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
+
+/*! Number of gyro frames to be extracted from FIFO */
+#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
+
+/*! Setting a watermark level in FIFO */
+#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
+
+/******************************************************************************/
+/*!           Static Function Declaration                                     */
+
+/*!
+ *  @brief This internal API is used to set configurations for accel and gyro.
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *  @return Status of execution.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
+
+/******************************************************************************/
+/*!            Functions                                                      */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to index bytes. */
+    uint16_t index = 0;
+
+    /* Variable to store the available frame length count in FIFO */
+    uint8_t frame_count;
+
+    uint16_t fifo_length = 0;
+
+    uint16_t accel_frame_length;
+
+    uint16_t gyro_frame_length;
+
+    uint8_t try = 1;
+
+    /* Number of bytes of FIFO data. */
+    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Array of accelerometer frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
+
+    /* Array of gyro frames -> Total bytes =
+     * 50 * (6 axes bytes) = 300 bytes */
+    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
+
+    /* Initialize FIFO frame structure. */
+    struct bmi2_fifo_frame fifoframe = { 0 };
+
+    /* Accel and gyro sensor are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+    /* Variable to get fifo water-mark interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t watermark = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable accel and gyro sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configuration settings for accel and gyro. */
+    rslt = set_accel_gyro_config(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Before setting FIFO, disable the advance power save mode. */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initially disable all configurations in fifo. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Update FIFO structure. */
+    /* Mapping the buffer to store the fifo data. */
+    fifoframe.data = fifo_data;
+
+    /* Length of FIFO frame. */
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set FIFO configuration by enabling accel, gyro.
+     * NOTE 1: The header mode is enabled by default.
+     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
+    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("FIFO is configured in headerless mode\n");
+
+    /* To enable headerless mode, disable the header. */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
+    }
+
+    /* FIFO water-mark interrupt is enabled. */
+    fifoframe.data_int_map = BMI2_FWM_INT;
+
+    /* Map water-mark interrupt to the required interrupt pin. */
+    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set water-mark level. */
+    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
+
+    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
+
+    /* Set the water-mark level if water-mark interrupt is mapped. */
+    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    printf("\nFIFO watermark level is %d\n", watermark);
+
+    while (try <= 10)
+    {
+        /* Read FIFO data on interrupt. */
+        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* To check the status of FIFO watermark interrupt. */
+        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
+        {
+            printf("\nIteration : %d\n", try);
+
+            printf("\nWatermark interrupt occurred\n");
+
+            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
+            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
+
+            printf("\nFIFO data bytes available : %d \n", fifo_length);
+            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
+
+            /* Read FIFO data. */
+            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Read FIFO data on interrupt. */
+            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
+
+                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
+                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
+
+                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
+
+                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
+                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
+                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
+
+                /* Calculating the frame count from the available bytes in FIFO
+                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
+                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
+                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
+
+                printf("\nExracted accel frames\n");
+
+                if (accel_frame_length > frame_count)
+                {
+                    accel_frame_length = frame_count;
+                }
+
+                /* Print the parsed accelerometer data from the FIFO buffer. */
+                for (index = 0; index < accel_frame_length; index++)
+                {
+                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
+                           fifo_accel_data[index].y, fifo_accel_data[index].z);
+                }
+
+                printf("\nExtracted gyro frames\n");
+
+                if (gyro_frame_length > frame_count)
+                {
+                    gyro_frame_length = frame_count;
+                }
+
+                /* Print the parsed gyro data from the FIFO buffer. */
+                for (index = 0; index < gyro_frame_length; index++)
+                {
+                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
+                           index,
+                           fifo_gyro_data[index].x,
+                           fifo_gyro_data[index].y,
+                           fifo_gyro_data[index].z);
+                }
+            }
+
+            try++;
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for accel.
+ */
+static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define accel and gyro configurations. */
+    struct bmi2_sens_config config[2];
+
+    /* Configure the type of feature. */
+    config[0].type = BMI2_ACCEL;
+    config[1].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* NOTE: The user can change the following configuration parameter according to their requirement. */
+        /* Accel configuration settings. */
+        /* Set Output Data Rate */
+        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+
+        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
+        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
+         * if it is set to 2, then 2^(bandwidth parameter) samples
+         * are averaged, resulting in 4 averaged samples
+         * Note1 : For more information, refer the datasheet.
+         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
+         * this has an adverse effect on the power consumed.
+         */
+        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+
+        /* Enable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         * For more info refer datasheet.
+         */
+        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Gyro configuration settings. */
+        /* Set Output Data Rate */
+        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(config, 2, dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile
new file mode 100644
index 0000000000..9192877d58
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c
new file mode 100644
index 0000000000..d1ce9fe16f
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c
@@ -0,0 +1,195 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ *
+ *  @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to define limit to print gyro data. */
+    uint8_t limit = 10;
+
+    uint8_t indx = 0;
+
+    float x = 0, y = 0, z = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Create an instance of sensor data structure. */
+    struct bmi2_sensor_data sensor_data = { 0 };
+
+    /* Assign gyro sensor to variable. */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Initialize the interrupt status of gyro. */
+    uint16_t int_status = 0;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_wh_sensor_enable(&sens_list, 1, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Gyro configuration settings. */
+            rslt = set_gyro_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            /* Select gyro sensor. */
+            sensor_data.type = BMI2_GYRO;
+            printf("Gyro and DPS data\n");
+            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
+
+            /* Loop to print gyro data when interrupt occurs. */
+            while (indx <= limit)
+            {
+                /* To get the data ready interrupt status of gyro. */
+                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* To check the data ready interrupt status and print the status for 10 samples. */
+                if (int_status & BMI2_GYR_DRDY_INT_MASK)
+                {
+                    /* Get gyro data for x, y and z axis. */
+                    rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
+                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
+                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
+
+                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                    /* Print the data in dps. */
+                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
+
+                    indx++;
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to set configurations for gyro.
+ */
+static int8_t set_gyro_config(struct bmi2_dev *dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(&config, 1, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Map data ready interrupt to interrupt pin. */
+    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* The user can change the following configuration parameters according to their requirement. */
+        /* Set Output Data Rate */
+        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
+
+        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
+        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
+
+        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
+        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
+
+        /* Enable/Disable the noise performance mode for precision yaw rate sensing
+         * There are two modes
+         *  0 -> Ultra low power mode(Default)
+         *  1 -> High performance mode
+         */
+        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
+
+        /* Enable/Disable the filter performance mode where averaging of samples
+         * will be done based on above set bandwidth and ODR.
+         * There are two modes
+         *  0 -> Ultra low power mode
+         *  1 -> High performance mode(Default)
+         */
+        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+
+        /* Set the gyro configurations. */
+        rslt = bmi270_wh_set_sensor_config(&config, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile
new file mode 100644
index 0000000000..61b7016bb2
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= no_motion_interrupt.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c
new file mode 100644
index 0000000000..5f584de28c
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c
@@ -0,0 +1,135 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static Function Declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for no-motion.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and no-motion feature are listed in array. */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
+
+    /* Variable to get no-motion interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensors. */
+        rslt = bmi270_wh_sensor_enable(sens_list, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set feature configurations for no-motion. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for no-motion. */
+                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Do not move the board\n");
+
+                /* Loop to get no-motion interrupt. */
+                do
+                {
+                    /* Clear buffer. */
+                    int_status = 0;
+
+                    /* To get the interrupt status of no-motion. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of no-motion. */
+                    if (int_status & BMI270_WH_NO_MOT_STATUS_MASK)
+                    {
+                        printf("No-motion interrupt is generated\n");
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for no-motion.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of feature. */
+    config.type = BMI2_NO_MOTION;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+    if (rslt == BMI2_OK)
+    {
+
+        /* NOTE: The user can change the following configuration parameters according to their requirement. */
+        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
+        config.cfg.no_motion.duration = 0x04;
+
+        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
+        config.cfg.no_motion.threshold = 0x68;
+
+        /* Set new configurations. */
+        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile
new file mode 100644
index 0000000000..b995b42dd9
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile
@@ -0,0 +1,23 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_aux_data_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+BMM150_SOURCE ?= ../../../bmm150
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(BMM150_SOURCE)/bmm150.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(BMM150_SOURCE) \
+$(COMMON_LOCATION)/common 
+
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c
new file mode 100644
index 0000000000..6d8cd67f35
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c
@@ -0,0 +1,327 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "bmm150.h"
+#include "coines.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+#define AUX            UINT8_C(0x02)
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*****************************************************************************/
+/*!         Structure declaration                                            */
+
+/* Sensor initialization configuration. */
+struct bmi2_dev bmi2_dev;
+
+/*******************************************************************************/
+/*!                 Functions                                                  */
+
+/**
+ * user_aux_read - Reads data from auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/**
+ * user_aux_write - Writes data to the auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the data being written.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to select the pull-up resistor which is set to trim register */
+    uint8_t regdata;
+
+    /* Variable to define limit to print aux data. */
+    uint8_t limit = 20;
+
+    /* Accel, Gyro and Aux sensors are listed in array. */
+    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
+
+    /* Structure to define the type of the sensor and its configurations. */
+    struct bmi2_sens_config config[3];
+
+    /* Sensor initialization configuration. */
+    struct bmm150_dev bmm150_dev;
+
+    /* bmm150 settings configuration */
+    struct bmm150_settings settings;
+
+    /* bmm150 magnetometer data */
+    struct bmm150_mag_data mag_data;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data[3];
+
+    /* Variables to define read the accel and gyro data in float */
+    float x = 0, y = 0, z = 0;
+
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+    config[AUX].type = BMI2_AUX;
+
+    /* To enable the i2c interface settings for bmm150. */
+    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    bmm150_dev.intf_ptr = &bmm150_dev_addr;
+    bmm150_dev.read = user_aux_read;
+    bmm150_dev.write = user_aux_write;
+    bmm150_dev.delay_us = user_delay_us;
+
+    /* As per datasheet, aux interface with bmi270_wh will support only for I2C */
+    bmm150_dev.intf = BMM150_I2C_INTF;
+
+    sensor_data[ACCEL].type = BMI2_ACCEL;
+    sensor_data[GYRO].type = BMI2_GYRO;
+    sensor_data[AUX].type = BMI2_AUX;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Pull-up resistor 2k is set to the trim regiter */
+    regdata = BMI2_ASDA_PUPSEL_2K;
+    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable the accel, gyro and aux sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_list, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configurations for accel. */
+    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
+    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+    /* Configurations for gyro. */
+    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
+    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+    /* Configurations for aux. */
+    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
+    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
+    config[AUX].cfg.aux.read_addr = BMM150_REG_DATA_X_LSB;
+
+    /* Set new configurations for accel, gyro and aux. */
+    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmm150. */
+    rslt = bmm150_init(&bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set the power mode to normal mode. */
+    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
+    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Disable manual mode so that the data mode is enabled. */
+    config[AUX].cfg.aux.manual_en = BMI2_DISABLE;
+
+    /* Set the aux configurations. */
+    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("MAGNETOMETER, ACCEL, AND GYRO DATA IN DATA MODE\n");
+
+    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
+    {
+        while (limit--)
+        {
+            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
+            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
+
+            rslt = bmi270_wh_get_sensor_data(sensor_data, 3, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                /* Print the data in m/s2. */
+                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                printf("Gyr_Z= %d", sensor_data[GYRO].sens_data.gyr.z);
+
+                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                /* Print the data in dps. */
+                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+
+                /* Compensating the raw auxiliary data available from the BMM150 API. */
+                rslt = bmm150_aux_mag_data(sensor_data[AUX].sens_data.aux_data, &mag_data, &bmm150_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("\nMag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n",
+                       mag_data.x,
+                       mag_data.y,
+                       mag_data.z);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This function reads the data from auxiliary sensor in manual mode.
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This function writes the data to auxiliary sensor in manual mode.
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile
new file mode 100644
index 0000000000..843a2ce8c7
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile
@@ -0,0 +1,23 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_aux_manual_mode.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+BMM150_SOURCE ?= ../../../bmm150
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(BMM150_SOURCE)/bmm150.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(BMM150_SOURCE) \
+$(COMMON_LOCATION)/common 
+
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c
new file mode 100644
index 0000000000..524eb8d2ff
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c
@@ -0,0 +1,322 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "bmm150.h"
+#include "coines.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Macros to select the sensors                   */
+#define ACCEL          UINT8_C(0x00)
+#define GYRO           UINT8_C(0x01)
+#define AUX            UINT8_C(0x02)
+
+/*! Earth's gravity in m/s^2 */
+#define GRAVITY_EARTH  (9.80665f)
+
+/*****************************************************************************/
+/*!         Structure declaration                                            */
+
+/* Sensor initialization configuration. */
+struct bmi2_dev bmi2_dev;
+
+/******************************************************************************/
+/*!                 Functions                                                 */
+
+/**
+ * user_aux_read - Reads data from auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/**
+ * user_aux_write - Writes data to the auxiliary sensor in manual mode.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] aux_data    : Aux data pointer to store the data being written.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ *  range 2G, 4G, 8G or 16G.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] g_range   : Gravity range.
+ *  @param[in] bit_width : Resolution for accel.
+ *
+ *  @return Gravity.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
+
+/*!
+ *  @brief This function converts lsb to degree per second for 16 bit gyro at
+ *  range 125, 250, 500, 1000 or 2000dps.
+ *
+ *  @param[in] val       : LSB from each axis.
+ *  @param[in] dps       : Degree per second.
+ *  @param[in] bit_width : Resolution for gyro.
+ *
+ *  @return Degree per second.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Variable to select the pull-up resistor which is set to trim register */
+    uint8_t regdata;
+
+    /* Variable to define limit to print aux data. */
+    uint8_t limit = 20;
+
+    /* Accel, Gyro and Aux sensors are listed in array. */
+    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
+
+    /* Sensor initialization configuration. */
+    struct bmm150_dev bmm150_dev;
+
+    /* bmm150 settings configuration */
+    struct bmm150_settings settings;
+
+    /* bmm150 magnetometer data */
+    struct bmm150_mag_data mag_data;
+
+    /* Structure to define the type of the sensor and its configurations. */
+    struct bmi2_sens_config config[3];
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data[2];
+
+    /* Variables to define read the accel and gyro data in float */
+    float x = 0, y = 0, z = 0;
+
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+    config[AUX].type = BMI2_AUX;
+
+    sensor_data[ACCEL].type = BMI2_ACCEL;
+    sensor_data[GYRO].type = BMI2_GYRO;
+
+    /* Array of eight bytes to store x, y, z and r axis aux data. */
+    uint8_t aux_data[8] = { 0 };
+
+    /* To enable the i2c interface settings for bmm150. */
+    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    bmm150_dev.intf_ptr = &bmm150_dev_addr;
+    bmm150_dev.read = user_aux_read;
+    bmm150_dev.write = user_aux_write;
+    bmm150_dev.delay_us = user_delay_us;
+
+    /* As per datasheet, aux interface with bmi270_wh will support only for I2C */
+    bmm150_dev.intf = BMM150_I2C_INTF;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_SPI_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Pull-up resistor 2k is set to the trim register */
+    regdata = BMI2_ASDA_PUPSEL_2K;
+    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Enable the accel, gyro and aux sensor. */
+    rslt = bmi270_wh_sensor_enable(sensor_list, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Configurations for accel. */
+    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
+    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
+    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
+
+    /* Configurations for gyro. */
+    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
+    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
+    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+    /* Configurations for aux. */
+    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
+    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
+    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
+    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
+
+    /* Set new configurations for accel, gyro and aux. */
+    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmm150. */
+    rslt = bmm150_init(&bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Set the power mode to normal mode. */
+    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
+    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    printf("MAGNETOMETER, ACCEL AND GYRO DATA IN MANUAL MODE\n");
+
+    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
+    {
+        while (limit--)
+        {
+            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
+            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
+
+            rslt = bmi270_wh_get_sensor_data(sensor_data, 2, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
+                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
+                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
+
+                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
+                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
+                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
+                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
+
+                /* Print the data in m/s2. */
+                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
+
+                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
+                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
+                printf("Gyr_Z = %d", sensor_data[GYRO].sens_data.gyr.z);
+
+                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
+                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
+                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
+                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
+
+                /* Print the data in dps. */
+                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
+            }
+
+            /* Read aux data from the bmm150 data registers. */
+            rslt = bmi2_read_aux_man_mode(BMM150_REG_DATA_X_LSB, aux_data, 8, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+            if (rslt == BMI2_OK)
+            {
+                /* Compensating the raw auxiliary data available from the BMM150 API. */
+                rslt = bmm150_aux_mag_data(aux_data, &mag_data, &bmm150_dev);
+                bmi2_error_codes_print_result(rslt);
+                printf("Mag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n", mag_data.x, mag_data.y,
+                       mag_data.z);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This function reads the data from auxiliary sensor in manual mode.
+ */
+int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This function writes the data to auxiliary sensor in manual mode.
+ */
+int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
+{
+    int8_t rslt;
+
+    /* Discarding the parameter id as it is redundant */
+    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
+
+    return rslt;
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+static void user_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/*!
+ * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
+ * range 2G, 4G, 8G or 16G.
+ */
+static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (GRAVITY_EARTH * val * g_range) / half_scale;
+}
+
+/*!
+ * @brief This function converts lsb to degree per second for 16 bit gyro at
+ * range 125, 250, 500, 1000 or 2000dps.
+ */
+static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
+{
+    float half_scale = ((float)(1 << bit_width) / 2.0f);
+
+    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile
new file mode 100644
index 0000000000..a4fcf100cd
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_activity.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c
new file mode 100644
index 0000000000..0c3e9c7558
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c
@@ -0,0 +1,110 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Functions                                        */
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define the type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step activity feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_ACTIVITY };
+
+    /* Type of sensor to get step activity data. */
+    sensor_data.type = BMI2_STEP_ACTIVITY;
+
+    /* Variable to get step activity interrupt status. */
+    uint16_t int_status = 0;
+
+    uint16_t loop = 10;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_ACTIVITY, .hw_int_pin = BMI2_INT2 };
+
+    /* The step activities are listed in array. */
+    const char *activity_output[4] = { "BMI2_STILL", "BMI2_WALK", "BMI2_RUN", "BMI2_UNKNOWN" };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        /* Configure the type of sensor. */
+        config.type = BMI2_STEP_ACTIVITY;
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get default configurations for the type of feature selected. */
+            rslt = bmi270_wh_get_sensor_config(&config, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the feature interrupt for step activity. */
+                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                printf("\nMove the board in steps to perform step activity:\n");
+
+                /* Loop to get step activity. */
+                while (loop)
+                {
+                    /* To get the interrupt status of step detector. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of step detector. */
+                    if (int_status & BMI270_WH_STEP_ACT_STATUS_MASK)
+                    {
+                        printf("Step detected\n");
+
+                        /* Get step activity output. */
+                        rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step activity output. */
+                        printf("Step activity = %s\n", activity_output[sensor_data.sens_data.activity_output]);
+
+                        loop--;
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile
new file mode 100644
index 0000000000..1c16cc62a2
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= step_counter.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c
new file mode 100644
index 0000000000..8d5f968fb7
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c
@@ -0,0 +1,146 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!                 Header Files                                              */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set configurations for step counter.
+ *
+ *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program. */
+int main(void)
+{
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Structure to define type of sensor and their respective data. */
+    struct bmi2_sensor_data sensor_data;
+
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and step counter feature are listed in array. */
+    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
+
+    /* Variable to get step counter interrupt status. */
+    uint16_t int_status = 0;
+
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
+
+    /* Type of sensor to get step counter data. */
+    sensor_data.type = BMI2_STEP_COUNTER;
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable the selected sensor. */
+        rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the feature configuration for step counter. */
+            rslt = set_feature_config(&bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            printf("Step counter watermark level set to 1 (20 steps)\n");
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the step counter feature interrupt. */
+                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
+                bmi2_error_codes_print_result(rslt);
+
+                /* Move the board in steps for 20 times to get step counter interrupt. */
+                printf("Move the board in steps\n");
+
+                /* Loop to get number of steps counted. */
+                do
+                {
+                    /* To get the interrupt status of the step counter. */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the step counter. */
+                    if (int_status & BMI270_WH_STEP_CNT_STATUS_MASK)
+                    {
+                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
+
+                        /* Get step counter output. */
+                        rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
+                        bmi2_error_codes_print_result(rslt);
+
+                        /* Print the step counter output. */
+                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
+                        break;
+                    }
+                } while (rslt == BMI2_OK);
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set configurations for step counter.
+ */
+static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Configure the type of sensor. */
+    config.type = BMI2_STEP_COUNTER;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
+         * output triggers. */
+        config.cfg.step_counter.watermark_level = 1;
+
+        /* Set new configuration. */
+        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile
new file mode 100644
index 0000000000..65d3561d83
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= wrist_wear_wakeup.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi270_wh.c \
+$(COMMON_LOCATION)/common/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c
new file mode 100644
index 0000000000..bee1191d94
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c
@@ -0,0 +1,131 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+/*!            Header Files                                  */
+#include <stdio.h>
+#include "bmi270_wh.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!         Static function declaration                                       */
+
+/*!
+ *  @brief This internal API is used to set the sensor configuration.
+ *
+ *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
+ *
+ *  @return Status of execution.
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
+
+/******************************************************************************/
+/*!            Functions                                        */
+
+/* This function starts the execution of program */
+int main(void)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* Initialize status of wrist wear wakeup interrupt */
+    uint16_t int_status = 0;
+
+    /* Sensor initialization configuration. */
+    struct bmi2_dev bmi2_dev;
+
+    /* Select features and their pins to be mapped to */
+    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .hw_int_pin = BMI2_INT1 };
+
+    /* Interface reference is given as a parameter
+     * For I2C : BMI2_I2C_INTF
+     * For SPI : BMI2_SPI_INTF
+     */
+    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
+    bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270_wh. */
+    rslt = bmi270_wh_init(&bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Set the sensor configuration */
+        rslt = bmi2_set_config(&bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Map the feature interrupt */
+            rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+
+            if (rslt == BMI2_OK)
+            {
+                printf("Tilt the board in landscape position to trigger wrist wear wakeup\n");
+
+                /* Loop to print the wrist wear wakeup data when interrupt occurs */
+                while (1)
+                {
+                    int_status = 0;
+
+                    /* To get the interrupt status of the wrist wear wakeup */
+                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
+                    bmi2_error_codes_print_result(rslt);
+
+                    /* To check the interrupt status of the wrist gesture */
+                    if ((rslt == BMI2_OK) && (int_status & BMI270_WH_WRIST_WEAR_WAKEUP_WH_STATUS_MASK))
+                    {
+                        printf("Wrist wear wakeup detected\n");
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    bmi2_coines_deinit();
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the sensor configuration
+ */
+static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* List the sensors which are required to enable */
+    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP_WH };
+
+    /* Structure to define the type of the sensor and its configurations */
+    struct bmi2_sens_config config;
+
+    /* Configure type of feature */
+    config.type = BMI2_WRIST_WEAR_WAKE_UP_WH;
+
+    /* Enable the selected sensors */
+    rslt = bmi270_wh_sensor_enable(sens_list, 2, bmi2_dev);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Get default configurations for the type of feature selected */
+        rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
+        bmi2_error_codes_print_result(rslt);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Set the new configuration */
+            rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+
+    return rslt;
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c
new file mode 100644
index 0000000000..1a43947a99
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c
@@ -0,0 +1,153 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "coines.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!                     Global declaration                                    */
+
+/*! Device address for primary and secondary interface */
+static uint8_t ois_dev_addr;
+
+/******************************************************************************/
+/*!                        Functions                                          */
+
+/*!
+ * SPI read function map to COINES platform
+ */
+int8_t bmi2_ois_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
+}
+
+/*!
+ * SPI write function map to COINES platform
+ */
+int8_t bmi2_ois_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
+{
+    uint8_t dev_addr = *(uint8_t*)intf_ptr;
+
+    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
+}
+
+/*!
+ * Delay function map to COINES platform
+ */
+void bmi2_ois_delay_us(uint32_t period, void *intf_ptr)
+{
+    coines_delay_usec(period);
+}
+
+/******************************************************************************/
+int8_t bmi2_ois_init(struct bmi2_ois_dev *ois_dev)
+{
+    int8_t rslt;
+
+    if (ois_dev != NULL)
+    {
+        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
+        if (result < COINES_SUCCESS)
+        {
+            printf(
+                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+            exit(result);
+        }
+
+        coines_set_shuttleboard_vdd_vddio_config(0, 0);
+        coines_delay_msec(100);
+
+        printf("SPI Interface \n");
+
+        /* To initialize the user SPI function */
+        ois_dev_addr = COINES_SHUTTLE_PIN_8; /*COINES_SHUTTLE_PIN_7 */
+        ois_dev->ois_read = bmi2_ois_spi_read;
+        ois_dev->ois_write = bmi2_ois_spi_write;
+
+        /* Assign device address to interface pointer */
+        ois_dev->intf_ptr = &ois_dev_addr;
+
+        /* Configure delay in microseconds */
+        ois_dev->ois_delay_us = bmi2_ois_delay_us;
+
+        /* SDO pin is made low for selecting I2C address 0x76*/
+        coines_set_pin_config(COINES_SHUTTLE_PIN_8, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+        /*        coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3); */
+        coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_7_5_MHZ, COINES_SPI_MODE0);
+        coines_delay_msec(10);
+
+        /* PS pin is made high for selecting I2C protocol (gyroscope)*/
+        coines_set_pin_config(COINES_SHUTTLE_PIN_9, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+
+        coines_delay_usec(10000);
+
+        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+        coines_delay_usec(10000);
+
+    }
+    else
+    {
+        rslt = BMI2_OIS_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/******************************************************************************/
+
+/*!
+ * @brief This internal API prints the execution status
+ */
+void bmi2_ois_error_codes_print_result(const char api_name[], int8_t rslt)
+{
+    if (rslt != BMI2_OIS_OK)
+    {
+        printf("%s\t", api_name);
+
+        if (rslt == BMI2_OIS_E_NULL_PTR)
+        {
+            printf("Error [%d] : Null pointer error.\r\n", rslt);
+            printf(
+                "It occurs when the user tries to assign value (not address) to a pointer, which has been initialized to NULL.\r\n");
+        }
+        else if (rslt == BMI2_OIS_E_COM_FAIL)
+        {
+            printf("Error [%d] : Communication failure error.\r\n", rslt);
+            printf(
+                "It occurs due to read/write operation failure and also due to power failure during communication\r\n");
+        }
+        else if (rslt == BMI2_OIS_E_INVALID_SENSOR)
+        {
+            printf(
+                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the available one\r\n",
+                rslt);
+        }
+        else
+        {
+            printf("Error [%d] : Unknown error code\r\n", rslt);
+        }
+    }
+}
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_ois_coines_deinit(void)
+{
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h
new file mode 100644
index 0000000000..82a843bbf5
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h
@@ -0,0 +1,92 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#ifndef _COMMON_H
+#define _COMMON_H
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include "bmi2_ois.h"
+
+/*!
+ *  @brief Function for reading the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
+ *  @param[in] length       : No of bytes to read.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+int8_t bmi2_ois_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ *  @brief Function for writing the sensor's registers through SPI bus.
+ *
+ *  @param[in] reg_addr     : Register address.
+ *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
+ *  @param[in] length       : No of bytes to write.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return Status of execution
+ *  @retval = BMI2_INTF_RET_SUCCESS -> Success
+ *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
+ *
+ */
+int8_t bmi2_ois_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
+
+/*!
+ * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
+ * APIs.
+ *
+ *  @param[in] period_us    : The required wait time in microsecond.
+ *  @param[in] intf_ptr     : Interface pointer
+ *
+ *  @return void.
+ *
+ */
+void bmi2_ois_delay_us(uint32_t period, void *intf_ptr);
+
+/*!
+ *  @brief Function to initialize device structure and coines platform
+ *
+ *  @param[in] bma  : Structure instance of bmi2_dev
+ *
+ *  @return Status of execution
+ *  @retval 0 -> Success
+ *  @retval < 0 -> Failure Info
+ */
+int8_t bmi2_ois_init(struct bmi2_ois_dev *ois_dev);
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ *
+ *  @param[in] api_name : API name with return status
+ *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
+ *
+ *  @return void.
+ */
+void bmi2_ois_error_codes_print_result(const char api_name[], int8_t rslt);
+
+/*!
+ *  @brief Deinitializes coines platform
+ *
+ *  @return void.
+ */
+void bmi2_ois_coines_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* End _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile
new file mode 100644
index 0000000000..65cd946442
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile
@@ -0,0 +1,18 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= ois_accel_gyro.c
+
+API_LOCATION ?= ../..
+
+COMMON_LOCATION ?= ..
+
+C_SRCS += \
+$(API_LOCATION)/bmi2.c \
+$(API_LOCATION)/bmi2_ois.c \
+$(COMMON_LOCATION)/common.c
+
+INCLUDEPATHS += \
+$(API_LOCATION) \
+$(COMMON_LOCATION)/common
+
+include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c
new file mode 100644
index 0000000000..bdb9d8f936
--- /dev/null
+++ b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c
@@ -0,0 +1,118 @@
+/**\
+ * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+/******************************************************************************/
+#include <stdio.h>
+
+#include "bmi2_ois.h"
+#include "bmi2_ois_common.h"
+
+/******************************************************************************/
+/*!                Macro definition                                           */
+
+/*! Macro that holds the total number of accel x,y and z axes sample counts to be printed */
+#define ACCEL_GYRO_SAMPLE_COUNT  UINT8_C(50)
+
+/******************************************************************************/
+/*!                         Functions                                         */
+
+int main(void)
+{
+    int8_t rslt;
+
+    struct bmi2_ois_dev ois_dev;
+
+    int8_t idx;
+
+    /* To store the gyroscope cross sensitivity value */
+    int16_t ois_gyr_cross_sens_zx = 0;
+
+    /* Array to enable sensor through OIS interface */
+    uint8_t sens_sel[2] = { BMI2_OIS_ACCEL, BMI2_OIS_GYRO };
+
+    /* Variable that holds the accel and gyro sample count */
+    uint8_t n_data = ACCEL_GYRO_SAMPLE_COUNT;
+
+    /* Initialize the device structure */
+    rslt = bmi2_ois_init(&ois_dev);
+    bmi2_ois_error_codes_print_result("bmi2_ois_init", rslt);
+
+    /* Get configurations for OIS */
+    rslt = bmi2_ois_get_config(&ois_dev);
+    bmi2_ois_error_codes_print_result("bmi2_ois_get_config", rslt);
+
+    /* OIS configurations */
+    ois_dev.acc_en = BMI2_OIS_ENABLE;
+    ois_dev.gyr_en = BMI2_OIS_ENABLE;
+    ois_dev.lp_filter_en = BMI2_OIS_ENABLE;
+
+    /* Set configurations for OIS */
+    rslt = bmi2_ois_set_config(&ois_dev);
+    bmi2_ois_error_codes_print_result("bmi2_ois_set_config", rslt);
+
+    /* Get configurations for OIS */
+    rslt = bmi2_ois_get_config(&ois_dev);
+    bmi2_ois_error_codes_print_result("bmi2_ois_get_config", rslt);
+
+    if (rslt == BMI2_OIS_OK)
+    {
+        for (idx = 0; idx < n_data; idx++)
+        {
+            ois_dev.ois_delay_us(156, ois_dev.intf_ptr);
+
+            /* Accel ODR is 1600hz and gyro ODR is 6400hz.Delay required for
+             * accel 156us and 625us for gyro.
+             * taken modules from accel and gyro ODR which results every 4th sample accel and gyro
+             * read happens, rest of three samples gyro data alone will be read */
+            if (idx % 4 == 0)
+            {
+                /* Get OIS accelerometer and gyro data through OIS interface
+                 * @note for sensor which support gyro cross axes sensitivity pass the
+                 * gyr_cross_sens_zx from the bmi2_dev structure */
+                rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev, ois_gyr_cross_sens_zx);
+                bmi2_ois_error_codes_print_result("bmi2_ois_read_data", rslt);
+
+                if (rslt == BMI2_OIS_OK)
+                {
+                    printf("\n");
+
+                    /* Print accelerometer data */
+                    printf("OIS Accel x-axis = %d ", ois_dev.acc_data.x);
+                    printf("OIS Accel y-axis = %d ", ois_dev.acc_data.y);
+                    printf("OIS Accel z-axis = %d \n", ois_dev.acc_data.z);
+
+                    /* Print gyro data */
+                    printf("OIS Gyro x-axis = %d ", ois_dev.gyr_data.x);
+                    printf("OIS Gyro y-axis = %d ", ois_dev.gyr_data.y);
+                    printf("OIS Gyro z-axis = %d \n", ois_dev.gyr_data.z);
+
+                    printf("\n");
+                }
+            }
+            else
+            {
+                /* Get OIS gyro data through OIS interface
+                 * @note for sensor which support gyro cross axes sensitivity pass the
+                 * gyr_cross_sens_zx from the bmi2_dev structure */
+                rslt = bmi2_ois_read_data(&sens_sel[1], 1, &ois_dev, ois_gyr_cross_sens_zx);
+                bmi2_ois_error_codes_print_result("bmi2_ois_read_data", rslt);
+                if (rslt == BMI2_OIS_OK)
+                {
+                    /* Print gyro data */
+                    printf("OIS Gyro x-axis = %d ", ois_dev.gyr_data.x);
+                    printf("OIS Gyro y-axis = %d ", ois_dev.gyr_data.y);
+                    printf("OIS Gyro z-axis = %d ", ois_dev.gyr_data.z);
+
+                    printf("\n");
+                }
+            }
+        }
+    }
+
+    bmi2_ois_coines_deinit();
+
+    return rslt;
+}

From c8be98b07c5001498b232759d67649defbed8385 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Tue, 27 Jul 2021 16:28:28 -0700
Subject: [PATCH 207/336] BMI270: adapted to iNav, not yet tested

---
 src/main/drivers/accgyro/accgyro_spi_bmi270.c | 320 ++++++------------
 1 file changed, 108 insertions(+), 212 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
index f77805c6fd..ec1a8adf17 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -23,17 +23,23 @@
 
 #include "platform.h"
 
-#ifdef USE_ACCGYRO_BMI270
+#if defined(USE_IMU_BMI270)
 
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/system.h"
+#include "drivers/time.h"
+#include "drivers/io.h"
+#include "drivers/exti.h"
+#include "drivers/bus.h"
+
+#include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_spi_bmi270.h"
-#include "drivers/bus_spi.h"
-#include "drivers/exti.h"
-#include "drivers/io.h"
-#include "drivers/io_impl.h"
-#include "drivers/nvic.h"
-#include "drivers/sensor.h"
-#include "drivers/time.h"
 
 // 10 MHz max SPI frequency
 #define BMI270_MAX_SPI_CLK_HZ 10000000
@@ -146,7 +152,7 @@ static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registe
 
 // Toggle the CS to switch the device into SPI mode.
 // Device switches initializes as I2C and switches to SPI on a low to high CS transition
-static void bmi270EnableSPI(const extDevice_t *dev)
+static void bmi270EnableSPI(busDevice_t *dev)
 {
     IOLo(dev->busType_u.spi.csnPin);
     delay(1);
@@ -154,124 +160,96 @@ static void bmi270EnableSPI(const extDevice_t *dev)
     delay(10);
 }
 
-uint8_t bmi270Detect(const extDevice_t *dev)
-{
-    spiSetClkDivisor(dev, spiCalculateDivider(BMI270_MAX_SPI_CLK_HZ));
-    bmi270EnableSPI(dev);
 
-    if (bmi270RegisterRead(dev, BMI270_REG_CHIP_ID) == BMI270_CHIP_ID) {
-        return BMI_270_SPI;
+static bool bmi270DeviceDetect(busDevice_t * busDev)
+{
+    uint8_t id;
+
+    busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
+    bmi270EnableSPI(busDev);
+
+    busRead(busDev, BMI270_REG_CHIP_ID, &id);
+    if (id == BMI270_CHIP_ID) {
+        return true;
     }
 
-    return MPU_NONE;
+    return false;
 }
 
-static void bmi270UploadConfig(const extDevice_t *dev)
+static void bmi270UploadConfig(busDevice_t * busDev)
 {
-    bmi270RegisterWrite(dev, BMI270_REG_PWR_CONF, 0, 1);
-    bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 0, 1);
+    busWrite(busDev, BMI270_REG_PWR_CONF, 0);
+    delay(1);
+    busWrite(busDev, BMI270_REG_INIT_CTRL, 0);
+    delay(1);
 
     // Transfer the config file
-    spiWriteRegBuf(dev, BMI270_REG_INIT_DATA, (uint8_t *)bmi270_maximum_fifo_config_file, sizeof(bmi270_maximum_fifo_config_file));
+    uint8_t reg = BMI270_REG_INIT_DATA;
+    busTransferDescriptor_t tfDesc[] = {
+       {.rxBuf = NULL, .txBuff=&reg, .length=1},
+       {.rxBuf = NULL, .txBuff=(uint8_t *)bmi270_maximum_fifo_config_file, .length=sizeof(bmi270_maximum_fifo_config_file)}
+    };
+
+    spiBusTransferMultiple(busDev, &tfDesc, 2);
 
     delay(10);
-    bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 1, 1);
+    busWrite(busDev, BMI270_REG_INIT_CTRL, 1);
+    delay(1);
 }
 
 static void bmi270Config(gyroDev_t *gyro)
 {
-    extDevice_t *dev = &gyro->dev;
-
-    // If running in hardware_lpf experimental mode then switch to FIFO-based,
-    // 6.4KHz sampling, unfiltered data vs. the default 3.2KHz with hardware filtering
-#ifdef USE_GYRO_DLPF_EXPERIMENTAL
-    const bool fifoMode = (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL);
-#else
-    const bool fifoMode = false;
-#endif
+    busDevice_t * busDev = &gyro->dev;
 
     // Perform a soft reset to set all configuration to default
     // Delay 100ms before continuing configuration
-    bmi270RegisterWrite(dev, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET, 100);
+    busWrite(busDev, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET);
+    delay(100);
 
     // Toggle the chip into SPI mode
-    bmi270EnableSPI(dev);
+    bmi270EnableSPI(busDev);
 
-    bmi270UploadConfig(dev);
-
-    // Configure the FIFO
-    if (fifoMode) {
-        bmi270RegisterWrite(dev, BMI270_REG_FIFO_CONFIG_0, BMI270_VAL_FIFO_CONFIG_0, 1);
-        bmi270RegisterWrite(dev, BMI270_REG_FIFO_CONFIG_1, BMI270_VAL_FIFO_CONFIG_1, 1);
-        bmi270RegisterWrite(dev, BMI270_REG_FIFO_DOWNS, BMI270_VAL_FIFO_DOWNS, 1);
-        bmi270RegisterWrite(dev, BMI270_REG_FIFO_WTM_0, BMI270_VAL_FIFO_WTM_0, 1);
-        bmi270RegisterWrite(dev, BMI270_REG_FIFO_WTM_1, BMI270_VAL_FIFO_WTM_1, 1);
-    }
+    bmi270UploadConfig(busDev);
 
     // Configure the accelerometer
-    bmi270RegisterWrite(dev, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800, 1);
+    busWrite(busDev, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800);
+    delay(1);
 
     // Configure the accelerometer full-scale range
-    bmi270RegisterWrite(dev, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G, 1);
+    busWrite(busDev, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G);
+    delay(1);
 
     // Configure the gyro
-    bmi270RegisterWrite(dev, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (BMI270_VAL_GYRO_CONF_BWP << 4) | BMI270_VAL_GYRO_CONF_ODR3200, 1);
+    busWrite(busDev, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (BMI270_VAL_GYRO_CONF_BWP << 4) | BMI270_VAL_GYRO_CONF_ODR3200);
+    delay(1);
+
 
     // Configure the gyro full-range scale
-    bmi270RegisterWrite(dev, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS, 1);
+    busWrite(busDev, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS);
+    delay(1);
 
     // Configure the gyro data ready interrupt
-    if (fifoMode) {
-        // Interrupt driven by FIFO watermark level
-        bmi270RegisterWrite(dev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_FIFO_WM_INT1, 1);
-    } else {
-        // Interrupt driven by data ready
-        bmi270RegisterWrite(dev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1, 1);
-    }
+#ifdef USE_MPU_DATA_READY_SIGNAL
+    busWrite(busDev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1);
+    delay(1);
+#endif
 
     // Configure the behavior of the INT1 pin
-    bmi270RegisterWrite(dev, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE, 1);
+    busWrite(busDev, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE);
+    delay(1);
 
     // Configure the device for  performance mode
-    bmi270RegisterWrite(dev, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF, 1);
+    busWrite(busDev, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF);
+    delay(1)
 
     // Enable the gyro, accelerometer and temperature sensor - disable aux interface
-    bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1);
-
-    // Flush the FIFO
-    if (fifoMode) {
-        bmi270RegisterWrite(dev, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 1);
-    }
+    busWrite(busDev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL);
+    delay(1)
 }
 
-extiCallbackRec_t bmi270IntCallbackRec;
-
-#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
-void bmi270ExtiHandler(extiCallbackRec_t *cb)
-{
-    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
-    gyro->dataReady = true;
-}
-
-static void bmi270IntExtiInit(gyroDev_t *gyro)
-{
-    if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
-        return;
-    }
-
-    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
-
-    IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
-    EXTIHandlerInit(&gyro->exti, bmi270ExtiHandler);
-    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
-    EXTIEnable(mpuIntIO, true);
-}
-#endif
-
 static bool bmi270AccRead(accDev_t *acc)
 {
     enum {
-        IDX_REG = 0,
         IDX_SKIP,
         IDX_ACCEL_XOUT_L,
         IDX_ACCEL_XOUT_H,
@@ -283,127 +261,45 @@ static bool bmi270AccRead(accDev_t *acc)
     };
 
     uint8_t bmi270_rx_buf[BUFFER_SIZE];
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
 
-    spiReadWriteBuf(&acc->gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
-
-    acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
-    acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
-    acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
-
-    return true;
-}
-
-static bool bmi270GyroReadRegister(gyroDev_t *gyro)
-{
-    enum {
-        IDX_REG = 0,
-        IDX_SKIP,
-        IDX_GYRO_XOUT_L,
-        IDX_GYRO_XOUT_H,
-        IDX_GYRO_YOUT_L,
-        IDX_GYRO_YOUT_H,
-        IDX_GYRO_ZOUT_L,
-        IDX_GYRO_ZOUT_H,
-        BUFFER_SIZE,
-    };
-
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
-
-    spiReadWriteBuf(&gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
-
-    gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
-    gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
-    gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
-
-    return true;
-}
-
-#ifdef USE_GYRO_DLPF_EXPERIMENTAL
-static bool bmi270GyroReadFifo(gyroDev_t *gyro)
-{
-    enum {
-        IDX_REG = 0,
-        IDX_SKIP,
-        IDX_FIFO_LENGTH_L,
-        IDX_FIFO_LENGTH_H,
-        IDX_GYRO_XOUT_L,
-        IDX_GYRO_XOUT_H,
-        IDX_GYRO_YOUT_L,
-        IDX_GYRO_YOUT_H,
-        IDX_GYRO_ZOUT_L,
-        IDX_GYRO_ZOUT_H,
-        BUFFER_SIZE,
-    };
-
-    bool dataRead = false;
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
-
-    // Burst read the FIFO length followed by the next 6 bytes containing the gyro axis data for
-    // the first sample in the queue. It's possible for the FIFO to be empty so we need to check the
-    // length before using the sample.
-    spiReadWriteBuf(&gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
-
-    int fifoLength = (uint16_t)((bmi270_rx_buf[IDX_FIFO_LENGTH_H] << 8) | bmi270_rx_buf[IDX_FIFO_LENGTH_L]);
-
-    if (fifoLength >= BMI270_FIFO_FRAME_SIZE) {
-
-        const int16_t gyroX = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
-        const int16_t gyroY = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
-        const int16_t gyroZ = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
-
-        // If the FIFO data is invalid then the returned values will be 0x8000 (-32768) (pg. 43 of datasheet).
-        // This shouldn't happen since we're only using the data if the FIFO length indicates
-        // that data is available, but this safeguard is needed to prevent bad things in
-        // case it does happen.
-        if ((gyroX != INT16_MIN) || (gyroY != INT16_MIN) || (gyroZ != INT16_MIN)) {
-            gyro->gyroADCRaw[X] = gyroX;
-            gyro->gyroADCRaw[Y] = gyroY;
-            gyro->gyroADCRaw[Z] = gyroZ;
-            dataRead = true;
-        }
-        fifoLength -= BMI270_FIFO_FRAME_SIZE;
+    if (busReadBuf(acc->busDev, BMI270_REG_ACC_DATA_X_LSB, bmi270_rx_buf, BUFFER_SIZE)) {
+        acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
+        acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
+        acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
+        return true;
     }
 
-    // If there are additional samples in the FIFO then we don't use those for now and simply
-    // flush the FIFO. Under normal circumstances we only expect one sample in the FIFO since
-    // the gyro loop is running at the native sample rate of 6.4KHz.
-    // However the way the FIFO works in the sensor is that if a frame is partially read then
-    // it remains in the queue instead of bein removed. So if we ever got into a state where there
-    // was a partial frame or other unexpected data in the FIFO is may never get cleared and we
-    // would end up in a lock state of always re-reading the same partial or invalid sample.
-    if (fifoLength > 0) {
-        // Partial or additional frames left - flush the FIFO
-        bmi270RegisterWrite(&gyro->dev, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 0);
-    }
-
-    return dataRead;
+    return false;
 }
-#endif
 
 static bool bmi270GyroRead(gyroDev_t *gyro)
 {
-#ifdef USE_GYRO_DLPF_EXPERIMENTAL
-    if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
-        // running in 6.4KHz FIFO mode
-        return bmi270GyroReadFifo(gyro);
-    } else
-#endif
-    {
-        // running in 3.2KHz register mode
-        return bmi270GyroReadRegister(gyro);
+    enum {
+        IDX_SKIP,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    if (busReadBuf(gyro->busDev, BMI270_REG_GYR_DATA_X_LSB, bmi270_rx_buf, BUFFER_SIZE)) {
+        gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+        gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+        gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+        return true;
     }
+
+    return false;
 }
 
+
 static void bmi270SpiGyroInit(gyroDev_t *gyro)
 {
     bmi270Config(gyro);
-
-#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
-    bmi270IntExtiInit(gyro);
-#endif
 }
 
 static void bmi270SpiAccInit(accDev_t *acc)
@@ -414,7 +310,13 @@ static void bmi270SpiAccInit(accDev_t *acc)
 
 bool bmi270SpiAccDetect(accDev_t *acc)
 {
-    if (acc->mpuDetectionResult.sensor != BMI_270_SPI) {
+    acc->busDev = busDeviceInit(BUSTYPE_SPI, DEVHW_BMI270, acc->imuSensorToUse, OWNER_MPU);
+    if (acc->busDev == NULL) {
+        return false;
+    }
+
+    if (!bmi270DeviceDetect(acc->busDev)) {
+        busDeviceDeInit(acc->busDev);
         return false;
     }
 
@@ -425,28 +327,22 @@ bool bmi270SpiAccDetect(accDev_t *acc)
 }
 
 
-bool bmi270SpiGyroDetect(gyroDev_t *gyro)
+bool bmi270GyroDetect(gyroDev_t *gyro)
 {
-    if (gyro->mpuDetectionResult.sensor != BMI_270_SPI) {
+    gyro->busDev = busDeviceInit(BUSTYPE_SPI, DEVHW_BMI270, gyro->imuSensorToUse, OWNER_MPU);
+    if (gyro->busDev == NULL) {
+        return false;
+    }
+
+    if (!bmi270DeviceDetect(gyro->busDev)) {
+        busDeviceDeInit(gyro->busDev);
         return false;
     }
 
     gyro->initFn = bmi270SpiGyroInit;
     gyro->readFn = bmi270GyroRead;
-    gyro->scale = GYRO_SCALE_2000DPS;
-
+    gyro->intStatusFn = bmi160CheckDataReady;
+    gyro->scale = 1.0f / 16.4f;
     return true;
 }
-
-// Used to query the status register to determine what event caused the EXTI to fire.
-// When in 3.2KHz mode the interrupt is mapped to the data ready state. However the data ready
-// trigger will fire for both gyro and accelerometer. So it's necessary to check this register
-// to determine which event caused the interrupt.
-// When in 6.4KHz mode the interrupt is configured to be the FIFO watermark size of 6 bytes.
-// Since in this mode we only put gyro data in the FIFO it's sufficient to check for the FIFO
-// watermark reason as an idication of gyro data ready.
-uint8_t bmi270InterruptStatus(gyroDev_t *gyro)
-{
-    return bmi270RegisterRead(&gyro->dev, BMI270_REG_INT_STATUS_1);
-}
-#endif // USE_ACCGYRO_BMI270
+#endif // USE_IMU_BMI270

From 8eec66153434850a50311f2402599f23dfbe0728 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Tue, 27 Jul 2021 16:29:13 -0700
Subject: [PATCH 208/336] BMI270: renamed

---
 .../drivers/accgyro/{accgyro_spi_bmi270.c => accgyro_bmi270.c}    | 0
 .../drivers/accgyro/{accgyro_spi_bmi270.h => accgyro_bmi270.h}    | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename src/main/drivers/accgyro/{accgyro_spi_bmi270.c => accgyro_bmi270.c} (100%)
 rename src/main/drivers/accgyro/{accgyro_spi_bmi270.h => accgyro_bmi270.h} (100%)

diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_spi_bmi270.c
rename to src/main/drivers/accgyro/accgyro_bmi270.c
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.h b/src/main/drivers/accgyro/accgyro_bmi270.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_spi_bmi270.h
rename to src/main/drivers/accgyro/accgyro_bmi270.h

From 3e184e26365c55fc327213df72856ed4850ca85f Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 29 Jul 2021 15:42:09 -0700
Subject: [PATCH 209/336] BMI270: cleanup, adapt to INAV

---
 src/main/drivers/accgyro/accgyro_bmi270.c | 238 +++++++++++-----------
 src/main/drivers/accgyro/accgyro_bmi270.h |   6 +-
 2 files changed, 116 insertions(+), 128 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
index ec1a8adf17..b76703ab28 100644
--- a/src/main/drivers/accgyro/accgyro_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_bmi270.c
@@ -39,20 +39,13 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_spi_bmi270.h"
-
-// 10 MHz max SPI frequency
-#define BMI270_MAX_SPI_CLK_HZ 10000000
-
-#define BMI270_FIFO_FRAME_SIZE 6
+#include "drivers/accgyro/accgyro_bmi270.h"
 
 #define BMI270_CONFIG_SIZE 328
 
 // Declaration for the device config (microcode) that must be uploaded to the sensor
 extern const uint8_t bmi270_maximum_fifo_config_file[BMI270_CONFIG_SIZE];
 
-#define BMI270_CHIP_ID 0x24
-
 // BMI270 registers (not the complete list)
 typedef enum {
     BMI270_REG_CHIP_ID = 0x00,
@@ -98,78 +91,81 @@ typedef enum {
     BMI270_REG_CMD = 0x7E,
 } bmi270Register_e;
 
-// BMI270 register configuration values
-typedef enum {
-    BMI270_VAL_CMD_SOFTRESET = 0xB6,
-    BMI270_VAL_CMD_FIFOFLUSH = 0xB0,
-    BMI270_VAL_PWR_CTRL = 0x0E,              // enable gyro, acc and temp sensors
-    BMI270_VAL_PWR_CONF = 0x02,              // disable advanced power save, enable FIFO self-wake
-    BMI270_VAL_ACC_CONF_ODR800 = 0x0B,       // set acc sample rate to 800hz
-    BMI270_VAL_ACC_CONF_ODR1600 = 0x0C,      // set acc sample rate to 1600hz
-    BMI270_VAL_ACC_CONF_BWP = 0x02,          // set acc filter in normal mode
-    BMI270_VAL_ACC_CONF_HP = 0x01,           // set acc in high performance mode
-    BMI270_VAL_ACC_RANGE_8G = 0x02,          // set acc to 8G full scale
-    BMI270_VAL_ACC_RANGE_16G = 0x03,         // set acc to 16G full scale
-    BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D,     // set gyro sample rate to 3200hz
-    BMI270_VAL_GYRO_CONF_BWP = 0x02,         // set gyro filter in normal mode
-    BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01,  // set gyro in high performance noise mode
-    BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode
+#define BMI270_CHIP_ID 0x24
 
-    BMI270_VAL_GYRO_RANGE_2000DPS = 0x08,    // set gyro to 2000dps full scale
-                                             // for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well
-                                             // or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!)
+#define BMI270_CMD_SOFTRESET 0xB6
 
-    BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1
-    BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02,  // enable the FIFO watermark interrupt pin 1
-    BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A,  // active high, push-pull, output enabled, input disabled 
-    BMI270_VAL_FIFO_CONFIG_0 = 0x00,         // don't stop when full, disable sensortime frame
-    BMI270_VAL_FIFO_CONFIG_1 = 0x80,         // only gyro data in FIFO, use headerless mode
-    BMI270_VAL_FIFO_DOWNS = 0x00,            // select unfiltered gyro data with no downsampling (6.4KHz samples)
-    BMI270_VAL_FIFO_WTM_0 = 0x06,            // set the FIFO watermark level to 1 gyro sample (6 bytes)
-    BMI270_VAL_FIFO_WTM_1 = 0x00,            // FIFO watermark MSB
-} bmi270ConfigValues_e;
+#define BMI270_PWR_CONF_HP 0x00
+#define BMI270_PWR_CTRL_GYR_EN 0x02
+#define BMI270_PWR_CTRL_ACC_EN 0x04
+#define BMI270_PWR_CTRL_TEMP_EN 0x08
 
-// BMI270 register reads are 16bits with the first byte a "dummy" value 0
-// that must be ignored. The result is in the second byte.
-static uint8_t bmi270RegisterRead(const extDevice_t *dev, bmi270Register_e registerId)
-{
-    uint8_t data[2] = { 0, 0 };
+#define BMI270_ACC_CONF_HP 0x80
+#define BMI270_ACC_RANGE_8G 0x02
+#define BMI270_ACC_RANGE_16G 0x03
 
-    if (spiReadRegMskBufRB(dev, registerId, data, 2)) {
-        return data[1];
-    } else {
-        return 0;
-    }
-}
+#define BMI270_GYRO_CONF_NOISE_PERF 0x40
+#define BMI270_GYRO_CONF_FILTER_PERF 0x80
+#define BMI270_GYRO_RANGE_2000DPS 0x08
 
-static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registerId, uint8_t value, unsigned delayMs)
-{
-    spiWriteReg(dev, registerId, value);
-    if (delayMs) {
-        delay(delayMs);
-    }
-}
+#define BMI270_INT_MAP_DATA_DRDY_INT1 0x04
+#define BMI270_INT1_IO_CTRL_ACTIVE_HIGH 0x02
+#define BMI270_INT1_IO_CTRL_OUTPUT_EN 0x08
+
+#define BMI270_ODR_400 0x0A
+#define BMI270_ODR_800 0x0B
+#define BMI270_ODR_1600 0x0C
+#define BMI270_ODR_3200 0x0D
+
+#define BMI270_BWP_OSR4 0x00
+#define BMI270_BWP_OSR2 0x10
+#define BMI270_BWP_NORM 0x20
+
+typedef struct __attribute__ ((__packed__)) bmi270ContextData_s {
+    uint16_t    chipMagicNumber;
+    uint8_t     lastReadStatus;
+    uint8_t     __padding_dummy;
+    uint8_t     accRaw[6];
+    uint8_t     gyroRaw[6];
+} bmi270ContextData_t;
+
+STATIC_ASSERT(sizeof(bmi270ContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
+
+static const gyroFilterAndRateConfig_t gyroConfigs[] = {
+    { GYRO_LPF_256HZ,   3200,   { BMI270_BWP_NORM | BMI270_ODR_3200} },
+    { GYRO_LPF_256HZ,   1600,   { BMI270_BWP_NORM | BMI270_ODR_1600} },
+    { GYRO_LPF_256HZ,    800,   { BMI270_BWP_NORM | BMI270_ODR_800 } },
+
+    { GYRO_LPF_188HZ,    800,   { BMI270_BWP_OSR2 | BMI270_ODR_800 } },
+    { GYRO_LPF_188HZ,    400,   { BMI270_BWP_NORM | BMI270_ODR_400 } },
+
+    { GYRO_LPF_98HZ,     800,   { BMI270_BWP_OSR4   | BMI270_ODR_800 } },
+    { GYRO_LPF_98HZ,     400,   { BMI270_BWP_OSR2   | BMI270_ODR_400 } },
+
+    { GYRO_LPF_42HZ,     800,   { BMI270_BWP_OSR4   | BMI270_ODR_800 } },
+    { GYRO_LPF_42HZ,     400,   { BMI270_BWP_OSR4   | BMI270_ODR_400 } },
+};
 
 // Toggle the CS to switch the device into SPI mode.
 // Device switches initializes as I2C and switches to SPI on a low to high CS transition
 static void bmi270EnableSPI(busDevice_t *dev)
 {
-    IOLo(dev->busType_u.spi.csnPin);
+    IOLo(dev->busdev.spi.csnPin);
     delay(1);
-    IOHi(dev->busType_u.spi.csnPin);
+    IOHi(dev->busdev.spi.csnPin);
     delay(10);
 }
 
 
 static bool bmi270DeviceDetect(busDevice_t * busDev)
 {
-    uint8_t id;
+    uint8_t id[2];
 
     busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
     bmi270EnableSPI(busDev);
 
-    busRead(busDev, BMI270_REG_CHIP_ID, &id);
-    if (id == BMI270_CHIP_ID) {
+    busReadBuf(busDev, BMI270_REG_CHIP_ID, &id[0], 2);
+    if (id[1] == BMI270_CHIP_ID) {
         return true;
     }
 
@@ -186,142 +182,132 @@ static void bmi270UploadConfig(busDevice_t * busDev)
     // Transfer the config file
     uint8_t reg = BMI270_REG_INIT_DATA;
     busTransferDescriptor_t tfDesc[] = {
-       {.rxBuf = NULL, .txBuff=&reg, .length=1},
-       {.rxBuf = NULL, .txBuff=(uint8_t *)bmi270_maximum_fifo_config_file, .length=sizeof(bmi270_maximum_fifo_config_file)}
+       {.rxBuf = NULL, .txBuf=&reg, .length=1},
+       {.rxBuf = NULL, .txBuf=(uint8_t *)bmi270_maximum_fifo_config_file, .length=sizeof(bmi270_maximum_fifo_config_file)}
     };
 
-    spiBusTransferMultiple(busDev, &tfDesc, 2);
+    spiBusTransferMultiple(busDev, tfDesc, 2);
 
     delay(10);
     busWrite(busDev, BMI270_REG_INIT_CTRL, 1);
     delay(1);
 }
 
-static void bmi270Config(gyroDev_t *gyro)
+static void bmi270AccAndGyroInit(gyroDev_t *gyro)
 {
-    busDevice_t * busDev = &gyro->dev;
+    busDevice_t * busDev = gyro->busDev;
+
+    gyroIntExtiInit(gyro);
 
     // Perform a soft reset to set all configuration to default
     // Delay 100ms before continuing configuration
-    busWrite(busDev, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET);
+    busWrite(busDev, BMI270_REG_CMD, BMI270_CMD_SOFTRESET);
     delay(100);
 
+    // Use standard bus speed
+    busSetSpeed(busDev, BUS_SPEED_STANDARD);
+
     // Toggle the chip into SPI mode
     bmi270EnableSPI(busDev);
 
     bmi270UploadConfig(busDev);
 
     // Configure the accelerometer
-    busWrite(busDev, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800);
+    busWrite(busDev, BMI270_REG_ACC_CONF, BMI270_ODR_1600 | BMI270_BWP_OSR4 | BMI270_ACC_CONF_HP);
     delay(1);
 
     // Configure the accelerometer full-scale range
-    busWrite(busDev, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G);
+    busWrite(busDev, BMI270_REG_ACC_RANGE, BMI270_ACC_RANGE_8G);
     delay(1);
 
     // Configure the gyro
-    busWrite(busDev, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (BMI270_VAL_GYRO_CONF_BWP << 4) | BMI270_VAL_GYRO_CONF_ODR3200);
+    // Figure out suitable filter configuration
+    const gyroFilterAndRateConfig_t * config = chooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs, &gyroConfigs[0], ARRAYLEN(gyroConfigs));
+
+    gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
+
+    busWrite(busDev, BMI270_REG_GYRO_CONF, config->gyroConfigValues[0] | BMI270_GYRO_CONF_NOISE_PERF | BMI270_GYRO_CONF_FILTER_PERF);
     delay(1);
 
-
     // Configure the gyro full-range scale
-    busWrite(busDev, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS);
+    busWrite(busDev, BMI270_REG_GYRO_RANGE, BMI270_GYRO_RANGE_2000DPS);
     delay(1);
 
     // Configure the gyro data ready interrupt
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    busWrite(busDev, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1);
+    busWrite(busDev, BMI270_REG_INT_MAP_DATA, BMI270_INT_MAP_DATA_DRDY_INT1);
     delay(1);
 #endif
 
     // Configure the behavior of the INT1 pin
-    busWrite(busDev, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE);
+    busWrite(busDev, BMI270_REG_INT1_IO_CTRL, BMI270_INT1_IO_CTRL_ACTIVE_HIGH | BMI270_INT1_IO_CTRL_OUTPUT_EN);
     delay(1);
 
     // Configure the device for  performance mode
-    busWrite(busDev, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF);
-    delay(1)
+    busWrite(busDev, BMI270_REG_PWR_CONF, BMI270_PWR_CONF_HP);
+    delay(1);
 
-    // Enable the gyro, accelerometer and temperature sensor - disable aux interface
-    busWrite(busDev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL);
-    delay(1)
+    // Enable the gyro and accelerometer
+    busWrite(busDev, BMI270_REG_PWR_CTRL, BMI270_PWR_CTRL_GYR_EN | BMI270_PWR_CTRL_ACC_EN);
+    delay(1);
 }
 
-static bool bmi270AccRead(accDev_t *acc)
+
+static bool bmi270yroReadScratchpad(gyroDev_t *gyro)
 {
-    enum {
-        IDX_SKIP,
-        IDX_ACCEL_XOUT_L,
-        IDX_ACCEL_XOUT_H,
-        IDX_ACCEL_YOUT_L,
-        IDX_ACCEL_YOUT_H,
-        IDX_ACCEL_ZOUT_L,
-        IDX_ACCEL_ZOUT_H,
-        BUFFER_SIZE,
-    };
+    bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
+    ctx->lastReadStatus = busReadBuf(gyro->busDev, BMI270_REG_ACC_DATA_X_LSB, &ctx->__padding_dummy, 6 + 6 + 1);
 
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    if (ctx->lastReadStatus) {
+        gyro->gyroADCRaw[X] = (int16_t)((ctx->gyroRaw[1] << 8) | ctx->gyroRaw[0]);
+        gyro->gyroADCRaw[Y] = (int16_t)((ctx->gyroRaw[3] << 8) | ctx->gyroRaw[2]);
+        gyro->gyroADCRaw[Z] = (int16_t)((ctx->gyroRaw[5] << 8) | ctx->gyroRaw[4]);
 
-    if (busReadBuf(acc->busDev, BMI270_REG_ACC_DATA_X_LSB, bmi270_rx_buf, BUFFER_SIZE)) {
-        acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
-        acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
-        acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
         return true;
     }
 
     return false;
 }
 
-static bool bmi270GyroRead(gyroDev_t *gyro)
+static bool bmi270AccReadScratchpad(accDev_t *acc)
 {
-    enum {
-        IDX_SKIP,
-        IDX_GYRO_XOUT_L,
-        IDX_GYRO_XOUT_H,
-        IDX_GYRO_YOUT_L,
-        IDX_GYRO_YOUT_H,
-        IDX_GYRO_ZOUT_L,
-        IDX_GYRO_ZOUT_H,
-        BUFFER_SIZE,
-    };
+    bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
 
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
-    if (busReadBuf(gyro->busDev, BMI270_REG_GYR_DATA_X_LSB, bmi270_rx_buf, BUFFER_SIZE)) {
-        gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
-        gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
-        gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+    if (ctx->lastReadStatus) {
+        acc->ADCRaw[X] = (int16_t)((ctx->accRaw[1] << 8) | ctx->accRaw[0]);
+        acc->ADCRaw[Y] = (int16_t)((ctx->accRaw[3] << 8) | ctx->accRaw[2]);
+        acc->ADCRaw[Z] = (int16_t)((ctx->accRaw[5] << 8) | ctx->accRaw[4]);
         return true;
     }
 
     return false;
 }
 
-
-static void bmi270SpiGyroInit(gyroDev_t *gyro)
+static void bmi270GyroInit(gyroDev_t *gyro)
 {
-    bmi270Config(gyro);
+    bmi270AccAndGyroInit(gyro);
 }
 
-static void bmi270SpiAccInit(accDev_t *acc)
+static void bmi270AccInit(accDev_t *acc)
 {
     // sensor is configured during gyro init
-    acc->acc_1G = 512 * 4;   // 16G sensor scale
+    acc->acc_1G = 4096;   // 8G sensor scale
 }
 
-bool bmi270SpiAccDetect(accDev_t *acc)
+bool bmi270AccDetect(accDev_t *acc)
 {
-    acc->busDev = busDeviceInit(BUSTYPE_SPI, DEVHW_BMI270, acc->imuSensorToUse, OWNER_MPU);
+    acc->busDev = busDeviceOpen(BUSTYPE_SPI, DEVHW_BMI270, acc->imuSensorToUse);
     if (acc->busDev == NULL) {
         return false;
     }
 
-    if (!bmi270DeviceDetect(acc->busDev)) {
-        busDeviceDeInit(acc->busDev);
+    bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
+    if (ctx->chipMagicNumber != 0xB270) {
         return false;
     }
 
-    acc->initFn = bmi270SpiAccInit;
-    acc->readFn = bmi270AccRead;
+    acc->initFn = bmi270AccInit;
+    acc->readFn = bmi270AccReadScratchpad;
 
     return true;
 }
@@ -339,10 +325,14 @@ bool bmi270GyroDetect(gyroDev_t *gyro)
         return false;
     }
 
-    gyro->initFn = bmi270SpiGyroInit;
-    gyro->readFn = bmi270GyroRead;
-    gyro->intStatusFn = bmi160CheckDataReady;
-    gyro->scale = 1.0f / 16.4f;
+    // Magic number for ACC detection to indicate that we have detected BMI270 gyro
+    bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
+    ctx->chipMagicNumber = 0xB270;
+
+    gyro->initFn = bmi270GyroInit;
+    gyro->readFn = bmi270yroReadScratchpad;
+    gyro->intStatusFn = gyroCheckDataReady;
+    gyro->scale = 1.0f / 16.4f; // 2000 dps
     return true;
 }
 #endif // USE_IMU_BMI270
diff --git a/src/main/drivers/accgyro/accgyro_bmi270.h b/src/main/drivers/accgyro/accgyro_bmi270.h
index 6059f6c1a9..cab79c5dcd 100644
--- a/src/main/drivers/accgyro/accgyro_bmi270.h
+++ b/src/main/drivers/accgyro/accgyro_bmi270.h
@@ -22,7 +22,5 @@
 
 #include "drivers/bus.h"
 
-uint8_t bmi270Detect(const extDevice_t *dev);
-bool bmi270SpiAccDetect(accDev_t *acc);
-bool bmi270SpiGyroDetect(gyroDev_t *gyro);
-uint8_t bmi270InterruptStatus(gyroDev_t *gyro);
+bool bmi270AccDetect(accDev_t *acc);
+bool bmi270GyroDetect(gyroDev_t *gyro);

From 6d2f4deda9b8a707781fd6cca9357f735ef05c1d Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 29 Jul 2021 15:43:37 -0700
Subject: [PATCH 210/336] BMI270: add micro code from library

---
 .../accgyro/accgyro_bmi270_maximum_fifo.c     | 213 ++++++++++++++++++
 1 file changed, 213 insertions(+)
 create mode 100644 src/main/drivers/accgyro/accgyro_bmi270_maximum_fifo.c

diff --git a/src/main/drivers/accgyro/accgyro_bmi270_maximum_fifo.c b/src/main/drivers/accgyro/accgyro_bmi270_maximum_fifo.c
new file mode 100644
index 0000000000..96100ffab2
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_bmi270_maximum_fifo.c
@@ -0,0 +1,213 @@
+/**
+* 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       bmi270_maximum_fifo.c
+* @date       2020-11-04
+* @version    v2.63.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+//#include "bmi270_maximum_fifo.h"
+#include "platform.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270 */
+const uint8_t bmi270_maximum_fifo_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
+    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
+    0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
+    0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
+    0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
+    0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
+    0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
+    0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
+    0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
+    0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
+    0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
+    0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
+    0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
+    0xf5, 0xeb, 0x2c, 0xe1, 0x6f
+};
+
+// The rest of this is not needed, avoid compiler errors due to pedantic settings
+#if false
+
+/*! @name  Global array that stores the feature input configuration of BMI270 */
+const struct bmi2_feature_config bmi270_maximum_fifo_feat_in[BMI270_MAXIMUM_FIFO_MAX_FEAT_IN] = {
+
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_maximum_fifo_feat_out[BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT] = {
+
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev);
+
+/***************************************************************************/
+
+/*!         User Interface Definitions
+ ****************************************************************************/
+
+/*!
+ *  @brief This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev)
+{
+    /* Variable to define result */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270 */
+        dev->chip_id = BMI270_MAXIMUM_FIFO_CHIP_ID;
+
+        dev->config_size = sizeof(bmi270_maximum_fifo_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_MAXIMUM_FIFO_VARIANT;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_maximum_fifo_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_maximum_fifo_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_maximum_fifo_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev *dev)
+{
+    /* Variable to define result */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+#endif

From 95e3a64e896d886f1ab80bc7ebf9e3b7b0c75c9f Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 29 Jul 2021 15:48:02 -0700
Subject: [PATCH 211/336] BMI270: add support

---
 src/main/CMakeLists.txt         |  3 +++
 src/main/drivers/bus.h          |  1 +
 src/main/fc/cli.c               |  2 +-
 src/main/fc/settings.yaml       |  2 +-
 src/main/sensors/acceleration.c | 13 +++++++++++++
 src/main/sensors/acceleration.h |  1 +
 src/main/sensors/gyro.c         | 10 ++++++++++
 src/main/sensors/gyro.h         |  1 +
 8 files changed, 31 insertions(+), 2 deletions(-)

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index d814f20f26..7a2d8f0878 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -79,6 +79,9 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_bmi088.h
     drivers/accgyro/accgyro_bmi160.c
     drivers/accgyro/accgyro_bmi160.h
+    drivers/accgyro/accgyro_bmi270.c
+    drivers/accgyro/accgyro_bmi270.h
+    drivers/accgyro/accgyro_bmi270_maximum_fifo.c
     drivers/accgyro/accgyro_fake.c
     drivers/accgyro/accgyro_fake.h
     drivers/accgyro/accgyro_icm20689.c
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index b741f7ad7c..cf233e707a 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -95,6 +95,7 @@ typedef enum {
     DEVHW_BMI088_ACC,
     DEVHW_ICM20689,
     DEVHW_ICM42605,
+    DEVHW_BMI270,
 
     /* Combined ACC/GYRO/MAG chips */
     DEVHW_MPU9250,
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 991dd5d2b4..e1c4655c39 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
 // sync with gyroSensor_e
-static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"};
+static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"};
 
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index edef62a021..9512d3b880 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -4,7 +4,7 @@ tables:
   - name: gyro_lpf
     values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
+    values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 0274c93d57..9f66181bb8 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -52,6 +52,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
+#include "drivers/accgyro/accgyro_bmi270.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
 #include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_fake.h"
@@ -282,6 +283,18 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_BMI270
+    case ACC_BMI270:
+        if (bmi270AccDetect(dev)) {
+            accHardware = ACC_BMI270;
+            break;
+        }
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+#endif
 
 #ifdef USE_IMU_FAKE
     case ACC_FAKE:
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 08b404dccb..42a5f61e22 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -47,6 +47,7 @@ typedef enum {
     ACC_ICM20689    = 11,
     ACC_BMI088      = 12,
     ACC_ICM42605    = 13,
+    ACC_BMI270      = 14,
     ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index de24e533e8..447eeb3acb 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -54,6 +54,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
+#include "drivers/accgyro/accgyro_bmi270.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
 #include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_fake.h"
@@ -257,6 +258,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_BMI270
+    case GYRO_BMI270:
+        if (bmi270GyroDetect(dev)) {
+            gyroHardware = GYRO_BMI270;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_IMU_FAKE
     case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 3957769e0b..8afca2795c 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -38,6 +38,7 @@ typedef enum {
     GYRO_ICM20689,
     GYRO_BMI088,
     GYRO_ICM42605,
+    GYRO_BMI270,
     GYRO_FAKE
 } gyroSensor_e;
 

From 3fde387249d13393c5df4c555215bc5abc33c832 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 29 Jul 2021 15:49:08 -0700
Subject: [PATCH 212/336] BMI270: removed library

---
 .../BoschSensortec/BMI270-Sensor-API/LICENSE  |    30 -
 .../BMI270-Sensor-API/OIS_README.md           |   170 -
 .../BMI270-Sensor-API/README.md               |    14 -
 .../BMI270-Sensor-API/betaflight_info.txt     |     9 -
 .../BoschSensortec/BMI270-Sensor-API/bmi2.c   | 10338 ----------------
 .../BoschSensortec/BMI270-Sensor-API/bmi2.h   |  1513 ---
 .../BoschSensortec/BMI270-Sensor-API/bmi270.c |  4451 -------
 .../BoschSensortec/BMI270-Sensor-API/bmi270.h |   422 -
 .../BMI270-Sensor-API/bmi270_context.c        |  3122 -----
 .../BMI270-Sensor-API/bmi270_context.h        |   493 -
 .../BMI270-Sensor-API/bmi270_hc.c             |  3165 -----
 .../BMI270-Sensor-API/bmi270_hc.h             |   483 -
 .../BMI270-Sensor-API/bmi270_maximum_fifo.c   |   212 -
 .../BMI270-Sensor-API/bmi270_maximum_fifo.h   |   117 -
 .../BMI270-Sensor-API/bmi270_wh.c             |  3431 -----
 .../BMI270-Sensor-API/bmi270_wh.h             |   402 -
 .../BMI270-Sensor-API/bmi2_defs.h             |  2475 ----
 .../BMI270-Sensor-API/bmi2_ois.c              |   417 -
 .../BMI270-Sensor-API/bmi2_ois.h              |   387 -
 .../examples/bmi270/accel/Makefile            |    18 -
 .../examples/bmi270/accel/accel.c             |   200 -
 .../examples/bmi270/accel_gyro/Makefile       |    18 -
 .../examples/bmi270/accel_gyro/accel_gyro.c   |   268 -
 .../bmi270/any_motion_interrupt/Makefile      |    18 -
 .../any_motion_interrupt.c                    |   135 -
 .../examples/bmi270/common/common.c           |   372 -
 .../examples/bmi270/common/common.h           |   122 -
 .../examples/bmi270/component_retrim/Makefile |    18 -
 .../component_retrim/component_retrim.c       |    52 -
 .../bmi270/fifo_full_header_mode/Makefile     |    18 -
 .../fifo_full_header_mode.c                   |   315 -
 .../bmi270/fifo_full_headerless_mode/Makefile |    18 -
 .../fifo_full_headerless_mode.c               |   304 -
 .../fifo_watermark_header_mode/Makefile       |    18 -
 .../fifo_watermark_header_mode.c              |   335 -
 .../fifo_watermark_headerless_mode/Makefile   |    18 -
 .../fifo_watermark_headerless_mode.c          |   331 -
 .../examples/bmi270/gyro/Makefile             |    18 -
 .../examples/bmi270/gyro/gyro.c               |   195 -
 .../bmi270/no_motion_interrupt/Makefile       |    18 -
 .../no_motion_interrupt/no_motion_interrupt.c |   134 -
 .../bmi270/read_aux_data_mode/Makefile        |    23 -
 .../read_aux_data_mode/read_aux_data_mode.c   |   327 -
 .../bmi270/read_aux_manual_mode/Makefile      |    23 -
 .../read_aux_manual_mode.c                    |   322 -
 .../examples/bmi270/sig_motion/Makefile       |    18 -
 .../examples/bmi270/sig_motion/sig_motion.c   |    93 -
 .../examples/bmi270/step_activity/Makefile    |    18 -
 .../bmi270/step_activity/step_activity.c      |   110 -
 .../examples/bmi270/step_counter/Makefile     |    18 -
 .../bmi270/step_counter/step_counter.c        |   146 -
 .../examples/bmi270/wrist_gesture/Makefile    |    18 -
 .../bmi270/wrist_gesture/wrist_gesture.c      |   147 -
 .../bmi270/wrist_wear_wakeup/Makefile         |    18 -
 .../wrist_wear_wakeup/wrist_wear_wakeup.c     |   131 -
 .../examples/bmi270_context/accel/Makefile    |    18 -
 .../examples/bmi270_context/accel/accel.c     |   200 -
 .../bmi270_context/accel_gyro/Makefile        |    18 -
 .../bmi270_context/accel_gyro/accel_gyro.c    |   268 -
 .../activity_recognition/Makefile             |    18 -
 .../activity_recognition.c                    |   154 -
 .../examples/bmi270_context/common/common.c   |   372 -
 .../examples/bmi270_context/common/common.h   |   122 -
 .../bmi270_context/component_retrim/Makefile  |    18 -
 .../component_retrim/component_retrim.c       |    52 -
 .../fifo_full_header_mode/Makefile            |    18 -
 .../fifo_full_header_mode.c                   |   315 -
 .../fifo_full_headerless_mode/Makefile        |    18 -
 .../fifo_full_headerless_mode.c               |   304 -
 .../fifo_watermark_header_mode/Makefile       |    18 -
 .../fifo_watermark_header_mode.c              |   335 -
 .../fifo_watermark_headerless_mode/Makefile   |    18 -
 .../fifo_watermark_headerless_mode.c          |   331 -
 .../examples/bmi270_context/gyro/Makefile     |    18 -
 .../examples/bmi270_context/gyro/gyro.c       |   195 -
 .../bmi270_context/step_counter/Makefile      |    18 -
 .../step_counter/step_counter.c               |   146 -
 .../examples/bmi270_hc/accel/Makefile         |    18 -
 .../examples/bmi270_hc/accel/accel.c          |   201 -
 .../examples/bmi270_hc/accel_gyro/Makefile    |    18 -
 .../bmi270_hc/accel_gyro/accel_gyro.c         |   268 -
 .../bmi270_hc/activity_recognition/Makefile   |    18 -
 .../activity_recognition.c                    |   154 -
 .../examples/bmi270_hc/common/common.c        |   372 -
 .../examples/bmi270_hc/common/common.h        |   122 -
 .../bmi270_hc/component_retrim/Makefile       |    18 -
 .../component_retrim/component_retrim.c       |    52 -
 .../bmi270_hc/fifo_full_header_mode/Makefile  |    18 -
 .../fifo_full_header_mode.c                   |   316 -
 .../fifo_full_headerless_mode/Makefile        |    18 -
 .../fifo_full_headerless_mode.c               |   304 -
 .../fifo_watermark_header_mode/Makefile       |    18 -
 .../fifo_watermark_header_mode.c              |   335 -
 .../fifo_watermark_headerless_mode/Makefile   |    18 -
 .../fifo_watermark_headerless_mode.c          |   331 -
 .../examples/bmi270_hc/gyro/Makefile          |    18 -
 .../examples/bmi270_hc/gyro/gyro.c            |   195 -
 .../examples/bmi270_hc/step_counter/Makefile  |    18 -
 .../bmi270_hc/step_counter/step_counter.c     |   146 -
 .../bmi270_maximum_fifo/accel/Makefile        |    18 -
 .../bmi270_maximum_fifo/accel/accel.c         |   200 -
 .../bmi270_maximum_fifo/accel_gyro/Makefile   |    18 -
 .../accel_gyro/accel_gyro.c                   |   268 -
 .../bmi270_maximum_fifo/common/common.c       |   372 -
 .../bmi270_maximum_fifo/common/common.h       |   122 -
 .../component_retrim/Makefile                 |    18 -
 .../component_retrim/component_retrim.c       |    52 -
 .../fifo_watermark_header_mode/Makefile       |    18 -
 .../fifo_watermark_header_mode.c              |   335 -
 .../fifo_watermark_headerless_mode/Makefile   |    18 -
 .../fifo_watermark_headerless_mode.c          |   331 -
 .../bmi270_maximum_fifo/gyro/Makefile         |    18 -
 .../examples/bmi270_maximum_fifo/gyro/gyro.c  |   195 -
 .../examples/bmi270_wh/accel/Makefile         |    18 -
 .../examples/bmi270_wh/accel/accel.c          |   201 -
 .../examples/bmi270_wh/accel_gyro/Makefile    |    18 -
 .../bmi270_wh/accel_gyro/accel_gyro.c         |   268 -
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diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE b/lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE
deleted file mode 100644
index 315dfa2309..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE
+++ /dev/null
@@ -1,30 +0,0 @@
-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/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md b/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md
deleted file mode 100644
index 2983d0699f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md
+++ /dev/null
@@ -1,170 +0,0 @@
-# Sensor API for the BMI2's OIS interface
-
-## Table of Contents
- - [Introduction](#Intro)
- - [Integration details](#Integration)
- - [Driver files information](#file)
- - [Sensor interfaces](#interface)
- - [Integration Examples](#examples)
-
-### Introduction<a name=Intro></a>
- This package contains Bosch Sensortec's BMI2 Sensor API.
- 
-### Integration details<a name=Integration></a>
-- Integrate _bmi2.c_, _bmi2.h_, _bmi2_ois.c_, _bmi2_ois.h_, _bmi2_defs.h_ and the required variant files in your project.
-- User has to include _bmi2_ois.h_ in the code to call OIS related APIs and a _variant header_ for initialization as
-well as BMI2 related API calls, as shown below:
-``` c
-#include "bmi270.h"
-#include "bmi2_ois.h"
-````
-### Driver files information<a name=file></a>
-- *_bmi2_ois.c_*
-   * This file has function definitions of OIS related API interfaces.
-- *_bmi2_ois.h_*
-   * This header file has necessary include files, function declarations, required to make OIS related API calls.
- 
-### Sensor interfaces<a name=interface></a>
-#### _Host Interface_
-- I2C interface
-- SPI interface  
-_Note: By default, the interface is I2C._
-
-#### _OIS Interface_
-- SPI interface  
-
-### Integration examples<a name=examples></a>
-#### Configuring SPI/I2C for host interface.
-To configure host interface, an instance of the bmi2_dev structure should be
-created for initializing BMI2 sensor. "_Refer **README** for initializing BMI2 
-sensor._"
-
-#### Configuring SPI for OIS interface.
-To configure OIS interface, an instance of the bmi2_ois_dev structure should be
-created. The following parameters are required to be updated in the structure,
-by the user.
-
-Parameters    | Details
---------------|-----------------------------------
-_intf_ptr_    | device address reference of SPI interface        
-_ois_read_    | read through SPI interface
-_ois_write_   | read through SPI interface
-_ois_delay_us_| delay in micro seconds
-_acc_en_      | for enabling accelerometer
-_gyr_en_      | for enabling gyroscope   
-
-``` c
-int8_t rslt = 0;
-
-struct bmi2_ois_dev ois_dev = {  
-        .intf_ptr = intf_ptr will contain the chip selection info of SPI CS pin,  
-        .ois_read = user_spi_reg_read,
-        .ois_write = user_spi_reg_write,
-        .ois_delay_us = user_delay_us
-};
-```
->**_Important Note_**: For initializing and configuring BMI2 sensors, which is 
-done through host interface, the API's are to be used from bmi2.c file. Rest 
-of the API's, for OIS configurations and the reading of OIS data, which is done 
-through OIS interface, are to be used from bmi2_ois.c file.
-
-##### Get accelerometer and gyroscope data through OIS interface 
-``` c
-int8_t rslt;
-/* Array to enable sensor through host interface */
-uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
-/* Array to enable sensor through OIS interface */
-uint8_t sens_sel[2] = {BMI2_OIS_ACCEL, BMI2_OIS_GYRO};
-/* Initialize the configuration structure */
-struct bmi2_sens_config sens_cfg = {0};
-
-/* Initialize BMI2 */
-rslt = bmi2_init(&dev);
-if (rslt != BMI2_OK) {
-        printf("Error: %d\n", rslt);
-        return;
-}
-
-/* Enable accelerometer and gyroscope through host interface */
-rslt = bmi270_sensor_enable(sens_list, 2, &dev);
-if (rslt != BMI2_OK) {
-        printf("Error: %d\n", rslt);
-        return;
-}
-
-/* Setting of OIS Range is done through host interface */
-/* Select the gyroscope sensor for OIS Range configuration */
-sens_cfg.type = BMI2_GYRO;
-
-/* Get gyroscope configuration */
-rslt = bmi2_get_sensor_config(&sens_cfg, 1, &dev);
-if (rslt != BMI2_OK) {
-        printf("Error: %d\n", rslt);
-        return;
-}
-
-/* Set the desired OIS Range */
-sens_cfg.cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
-
-/* Set gyroscope configuration for default values */
-rslt = bmi2_set_sensor_config(&sens_cfg, 1, &dev);
-if (rslt != BMI2_OK) {
-         printf("Error: %d\n", rslt);
-         return;
-}
-
-/* Enable OIS through host interface */
-rslt = bmi2_set_ois_interface(BMI2_ENABLE, &dev);
-if (rslt != BMI2_OK) {
-         printf("Error: %d\n", rslt);
-         return;
-}
-
-/* Disable Advance Power Save Mode through host interface */
-rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &dev);
-if (rslt != BMI2_OK) {
-         printf("Error: %d\n", rslt);
-         return;
-}
-
-/* Get configurations for OIS through OIS interface for default values */
-rslt = bmi2_ois_get_config(&ois_dev);
-if (rslt != BMI2_OK) {
-         printf("Error: %d\n", rslt);
-         return;
-}
-
-/* Enable accelerometer and gyroscope for reading OIS data */
-ois_dev.acc_en = BMI2_ENABLE;
-ois_dev.gyr_en = BMI2_ENABLE;
-
-/* Set configurations for OIS through OIS interface */
-rslt = bmi2_ois_set_config(&ois_dev);
-if (rslt == BMI2_OK) {
-        /* Get OIS accelerometer and gyroscope data through OIS interface */
-        rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev);
-        if (rslt == BMI2_OK) {
-                /* Print accelerometer data */
-                printf("OIS Accel x-axis = %d\t", ois_dev.acc_data.x);
-                printf("OIS Accel y-axis= %d\t", ois_dev.acc_data.y);
-                printf("OIS Accel z-axis = %d\r\n", ois_dev.acc_data.z);        
-        
-                /* Print gyroscope data */
-                printf("OIS Gyro x-axis = %d\t", ois_dev.gyr_data.x);
-                printf("OIS Gyro y-axis= %d\t", ois_dev.gyr_data.y);
-                printf("OIS Gyro z-axis = %d\r\n", ois_dev.gyr_data.z);
-        }        
-}
-
-if (rslt != BMI2_OK) {
-         printf("Error code: %d\n", rslt);
-         return;
-}
-
-/* Enable Advance Power Save Mode through host interface */
-rslt = bmi2_set_adv_power_save(BMI2_ENABLE, &dev);
-if (rslt != BMI2_OK) {
-        printf("Error: %d\n", rslt);
-        return;
-}
-```
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/README.md b/lib/main/BoschSensortec/BMI270-Sensor-API/README.md
deleted file mode 100644
index 193b038210..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-BMI2xy Sensor API
-
-> This package contains BMI2xy sensor API
-
-## Sensor Overview
-The BMI2xy is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
-
-### Features
-
-- Indoor navigation, pedestrian dead-reckoning, step-counting
-
-For more information refer product page [Link](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270.html) 
-
----
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt b/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
deleted file mode 100644
index 9f8947c9d0..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-This library is used to support the Bosch BMI270 gyro sensor (see drivers/accgyro/accgyro_spi_bmi270.c).
-
-Library download location:
-    https://github.com/BoschSensortec/BMI270-Sensor-API
-
-Version:
-    2.63.1
-
-The only file that is compiled as part of Betaflight is bmi270_maximum_fifo.c. This file contains the device microcode that must be uploaded during initialization. 
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c
deleted file mode 100644
index 556039a1a4..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c
+++ /dev/null
@@ -1,10338 +0,0 @@
-/**
-* 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       bmi2.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/******************************************************************************/
-
-/*!  @name          Header Files                                  */
-/******************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!         Local structures
- ****************************************************************************/
-
-/*! @name Structure to define the difference in accelerometer values  */
-struct bmi2_selftest_delta_limit
-{
-    /*! X  data */
-    int32_t x;
-
-    /*! Y  data */
-    int32_t y;
-
-    /*! Z  data */
-    int32_t z;
-};
-
-/*! @name Structure to store temporary accelerometer/gyroscope values */
-struct bmi2_foc_temp_value
-{
-    /*! X data */
-    int32_t x;
-
-    /*! Y data */
-    int32_t y;
-
-    /*! Z data */
-    int32_t z;
-};
-
-/*! @name Structure to store accelerometer data deviation from ideal value */
-struct bmi2_offset_delta
-{
-    /*! X axis */
-    int16_t x;
-
-    /*! Y axis */
-    int16_t y;
-
-    /*! Z axis */
-    int16_t z;
-};
-
-/*! @name Structure to store accelerometer offset values */
-struct bmi2_accel_offset
-{
-    /*! offset X  data */
-    uint8_t x;
-
-    /*! offset Y  data */
-    uint8_t y;
-
-    /*! offset Z  data */
-    uint8_t z;
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API writes the configuration file.
- *
- * @param[in]  dev     : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t write_config_file(struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables the loading of the configuration
- * file.
- *
- * @param[in] enable   : To enable/disable configuration load.
- * @param[in] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API loads the configuration file.
- *
- * @param[in] config_data   : Pointer to the configuration file.
- * @param[in] index         : Variable to define array index.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev);
-
-/*!
- * @brief  This internal API sets accelerometer configurations like ODR,
- * bandwidth, performance mode and g-range.
- *
- * @param[in,out] config    : Structure instance of bmi2_accel_config.
- * @param[in,out] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API validates bandwidth and performance mode of the
- * accelerometer set by the user.
- *
- * @param[in, out] bandwidth : Pointer to bandwidth value set by the user.
- * @param[in, out] perf_mode : Pointer to performance mode set by the user.
- * @param[in, out] dev       : Structure instance of bmi2_dev.
- *
- * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API validates ODR and range of the accelerometer set by
- * the user.
- *
- * @param[in, out] odr    : Pointer to ODR value set by the user.
- * @param[in, out] range  : Pointer to range value set by the user.
- * @param[in, out] dev    : Structure instance of bmi2_dev.
- *
- * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev);
-
-/*!
- * @brief  This internal API sets gyroscope configurations like ODR, bandwidth,
- * low power/high performance mode, performance mode and range.
- *
- * @param[in,out] config    : Structure instance of bmi2_gyro_config.
- * @param[in,out] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API validates bandwidth, performance mode, low power/
- * high performance mode, ODR, and range set by the user.
- *
- * @param[in] config   : Structure instance of bmi2_gyro_config.
- * @param[in] dev      : Structure instance of bmi2_dev.
- *
- * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API shows the error status when illegal sensor
- * configuration is set.
- *
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t cfg_error_status(struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API:
- * 1) Enables/Disables auxiliary interface.
- * 2) Sets auxiliary interface configurations like I2C address, manual/auto
- * mode enable, manual burst read length, AUX burst read length and AUX read
- * address.
- * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
- *
- * @param[in] config            : Structure instance of bmi2_aux_config.
- * @param[in, out] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets gyroscope user-gain configurations like gain
- * update value for x, y and z-axis.
- *
- * @param[in] config      : Structure instance of bmi2_gyro_user_gain_config.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- * bmi2_gyro_user_gain_config|
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *      ratio_x             | Gain update value for x-axis
- * -------------------------|---------------------------------------------------
- *      ratio_y             | Gain update value for y-axis
- * -------------------------|---------------------------------------------------
- *      ratio_z             | Gain update value for z-axis
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables auxiliary interface.
- *
- * @param[in] config    : Structure instance of bmi2_aux_config.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets auxiliary configurations like manual/auto mode
- * FCU write command enable and read burst length for both data and manual mode.
- *
- * @param[in] config    : Structure instance of bmi2_aux_config.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
- * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API triggers read out offset and sets ODR of the
- * auxiliary sensor.
- *
- * @param[in] config    : Structure instance of bmi2_aux_config.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API validates auxiliary configuration set by the user.
- *
- * @param[in, out] config : Structure instance of bmi2_aux_config.
- * @param[in, out] dev    : Structure instance of bmi2_dev.
- *
- * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets accelerometer configurations like ODR,
- * bandwidth, performance mode and g-range.
- *
- * @param[out] config    : Structure instance of bmi2_accel_config.
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief  This internal API gets gyroscope configurations like ODR, bandwidth,
- * low power/ high performance mode, performance mode and range.
- *
- * @param[out] config    : Structure instance of bmi2_gyro_config.
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API:
- * 1) Gets the status of auxiliary interface enable.
- * 2) Gets auxiliary interface configurations like I2C address, manual/auto
- * mode enable, manual burst read length, AUX burst read length and AUX read
- * address.
- * 3) Gets ODR and offset.
- *
- * @param[out] config    : Structure instance of bmi2_aux_config.
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets gyroscope user-gain configurations like gain
- * update value for x, y and z-axis.
- *
- * @param[out] config      : Structure instance of bmi2_gyro_user_gain_config.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- * bmi2_gyro_user_gain_config|
- *  Structure parameters   |                   Description
- *-------------------------|--------------------------------------------------
- *      ratio_x            | Gain update value for x-axis
- * ------------------------|---------------------------------------------------
- *      ratio_y            | Gain update value for y-axis
- * ------------------------|---------------------------------------------------
- *      ratio_z            | Gain update value for z-axis
- *
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the enable status of auxiliary interface.
- *
- * @param[out] config    : Structure instance of bmi2_aux_config.
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets auxiliary configurations like manual/auto mode
- * FCU write command enable and read burst length for both data and manual mode.
- *
- * @param[out] config   : Structure instance of bmi2_aux_config.
- * @param[in]  dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets read out offset and ODR of the auxiliary
- * sensor.
- *
- * @param[out] config    : Structure instance of bmi2_aux_config.
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the saturation status for the gyroscope user
- * gain update.
- *
- * @param[out] user_gain_stat   : Stores the saturation status of the axes.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_output      : Structure that stores output feature
- *                              configurations.
- * @param[in] type              : Type of feature or sensor.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the cross sensitivity coefficient between
- * gyroscope's X and Z axes.
- *
- * @param[out] cross_sense  : Pointer to the stored cross sensitivity
- *              coefficient.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the accelerometer data from the register.
- *
- * @param[out] data         : Structure instance of sensor_data.
- * @param[in]  reg_addr     : Register address where data is stored.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the gyroscope data from the register.
- *
- * @param[out] data         : Structure instance of sensor_data.
- * @param[in]  reg_addr     : Register address where data is stored.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the accelerometer/gyroscope data.
- *
- * @param[out] data         : Structure instance of sensor_data.
- * @param[in]  reg_data     : Data stored in the register.
- *
- * @return None
- *
- * @retval None
- */
-static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data);
-
-/*!
- * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
- *
- * @param[out] data         : Structure instance of sensor_data.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return None
- *
- * @retval None
- */
-static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API reads the user-defined bytes of data from the given
- * register address of auxiliary sensor in data mode.
- *
- * @param[out] aux_data     : Pointer to the stored auxiliary data.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API reads the user-defined bytes of data from the given
- * register address of auxiliary sensor in manual mode.
- *
- * @param[in]  reg_addr     : AUX address from where data is read.
- * @param[out] aux_data     : Pointer to the stored auxiliary data.
- * @param[in]   len         : Total bytes to be read.
- * @param[in]   burst_len   : Bytes of data to be read in bursts.
- * @param[in]   dev         : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API checks the busy status of auxiliary sensor and sets
- * the auxiliary register addresses when not busy.
- *
- * @param[in]  reg_addr     : Address in which AUX register address is
- *                              set.
- * @param[in]  reg_data     : Auxiliary register address to be set when AUX is
- *                              not busy.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
-
-/*!
- * @brief his internal API maps the actual burst read length with that of the
- * register value set by user.
- *
- * @param[out] len      : Actual burst length.
- * @param[in]  dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API writes AUX write address and the user-defined bytes
- * of data to the AUX sensor in manual mode.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- *
- * @param[in]  reg_addr   : AUX address in which data is to be written.
- * @param[in]  reg_data   : Data to be written
- * @param[in]  dev        : Structure instance of bmi2_dev.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API maps/unmaps feature interrupts to that of interrupt
- * pins.
- *
- * @param[in] int_pin      : Interrupt pin selected.
- * @param[in] feat_int     : Type of feature interrupt to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask);
-
-/*!
- * @brief This internal API computes the number of bytes of accelerometer FIFO
- * data which is to be parsed in header-less mode.
- *
- * @param[out] start_idx   : The start index for parsing data.
- * @param[out] len         : Number of bytes to be parsed.
- * @param[in]  acc_count   : Number of accelerometer frames to be read.
- * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t parse_fifo_accel_len(uint16_t *start_idx,
-                                   uint16_t *len,
-                                   const uint16_t *acc_count,
-                                   const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API is used to parse accelerometer data from the FIFO
- * data in header mode.
- *
- * @param[out] acc          : Structure instance of bmi2_sens_axes_data where
- *                            the parsed accelerometer data bytes are stored.
- * @param[in] accel_length  : Number of accelerometer frames (x,y,z data).
- * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
-                                        uint16_t *accel_length,
-                                        struct bmi2_fifo_frame *fifo,
-                                        const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse the accelerometer data from the
- * FIFO data in both header and header-less mode. It updates the current data
- * byte to be parsed.
- *
- * @param[in,out] acc       : Structure instance of bmi2_sens_axes_data where
- *                            where the parsed data bytes are stored.
- * @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)
- *                            frame to be parsed.
- * @param[in]     frame     : Either data is enabled by user in header-less
- *                            mode or header frame value in header mode.
- * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
-                                 uint16_t *idx,
-                                 uint16_t *acc_idx,
-                                 uint8_t frame,
-                                 const struct bmi2_fifo_frame *fifo,
-                                 const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse accelerometer data from the FIFO
- * data.
- *
- * @param[out] acc              : Structure instance of bmi2_sens_axes_data
- *                                where the parsed data bytes are stored.
- * @param[in]  data_start_index : Index value of the accelerometer data bytes
- *                                which is to be parsed from the FIFO data.
- * @param[in]  fifo             : Structure instance of bmi2_fifo_frame.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return None
- * @retval None
- */
-static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
-                              uint16_t data_start_index,
-                              const struct bmi2_fifo_frame *fifo,
-                              const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API computes the number of bytes of gyroscope FIFO data
- * which is to be parsed in header-less mode.
- *
- * @param[out] start_idx   : The start index for parsing data.
- * @param[out] len         : Number of bytes to be parsed.
- * @param[in]  gyr_count   : Number of gyroscope frames to be read.
- * @param[in]  frame       : Either data enabled by user in header-less
- *                            mode or header frame value in header mode.
- * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
-                                  uint16_t(*len),
-                                  const uint16_t *gyr_count,
-                                  const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API is used to parse the gyroscope data from the FIFO
- * data in both header and header-less mode It updates the current data byte to
- * be parsed.
- *
- * @param[in,out] gyr       : Structure instance of bmi2_sens_axes_data.
- * @param[in,out] idx       : Index value of number of bytes parsed
- * @param[in,out] gyr_idx   : Index value of gyroscope data (x,y,z axes)
- *                            frame to be parsed.
- * @param[in]     frame     : Either data is enabled by user in header-less
- *                            mode or header frame value in header mode.
- * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
-                                uint16_t *idx,
-                                uint16_t *gyr_idx,
-                                uint8_t frame,
-                                const struct bmi2_fifo_frame *fifo,
-                                const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse gyroscope data from the FIFO data.
- *
- * @param[out] gyr             : Structure instance of bmi2_sens_axes_data where
- *                               the parsed gyroscope data bytes are stored.
- * @param[in] data_start_index : Index value of the gyroscope data bytes
- *                               which is to be parsed from the FIFO data.
- * @param[in] fifo             : Structure instance of bmi2_fifo_frame.
- * @param[in]  dev             : Structure instance of bmi2_dev.
- *
- * @return None
- * @retval None
- */
-static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
-                             uint16_t data_start_index,
-                             const struct bmi2_fifo_frame *fifo,
-                             const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse the gyroscope data from the
- * FIFO data in header mode.
- *
- * @param[out] gyr            : Structure instance of bmi2_sens_axes_data where
- *                              the parsed gyroscope data bytes are stored.
- * @param[in] gyro_length     : Number of gyroscope frames (x,y,z data).
- * @param[in] fifo            : Structure instance of bmi2_fifo_frame.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
-                                       uint16_t *gyro_length,
-                                       struct bmi2_fifo_frame *fifo,
-                                       const struct bmi2_dev *dev);
-
-/*!
- * @brief This API computes the number of bytes of auxiliary FIFO data
- * which is to be parsed in header-less mode.
- *
- * @param[out] start_idx   : The start index for parsing data.
- * @param[out] len         : Number of bytes to be parsed.
- * @param[in]  aux_count   : Number of accelerometer frames to be read.
- * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t parse_fifo_aux_len(uint16_t *start_idx,
-                                 uint16_t(*len),
-                                 const uint16_t *aux_count,
-                                 const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This API is used to parse auxiliary data from the FIFO data.
- *
- * @param[out] aux         : Pointer to buffer where the parsed auxiliary data
- *                           bytes are stored.
- * @param[in] aux_length   : Number of auxiliary frames (x,y,z data).
- * @param[in] fifo         : Structure instance of bmi2_fifo_frame.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
-                                      uint16_t *aux_length,
-                                      struct bmi2_fifo_frame *fifo,
-                                      const struct bmi2_dev *dev);
-
-/*!
- * @brief This API is used to parse the auxiliary data from the FIFO data in
- * both header and header-less mode. It updates the current data byte to be
- * parsed.
- *
- * @param[out]    aux     : Pointer to structure where the parsed auxiliary data
- *                          bytes are stored.
- * @param[in,out] idx     : Index value of number of bytes parsed
- * @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
- *                          frame to be parsed
- * @param[in]     frame   : Either data is enabled by user in header-less
- *                          mode or header frame value in header mode.
- * @param[in]     fifo    : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev     : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
-                               uint16_t *idx,
-                               uint16_t *aux_idx,
-                               uint8_t frame,
-                               const struct bmi2_fifo_frame *fifo,
-                               const struct bmi2_dev *dev);
-
-/*!
- * @brief This API is used to parse auxiliary data from the FIFO data.
- *
- * @param[out] aux              : Pointer to structure where the parsed
- *                              auxiliary data bytes are stored.
- * @param[in] data_start_index  : Index value of the auxiliary data bytes which
- *                              is to be parsed from the FIFO data.
- * @param[in] fifo              : Structure instance of bmi2_fifo_frame.
- *
- * @return None
- * @retval None
- */
-static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
-                            uint16_t data_start_index,
-                            const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API is used to reset the FIFO related configurations
- * in the FIFO frame structure for the next FIFO read.
- *
- * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
- * @param[in]      dev      : Structure instance of bmi2_dev.
- *
- * @return None
- * @retval None
- */
-static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API checks whether the FIFO data read is an empty frame.
- * If empty frame, index is moved to the last byte.
- *
- * @param[in,out] data_index   : The index of the current data to be parsed from
- *                               FIFO data.
- * @param[in]     fifo         : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- *
- * @retval BMI2_OK - Success.
- * @retval BMI2_W_FIFO_EMPTY - Warning : FIFO is empty
- * @retval BMI2_W_PARTIAL_READ - Warning : There are more frames to be read
- */
-static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal 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 the current frame.
- * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API is used to parse and store the sensor time from the
- * FIFO data.
- *
- * @param[in,out] data_index : Index of the FIFO data which has the sensor time.
- * @param[in]     fifo       : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API is used to parse and store the skipped frame count
- * from the FIFO data.
- *
- * @param[in,out] data_index : Index of the FIFO data which contains skipped
- *                             frame count.
- * @param[in] fifo           : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API enables and configures the accelerometer which is
- * needed for self-test operation. It also sets the amplitude for the self-test.
- *
- * @param[in]  dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t pre_self_test_config(struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API performs the steps needed for self-test operation
- * before reading the accelerometer self-test data.
- *
- * @param[in] sign      : Selects sign of self-test excitation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * sign         |  Description
- * -------------|---------------
- * BMI2_ENABLE  | positive excitation
- * BMI2_DISABLE | negative excitation
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables or disables the accelerometer self-test
- * feature in the sensor.
- *
- * @param[in] enable            : Enables/ Disables self-test.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * sign         |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enables self-test
- * BMI2_DISABLE | Disables self-test
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sign for accelerometer self-test
- * excitation.
- *
- * @param[in] sign      : Selects sign of self-test excitation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * sign         |  Description
- * -------------|---------------
- * BMI2_ENABLE  | positive excitation
- * BMI2_DISABLE | negative excitation
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets the amplitude of the accelerometer self-test
- * deflection in the sensor.
- *
- * @param[in] amp       : Select amplitude of the self-test deflection.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * amp          |  Description
- * -------------|---------------
- * BMI2_ENABLE  | self-test amplitude is high
- * BMI2_DISABLE | self-test amplitude is low
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API reads the accelerometer data for x,y and z axis from
- * the sensor. The data units is in LSB format.
- *
- * @param[out] accel        : Buffer to store the acceleration value.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API converts LSB value of accelerometer axes to form
- * 'g' to 'mg' for self-test.
- *
- * @param[in] acc_data_diff    : Stores the acceleration value difference in g.
- * @param[out]acc_data_diff_mg : Stores the acceleration value difference in mg.
- * @param[in]  dev             : Structure instance of bmi2_dev.
- *
- * @return None
- * @retval None
- */
-static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
-                          struct bmi2_selftest_delta_limit *acc_data_diff_mg,
-                          const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to calculate the power of a value.
- *
- * @param[in] base          : base for power calculation.
- * @param[in] resolution    : exponent for power calculation.
- *
- * @return the calculated power
- * @retval the power value
- */
-static int32_t power(int16_t base, uint8_t resolution);
-
-/*!
- * @brief This internal API validates the accelerometer self-test data and
- * decides the result of self-test operation.
- *
- * @param[in] accel_data_diff   : Stores the acceleration value difference.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff);
-
-/*!
- * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
- *
- * @param[out] remap    : Structure that stores local copy of re-mapped axes.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
- *
- * @param[in] remap     : Structure that stores local copy of re-mapped axes.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
-
-/*!
- * @brief Interface to get max burst length
- *
- * @param[in] max_burst_len : Pointer to store max burst length
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets the max burst length.
- *
- * @param[in] write_len_byte    : read & write length
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API parses virtual frame header from the FIFO data.
- *
- * @param[in, out] frame_header : FIFO frame header.
- * @param[in, out] data_index   : Index value of the FIFO data bytes
- *                                from which sensor frame header is to be parsed
- * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
- *
- * @return None
- * @retval None
- */
-static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API gets sensor time from the accelerometer and
- * gyroscope virtual frames and updates in the data structure.
- *
- * @param[out] sens       : Sensor data structure
- * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
- * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
- *
- * @return None
- * @retval None
- */
-static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx,
-                                    const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API gets sensor time from the auxiliary virtual
- * frames and updates in the data structure.
- *
- * @param[out] aux        : Auxiliary sensor data structure
- * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
- * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
- *
- * @return None
- * @retval None
- */
-static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
-                                        uint16_t *idx,
-                                        const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API corrects the gyroscope cross-axis sensitivity
- * between the z and the x axis.
- *
- * @param[in]  dev              : Structure instance of bmi2_dev.
- * @param[out] gyr_data         : Structure instance of gyroscope data
- *
- * @return Result of API execution status
- *
- * @return None
- * @retval None
- */
-static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API saves the configurations before performing FOC.
- *
- * @param[out] acc_cfg      : Accelerometer configuration value
- * @param[out] aps          : Advance power mode value
- * @param[out] acc_en       : Accelerometer enable value
- * @param[in] dev           : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
-                                    uint8_t *aps,
-                                    uint8_t *acc_en,
-                                    struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API performs Fast Offset Compensation for accelerometer.
- *
- * @param[in] accel_g_value : This parameter selects the accel foc
- * axis to be performed
- *
- * input format is {x, y, z, sign}. '1' to enable. '0' to disable
- *
- * eg to choose x axis  {1, 0, 0, 0}
- * eg to choose -x axis {1, 0, 0, 1}
- *
- * @param[in] acc_cfg       : Accelerometer configuration value
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
-                                const struct bmi2_accel_config *acc_cfg,
-                                struct bmi2_dev *dev);
-
-/*!
- * @brief This internal sets configurations for performing accelerometer FOC.
- *
- * @param[in] dev       : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_accel_foc_config(struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables the offset compensation for
- * filtered and un-filtered accelerometer data.
- *
- * @param[in] offset_en     : enables/disables offset compensation.
- * @param[in] dev           : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API converts the range value into accelerometer
- * corresponding integer value.
- *
- * @param[in] range_in      : Input range value.
- * @param[out] range_out    : Stores the integer value of range.
- *
- * @return None
- * @retval None
- */
-static void map_accel_range(uint8_t range_in, uint8_t *range_out);
-
-/*!
- * @brief This internal API compensate the accelerometer data against gravity.
- *
- * @param[in] lsb_per_g     : LSB value pre 1g.
- * @param[in] g_val         : G reference value of all axis.
- * @param[in] data          : Accelerometer data
- * @param[out] comp_data    : Stores the data that is compensated by taking the
- *                            difference in accelerometer data and lsb_per_g
- *                            value.
- *
- * @return None
- * @retval None
- */
-static void comp_for_gravity(uint16_t lsb_per_g,
-                             const struct bmi2_accel_foc_g_value *g_val,
-                             const struct bmi2_sens_axes_data *data,
-                             struct bmi2_offset_delta *comp_data);
-
-/*!
- * @brief This internal API scales the compensated accelerometer data according
- * to the offset register resolution.
- *
- * @param[in] range         : G-range of the accelerometer.
- * @param[out] comp_data    : Data that is compensated by taking the
- *                            difference in accelerometer data and lsb_per_g
- *                            value.
- * @param[out] data         : Stores offset data
- *
- * @return None
- * @retval None
- */
-static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data,
-                               struct bmi2_accel_offset *data);
-
-/*!
- * @brief This internal API finds the bit position of 3.9mg according to given
- * range and resolution.
- *
- * @param[in] range     : G-range of the accelerometer.
- *
- * @return Result of API execution status
- * @retval Bit position of 3.9mg
- */
-static int8_t get_bit_pos_3_9mg(uint8_t range);
-
-/*!
- * @brief This internal API inverts the accelerometer offset data.
- *
- * @param[out] offset_data  : Stores the inverted offset data
- *
- * @return None
- * @retval None
- */
-static void invert_accel_offset(struct bmi2_accel_offset *offset_data);
-
-/*!
- * @brief This internal API writes the offset data in the offset compensation
- * register.
- *
- * @param[in] offset        : offset data
- * @param[in] dev           : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API restores the configurations saved before performing
- * accelerometer FOC.
- *
- * @param[in] acc_cfg       : Accelerometer configuration value
- * @param[in] acc_en        : Accelerometer enable value
- * @param[in] aps           : Advance power mode value
- * @param[in] dev           : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
-                                       uint8_t aps,
-                                       uint8_t acc_en,
-                                       struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API saves the configurations before performing gyroscope
- * FOC.
- *
- * @param[out] gyr_cfg  : Gyroscope configuration value
- * @param[out] gyr_en   : Gyroscope enable value
- * @param[out] aps      : Advance power mode value
- * @param[in] dev       : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal sets configurations for performing gyroscope FOC.
- *
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_foc_config(struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API inverts the gyroscope offset data.
- *
- * @param[out] offset_data  : Stores the inverted offset data
- *
- * @return None
- * @retval None
- */
-static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data);
-
-/*!
- * @brief This internal API restores the gyroscope configurations saved
- * before performing FOC.
- *
- * @param[in] gyr_cfg   : Gyroscope configuration value
- * @param[in] gyr_en    : Gyroscope enable value
- * @param[in] aps       : Advance power mode value
- * @param[in] dev       : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API saturates the gyroscope data value before writing to
- * to 10 bit offset register.
- *
- * @param[in, out] gyr_off  : Gyroscope data to be stored in offset register
- *
- * @return None
- * @retval None
- */
-static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off);
-
-/*!
- * @brief This internal API reads the gyroscope data for x, y and z axis from
- * the sensor.
- *
- * @param[out] gyro         : Buffer to store the gyroscope value.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to check the boundary conditions.
- *
- * @param[in]     dev    : Structure instance of bmi2_dev.
- * @param[in,out] val    : Pointer to the value to be validated.
- * @param[in]     min    : minimum value.
- * @param[in]     max    : maximum value.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/*!
- * @brief This updates the result for CRT or gyro self-test.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to get the st_status status.
- *
- * @param[in] *st_status: gets the crt running status
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to set crt bit to running.
- *
- * @param[in] enable
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to make the initial changes for CRT.
- * Disable the gyro, OIS, aps
- * Note: For the purpose of preparing CRT Gyro, OIS and APS are disabled
- *
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t crt_prepare_setup(struct bmi2_dev *dev);
-
-static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to get the rdy for dl bit status
- * this will toggle from 0 to 1 and visevers according to the
- * dowload status
- *
- * @param[in] *rdy_for_dl: gets the rdy_for_dl status
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to write the config file in the given location for crt.
- * which inter checks the status of the rdy_for_dl bit and also the crt running, and
- * wirtes the given size.
- *
- * @param[in] write_len: length of the words to be written
- * @param[in] config_file_size: length of the words to be written
- * @param[in] start_index: provide the start index from where config file has to written
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t write_crt_config_file(uint16_t write_len,
-                                    uint16_t config_file_size,
-                                    uint16_t start_index,
-                                    struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to check for rdy_for_dl bit to toggle for CRT process
- *
- * @param[in] retry_complete: wait for given time to toggle
- * @param[in] download_ready:  get the status for rdy_for_dl
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to wait till the CRT or gyro self-test process is completed
- *
- * @param[in] retry_complete: wait for given time to complete the crt process
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev);
-
-/*!
- * @brief This function is to complete the crt process if max burst length is not zero
- * this checks for the crt status and rdy_for_dl bit to toggle
- *
- * @param[in] last_byte_flag: to provide the last toggled state
- * @param[in] dev   : Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev);
-
-/*!
- * @brief This api is used to enable the gyro self-test or crt.
- *
- * @param[in] dev        : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
-
-/*!
- * @brief This api is used to enable/disable abort.
- *
- * @param[in] abort_enable  : variable to enable the abort feature.
- * @param[in] dev        : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
- * self-test.
- *
- * @param[in] dev   : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev);
-
-/*!
- * @brief This api is used to trigger the preparation for system for NVM programming.
- *
- * @param[out] nvm_prep : pointer to variable to store the status of nvm_prep_prog.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev);
-
-/*!
- * @brief This api validates accel foc position as per the range
- *
- * @param[in] sens_list : Sensor type
- * @param[in] accel_g_axis : accel axis to foc. NA for gyro foc
- * @param[in] avg_foc_data : average value of sensor sample datas
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_foc_position(uint8_t sens_list,
-                                    const struct bmi2_accel_foc_g_value *accel_g_axis,
-                                    struct bmi2_sens_axes_data avg_foc_data,
-                                    struct bmi2_dev *dev);
-
-/*!
- * @brief This api validates accel foc axis given as input
- *
- * @param[in] avg_foc_data : average value of sensor sample datas
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev);
-
-/*!
- * @brief This api is used to verify the right position of the sensor before doing accel foc
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- * @param[in] sens_list: Sensor type
- * @param[in] accel_g_axis: Accel Foc axis and sign input
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t verify_foc_position(uint8_t sens_list,
-                                  const struct bmi2_accel_foc_g_value *accel_g_axis,
-                                  struct bmi2_dev *dev);
-
-/*!
- * @brief This API reads and provides average for 128 samples of sensor data for foc operation
- * gyro.
- *
- * @param[in] sens_list : Sensor type.
- * @param[in] bmi2_dev: Structure instance of bmi2_dev.
- * @param[in] temp_foc_data: to store data samples
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_average_of_sensor_data(uint8_t sens_list,
-                                         struct bmi2_foc_temp_value *temp_foc_data,
-                                         struct bmi2_dev *dev);
-
-/*!
- * @brief This internal api gets major and minor version for config file
- *
- * @param[out] config_major     :   Pointer to store the major version
- * @param[out] config_minor     :   Pointer to store the minor version
- * @param[in]  dev              :   Structure instance of bmi2_dev
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to map the interrupts to the sensor.
- *
- * @param[in] map_int        : Structure instance of bmi2_map_int.
- * @param[in] type           : Type of feature or sensor.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return None
- * @retval None
- */
-static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sensors/features to be enabled or
- * disabled.
- *
- * @param[in]  sens_list    : Pointer to select the sensor.
- * @param[in]  n_sens       : Number of sensors selected.
- * @param[out] sensor_sel   : Gets the selected sensor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API disables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!  @name      User Interface Definitions                            */
-/******************************************************************************/
-
-/*!
- * @brief This API is the entry point for bmi2 sensor. It selects between
- * I2C/SPI interface, based on user selection. It reads and validates the
- * chip-id of the sensor.
- */
-int8_t bmi2_sec_init(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to assign chip id */
-    uint8_t chip_id = 0;
-
-    /* Structure to define the default values for axes re-mapping */
-    struct bmi2_axes_remap axes_remap = {
-        .x_axis = BMI2_MAP_X_AXIS, .x_axis_sign = BMI2_POS_SIGN, .y_axis = BMI2_MAP_Y_AXIS,
-        .y_axis_sign = BMI2_POS_SIGN, .z_axis = BMI2_MAP_Z_AXIS, .z_axis_sign = BMI2_POS_SIGN
-    };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Perform soft-reset to bring all register values to their
-         * default values
-         */
-        rslt = bmi2_soft_reset(dev);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Read chip-id of the BMI2 sensor */
-            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Validate chip-id */
-                if (chip_id == dev->chip_id)
-                {
-                    /* Assign resolution to the structure */
-                    dev->resolution = 16;
-
-                    /* Set manual enable flag */
-                    dev->aux_man_en = 1;
-
-                    /* Set the default values for axis
-                     *  re-mapping in the device structure
-                     */
-                    dev->remap = axes_remap;
-                }
-                else
-                {
-                    /* Storing the chip-id value read from
-                     * the register to identify the sensor
-                     */
-                    dev->chip_id = chip_id;
-                    rslt = BMI2_E_DEV_NOT_FOUND;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the data from the given register address of bmi2
- * sensor.
- *
- * @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 - 0x26, 0x5E.
- */
-int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint16_t index = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (data != NULL))
-    {
-        /* Variable to define temporary length */
-        uint16_t temp_len = len + dev->dummy_byte;
-
-        /* Variable to define temporary buffer */
-        uint8_t temp_buf[temp_len];
-
-        /* Configuring reg_addr for SPI Interface */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            reg_addr = (reg_addr | BMI2_SPI_RD_MASK);
-        }
-
-        dev->intf_rslt = dev->read(reg_addr, temp_buf, temp_len, dev->intf_ptr);
-
-        if (dev->aps_status == BMI2_ENABLE)
-        {
-            dev->delay_us(450, dev->intf_ptr);
-        }
-        else
-        {
-            dev->delay_us(2, dev->intf_ptr);
-        }
-
-        if (dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
-        {
-            /* Read the data from the position next to dummy byte */
-            while (index < len)
-            {
-                data[index] = temp_buf[index + dev->dummy_byte];
-                index++;
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes data to the given register address of bmi2 sensor.
- */
-int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (data != NULL))
-    {
-        /* Configuring reg_addr for SPI Interface */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            reg_addr = (reg_addr & BMI2_SPI_WR_MASK);
-        }
-
-        dev->intf_rslt = dev->write(reg_addr, data, len, dev->intf_ptr);
-
-        /* Delay for Low power mode of the sensor is 450 us */
-        if (dev->aps_status == BMI2_ENABLE)
-        {
-            dev->delay_us(450, dev->intf_ptr);
-        }
-        /* Delay for Normal mode of the sensor is 2 us */
-        else
-        {
-            dev->delay_us(2, dev->intf_ptr);
-        }
-
-        /* updating the advance power saver flag */
-        if (reg_addr == BMI2_PWR_CONF_ADDR)
-        {
-            if (*data & BMI2_ADV_POW_EN_MASK)
-            {
-                dev->aps_status = BMI2_ENABLE;
-            }
-            else
-            {
-                dev->aps_status = BMI2_DISABLE;
-            }
-        }
-
-        if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
-        {
-            rslt = BMI2_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API resets bmi2 sensor. All registers are overwritten with
- * their default values.
- */
-int8_t bmi2_soft_reset(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define soft reset value */
-    uint8_t data = BMI2_SOFT_RESET_CMD;
-
-    /* Variable to read the dummy byte */
-    uint8_t dummy_read = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Reset bmi2 device */
-        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev);
-        dev->delay_us(2000, dev->intf_ptr);
-
-        /* set APS flag as after soft reset the sensor is on advance power save mode */
-        dev->aps_status = BMI2_ENABLE;
-
-        /* Performing a dummy read to bring interface back to SPI from
-         * I2C after a soft-reset
-         */
-        if ((rslt == BMI2_OK) && (dev->intf == BMI2_SPI_INTF))
-        {
-            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &dummy_read, 1, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Write the configuration file */
-            rslt = bmi2_write_config_file(dev);
-        }
-
-        /* Reset the sensor status flag in the device structure */
-        if (rslt == BMI2_OK)
-        {
-            dev->sens_en_stat = 0;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to get the config file major and minor version information.
- */
-int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* NULL pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (config_major != NULL) && (config_minor != NULL))
-    {
-        /* Extract the config file identification from the dmr page and get the major and minor version */
-        rslt = extract_config_file(config_major, config_minor, dev);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables/disables the advance power save mode in the sensor.
- */
-int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ADV_POW_EN, enable);
-            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
-
-            if (rslt != BMI2_OK)
-            {
-                /* Return error if enable/disable APS fails */
-                rslt = BMI2_E_SET_APS_FAIL;
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                dev->aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the status of advance power save mode in the sensor.
- */
-int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (aps_status != NULL))
-    {
-        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            *aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
-            dev->aps_status = *aps_status;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API loads the configuration file into the bmi2 sensor.
- */
-int8_t bmi2_write_config_file(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to know the load status */
-    uint8_t load_status = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (dev->config_size != 0))
-    {
-        /* Bytes written are multiples of 2 */
-        if ((dev->read_write_len % 2) != 0)
-        {
-            dev->read_write_len = dev->read_write_len - 1;
-        }
-
-        if (dev->read_write_len < 2)
-        {
-            dev->read_write_len = 2;
-        }
-
-        /* Write the configuration file */
-        rslt = write_config_file(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Check the configuration load status */
-            rslt = bmi2_get_internal_status(&load_status, dev);
-
-            /* Return error if loading not successful */
-            if ((rslt == BMI2_OK) && (!(load_status & BMI2_CONFIG_LOAD_SUCCESS)))
-            {
-                rslt = BMI2_E_CONFIG_LOAD;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets:
- *        1) The input output configuration of the selected interrupt pin:
- *           INT1 or INT2.
- *        2) The interrupt mode: permanently latched or non-latched.
- */
-int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define data array */
-    uint8_t data_array[3] = { 0 };
-
-    /* Variable to store register data */
-    uint8_t reg_data = 0;
-
-    /* Variable to define type of interrupt pin  */
-    uint8_t int_pin = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (int_cfg != NULL))
-    {
-        /* Copy the pin type to a local variable */
-        int_pin = int_cfg->pin_type;
-        if ((int_pin > BMI2_INT_NONE) && (int_pin < BMI2_INT_PIN_MAX))
-        {
-            /* Get the previous configuration data */
-            rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Set interrupt pin 1 configuration */
-                if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
-                {
-                    /* Configure active low or high */
-                    reg_data = BMI2_SET_BITS(data_array[0], BMI2_INT_LEVEL, int_cfg->pin_cfg[0].lvl);
-
-                    /* Configure push-pull or open drain */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[0].od);
-
-                    /* Configure output enable */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[0].output_en);
-
-                    /* Configure input enable */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[0].input_en);
-
-                    /* Copy the data to be written in the respective array */
-                    data_array[0] = reg_data;
-                }
-
-                /* Set interrupt pin 2 configuration */
-                if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
-                {
-                    /* Configure active low or high */
-                    reg_data = BMI2_SET_BITS(data_array[1], BMI2_INT_LEVEL, int_cfg->pin_cfg[1].lvl);
-
-                    /* Configure push-pull or open drain */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[1].od);
-
-                    /* Configure output enable */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[1].output_en);
-
-                    /* Configure input enable */
-                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[1].input_en);
-
-                    /* Copy the data to be written in the respective array */
-                    data_array[1] = reg_data;
-                }
-
-                /* Configure the interrupt mode */
-                data_array[2] = BMI2_SET_BIT_POS0(data_array[2], BMI2_INT_LATCH, int_cfg->int_latch);
-
-                /* Set the configurations simultaneously as
-                 * INT1_IO_CTRL, INT2_IO_CTRL, and INT_LATCH lie
-                 * in consecutive addresses
-                 */
-                rslt = bmi2_set_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_INT_PIN;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets:
- *        1) The input output configuration of the selected interrupt pin:
- *           INT1 or INT2.
- *        2) The interrupt mode: permanently latched or non-latched.
- */
-int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define data array */
-    uint8_t data_array[3] = { 0 };
-
-    /* Variable to define type of interrupt pin  */
-    uint8_t int_pin = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (int_cfg != NULL))
-    {
-        /* Copy the pin type to a local variable */
-        int_pin = int_cfg->pin_type;
-
-        /* Get the previous configuration data */
-        rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get interrupt pin 1 configuration */
-            if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
-            {
-                /* Get active low or high */
-                int_cfg->pin_cfg[0].lvl = BMI2_GET_BITS(data_array[0], BMI2_INT_LEVEL);
-
-                /* Get push-pull or open drain */
-                int_cfg->pin_cfg[0].od = BMI2_GET_BITS(data_array[0], BMI2_INT_OPEN_DRAIN);
-
-                /* Get output enable */
-                int_cfg->pin_cfg[0].output_en = BMI2_GET_BITS(data_array[0], BMI2_INT_OUTPUT_EN);
-
-                /* Get input enable */
-                int_cfg->pin_cfg[0].input_en = BMI2_GET_BITS(data_array[0], BMI2_INT_INPUT_EN);
-            }
-
-            /* Get interrupt pin 2 configuration */
-            if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
-            {
-                /* Get active low or high */
-                int_cfg->pin_cfg[1].lvl = BMI2_GET_BITS(data_array[1], BMI2_INT_LEVEL);
-
-                /* Get push-pull or open drain */
-                int_cfg->pin_cfg[1].od = BMI2_GET_BITS(data_array[1], BMI2_INT_OPEN_DRAIN);
-
-                /* Get output enable */
-                int_cfg->pin_cfg[1].output_en = BMI2_GET_BITS(data_array[1], BMI2_INT_OUTPUT_EN);
-
-                /* Get input enable */
-                int_cfg->pin_cfg[1].input_en = BMI2_GET_BITS(data_array[1], BMI2_INT_INPUT_EN);
-            }
-
-            /* Get interrupt mode */
-            int_cfg->int_latch = BMI2_GET_BIT_POS0(data_array[2], BMI2_INT_LATCH);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the interrupt status of both feature and data
- * interrupts
- */
-int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store data */
-    uint8_t data_array[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (int_status != NULL))
-    {
-        /* Get the interrupt status */
-        rslt = bmi2_get_regs(BMI2_INT_STATUS_0_ADDR, data_array, 2, dev);
-        if (rslt == BMI2_OK)
-        {
-            *int_status = (uint16_t) data_array[0] | ((uint16_t) data_array[1] << 8);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be enabled.
- */
-int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable the selected sensors */
-            rslt = sensor_enable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be disabled.
- */
-int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Disable the selected sensors */
-            rslt = sensor_disable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the sensor/feature configuration.
- */
-int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            /* Disable Advance power save if enabled for auxiliary
-             * and feature configurations
-             */
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if
-                 * enabled
-                 */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                switch (sens_cfg[loop].type)
-                {
-                    /* Set accelerometer configuration */
-                    case BMI2_ACCEL:
-                        rslt = set_accel_config(&sens_cfg[loop].cfg.acc, dev);
-                        break;
-
-                    /* Set gyroscope configuration */
-                    case BMI2_GYRO:
-                        rslt = set_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
-                        break;
-
-                    /* Set auxiliary configuration */
-                    case BMI2_AUX:
-                        rslt = set_aux_config(&sens_cfg[loop].cfg.aux, dev);
-                        break;
-
-                    /* Set gyroscope user gain configuration */
-                    case BMI2_GYRO_GAIN_UPDATE:
-                        rslt = set_gyro_user_gain_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
-                        break;
-
-                    default:
-                        rslt = BMI2_E_INVALID_SENSOR;
-                        break;
-                }
-            }
-
-            /* Return error if any of the set configurations fail */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature configuration.
- */
-int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            /* Disable Advance power save if enabled for auxiliary
-             * and feature configurations
-             */
-            if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
-            {
-
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                switch (sens_cfg[loop].type)
-                {
-                    /* Get accelerometer configuration */
-                    case BMI2_ACCEL:
-                        rslt = get_accel_config(&sens_cfg[loop].cfg.acc, dev);
-                        break;
-
-                    /* Get gyroscope configuration */
-                    case BMI2_GYRO:
-                        rslt = get_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
-                        break;
-
-                    /* Get auxiliary configuration */
-                    case BMI2_AUX:
-                        rslt = get_aux_config(&sens_cfg[loop].cfg.aux, dev);
-                        break;
-
-                    /* Get gyroscope user gain configuration */
-                    case BMI2_GYRO_GAIN_UPDATE:
-                        rslt = get_gyro_gain_update_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
-                        break;
-
-                    default:
-                        rslt = BMI2_E_INVALID_SENSOR;
-                        break;
-                }
-            }
-
-            /* Return error if any of the get configurations fail */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- */
-int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sensor_data != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            /* Disable Advance power save if enabled for feature
-             * configurations
-             */
-            if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
-            {
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                switch (sensor_data[loop].type)
-                {
-                    case BMI2_ACCEL:
-
-                        /* Get accelerometer data */
-                        rslt = get_accel_sensor_data(&sensor_data[loop].sens_data.acc, BMI2_ACC_X_LSB_ADDR, dev);
-                        break;
-                    case BMI2_GYRO:
-
-                        /* Get gyroscope data */
-                        rslt = get_gyro_sensor_data(&sensor_data[loop].sens_data.gyr, BMI2_GYR_X_LSB_ADDR, dev);
-                        break;
-                    case BMI2_AUX:
-
-                        /* Get auxiliary sensor data in data mode */
-                        rslt = read_aux_data_mode(sensor_data[loop].sens_data.aux_data, dev);
-                        break;
-
-                    case BMI2_GYRO_CROSS_SENSE:
-
-                        /* Get Gyroscope cross sense value of z axis */
-                        rslt = get_gyro_cross_sense(&sensor_data[loop].sens_data.correction_factor_zx, dev);
-                        break;
-
-                    case BMI2_GYRO_GAIN_UPDATE:
-
-                        /* Get saturation status of gyroscope user gain update  */
-                        rslt = get_gyro_gain_update_status(&sensor_data[loop].sens_data.gyro_user_gain_status, dev);
-                        break;
-                    default:
-                        rslt = BMI2_E_INVALID_SENSOR;
-                        break;
-                }
-
-                /* Return error if any of the get sensor data fails */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the FIFO configuration in the sensor.
- */
-int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t data[2] = { 0 };
-    uint8_t max_burst_len = 0;
-
-    /* Variable to store data of FIFO configuration register 0 */
-    uint8_t fifo_config_0 = (uint8_t)(config & BMI2_FIFO_CONFIG_0_MASK);
-
-    /* Variable to store data of FIFO configuration register 1 */
-    uint8_t fifo_config_1 = (uint8_t)((config & BMI2_FIFO_CONFIG_1_MASK) >> 8);
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get data to set FIFO configuration register 0 */
-            if (fifo_config_0 > 0)
-            {
-                if (enable == BMI2_ENABLE)
-                {
-                    data[0] = data[0] | fifo_config_0;
-                }
-                else
-                {
-                    data[0] = data[0] & (~fifo_config_0);
-                }
-            }
-
-            /* Get data to set FIFO configuration register 1 */
-            if (enable == BMI2_ENABLE)
-            {
-                data[1] = data[1] | fifo_config_1;
-                if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
-                {
-
-                    /* Burst length is needed for CRT
-                     *  FIFO enable will reset the default values
-                     *  So configure the max burst length again.
-                     */
-                    rslt = get_maxburst_len(&max_burst_len, dev);
-                    if (rslt == BMI2_OK && max_burst_len == 0)
-                    {
-                        rslt = set_maxburst_len(BMI2_CRT_MIN_BURST_WORD_LENGTH, dev);
-                    }
-                }
-            }
-            else
-            {
-                data[1] = data[1] & (~fifo_config_1);
-            }
-
-            /* Set the FIFO configurations */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_set_regs(BMI2_FIFO_CONFIG_0_ADDR, data, 2, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the FIFO configuration from the sensor.
- */
-int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store data */
-    uint8_t data[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_config != NULL))
-    {
-        /* Get the FIFO configuration value */
-        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
-        if (rslt == BMI2_OK)
-        {
-            (*fifo_config) = (uint16_t)((uint16_t) data[0] & BMI2_FIFO_CONFIG_0_MASK);
-            (*fifo_config) |= (uint16_t)(((uint16_t) data[1] << 8) & BMI2_FIFO_CONFIG_1_MASK);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the FIFO data.
- */
-int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store FIFO configuration data */
-    uint8_t config_data[2] = { 0 };
-
-    /* Variable to define FIFO address */
-    uint8_t addr = BMI2_FIFO_DATA_ADDR;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo != NULL))
-    {
-        /* Clear the FIFO data structure */
-        reset_fifo_frame_structure(fifo, dev);
-
-        /* Read FIFO data */
-        rslt = bmi2_get_regs(addr, fifo->data, fifo->length, dev);
-
-        if (rslt == BMI2_OK)
-        {
-
-            /* Get the set FIFO frame configurations */
-            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Get FIFO header status */
-                fifo->header_enable = (uint8_t)((config_data[1]) & (BMI2_FIFO_HEADER_EN >> 8));
-
-                /* Get sensor enable status, of which the data is to be read */
-                fifo->data_enable =
-                    (uint16_t)(((config_data[0]) | ((uint16_t) config_data[1] << 8)) & BMI2_FIFO_ALL_EN);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API parses and extracts the accelerometer frames from FIFO data
- * read by the "bmi2_read_fifo_data" API and stores it in the "accel_data"
- * structure instance.
- */
-int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
-                          uint16_t *accel_length,
-                          struct bmi2_fifo_frame *fifo,
-                          const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to index the bytes */
-    uint16_t data_index = 0;
-
-    /* Variable to index accelerometer frames */
-    uint16_t accel_index = 0;
-
-    /* Variable to store the number of bytes to be read */
-    uint16_t data_read_length = 0;
-
-    /* Variable to define the data enable byte */
-    uint8_t data_enable = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL))
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (fifo->header_enable == 0)
-        {
-
-            /* Get the number of accelerometer bytes to be read */
-            rslt = parse_fifo_accel_len(&data_index, &data_read_length, accel_length, fifo);
-
-            /* Convert word to byte since all sensor enables are in a byte */
-            data_enable = (uint8_t)(fifo->data_enable >> 8);
-            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
-            {
-                /* Unpack frame to get the accelerometer data */
-                rslt = unpack_accel_frame(accel_data, &data_index, &accel_index, data_enable, fifo, dev);
-
-                if (rslt != BMI2_W_FIFO_EMPTY)
-                {
-                    /* Check for the availability of next two bytes of FIFO data */
-                    rslt = check_empty_fifo(&data_index, fifo);
-                }
-            }
-
-            /* Update number of accelerometer frames to be read */
-            (*accel_length) = accel_index;
-
-            /* Update the accelerometer byte index */
-            fifo->acc_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            rslt = extract_accel_header_mode(accel_data, accel_length, fifo, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API parses and extracts the gyroscope frames from FIFO data
- * read by the "bmi2_read_fifo_data" API and stores it in the "gyro_data"
- * structure instance.
- */
-int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
-                         uint16_t *gyro_length,
-                         struct bmi2_fifo_frame *fifo,
-                         const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to index the bytes */
-    uint16_t data_index = 0;
-
-    /* Variable to index gyroscope frames */
-    uint16_t gyro_index = 0;
-
-    /* Variable to store the number of bytes to be read */
-    uint16_t data_read_length = 0;
-
-    /* Variable to define the data enable byte */
-    uint8_t data_enable = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyro_data != NULL) && (gyro_length != NULL) && (fifo != NULL))
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (fifo->header_enable == 0)
-        {
-            /* Get the number of gyro bytes to be read */
-            rslt = parse_fifo_gyro_len(&data_index, &data_read_length, gyro_length, fifo);
-
-            /* Convert word to byte since all sensor enables are in a byte */
-            data_enable = (uint8_t)(fifo->data_enable >> 8);
-            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
-            {
-                /* Unpack frame to get gyroscope data */
-                rslt = unpack_gyro_frame(gyro_data, &data_index, &gyro_index, data_enable, fifo, dev);
-                if (rslt != BMI2_W_FIFO_EMPTY)
-                {
-                    /* Check for the availability of next two bytes of FIFO data */
-                    rslt = check_empty_fifo(&data_index, fifo);
-                }
-            }
-
-            /* Update number of gyroscope frames to be read */
-            (*gyro_length) = gyro_index;
-
-            /* Update the gyroscope byte index */
-            fifo->acc_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            rslt = extract_gyro_header_mode(gyro_data, gyro_length, fifo, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API parses and extracts the auxiliary frames from FIFO data
- * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
- */
-int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
-                        uint16_t *aux_length,
-                        struct bmi2_fifo_frame *fifo,
-                        const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to index the bytes */
-    uint16_t data_index = 0;
-
-    /* Variable to index auxiliary frames */
-    uint16_t aux_index = 0;
-
-    /* Variable to store the number of bytes to be read */
-    uint16_t data_read_length = 0;
-
-    /* Variable to define the data enable byte */
-    uint8_t data_enable = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (aux != NULL) && (aux_length != NULL) && (fifo != NULL))
-    {
-        /* Parsing the FIFO data in header-less mode */
-        if (fifo->header_enable == 0)
-        {
-            rslt = parse_fifo_aux_len(&data_index, &data_read_length, aux_length, fifo);
-
-            /* Convert word to byte since all sensor enables are in
-             * a byte
-             */
-            data_enable = (uint8_t)(fifo->data_enable >> 8);
-            for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
-            {
-                /* Unpack frame to get auxiliary data */
-                rslt = unpack_aux_frame(aux, &data_index, &aux_index, data_enable, fifo, dev);
-                if (rslt != BMI2_W_FIFO_EMPTY)
-                {
-                    /* Check for the availability of next
-                     * two bytes of FIFO data
-                     */
-                    rslt = check_empty_fifo(&data_index, fifo);
-                }
-            }
-
-            /* Update number of auxiliary frames to be read */
-            *aux_length = aux_index;
-
-            /* Update the auxiliary byte index */
-            fifo->aux_byte_start_idx = data_index;
-        }
-        else
-        {
-            /* Parsing the FIFO data in header mode */
-            rslt = extract_aux_header_mode(aux, aux_length, fifo, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the available sensor specific commands to the sensor.
- */
-int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set the command in the command register */
-        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &command, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*
- * @brief This API sets the FIFO self wake up functionality in the sensor.
- */
-int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set FIFO self wake-up */
-        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            data = BMI2_SET_BITS(data, BMI2_FIFO_SELF_WAKE_UP, fifo_self_wake_up);
-            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the status of FIFO self wake up functionality from
- * the sensor.
- */
-int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_self_wake_up != NULL))
-    {
-        /* Get the status of FIFO self wake-up */
-        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            (*fifo_self_wake_up) = BMI2_GET_BITS(data, BMI2_FIFO_SELF_WAKE_UP);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the FIFO water-mark level in the sensor.
- */
-int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store data */
-    uint8_t data[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get LSB value of FIFO water-mark */
-        data[0] = BMI2_GET_LSB(fifo_wm);
-
-        /* Get MSB value of FIFO water-mark */
-        data[1] = BMI2_GET_MSB(fifo_wm);
-
-        /* Set the FIFO water-mark level */
-        rslt = bmi2_set_regs(BMI2_FIFO_WTM_0_ADDR, data, 2, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the FIFO water mark level set in the sensor.
- */
-int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to to store data */
-    uint8_t data[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_wm != NULL))
-    {
-        /* Read the FIFO water mark level */
-        rslt = bmi2_get_regs(BMI2_FIFO_WTM_0_ADDR, data, BMI2_FIFO_WM_LENGTH, dev);
-        if (rslt == BMI2_OK)
-        {
-            (*fifo_wm) = (uint16_t)((uint16_t) data[1] << 8) | (data[0]);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets either filtered or un-filtered FIFO accelerometer or
- * gyroscope data.
- */
-int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        switch (sens_sel)
-        {
-            case BMI2_ACCEL:
-
-                /* Validate filter mode */
-                if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
-                {
-                    /* Set the accelerometer FIFO filter data */
-                    rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_FILT_DATA, fifo_filter_data);
-                        rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                    }
-                }
-                else
-                {
-                    rslt = BMI2_E_OUT_OF_RANGE;
-                }
-
-                break;
-            case BMI2_GYRO:
-
-                /* Validate filter mode */
-                if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
-                {
-                    /* Set the gyroscope FIFO filter data */
-                    rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        data = BMI2_SET_BITS(data, BMI2_GYR_FIFO_FILT_DATA, fifo_filter_data);
-                        rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                    }
-                }
-                else
-                {
-                    rslt = BMI2_E_OUT_OF_RANGE;
-                }
-
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the FIFO accelerometer or gyroscope filter data.
- */
-int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store FIFO filter mode */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_filter_data != NULL))
-    {
-        switch (sens_sel)
-        {
-            case BMI2_ACCEL:
-
-                /* Read the accelerometer FIFO filter data */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_FILT_DATA);
-                }
-
-                break;
-            case BMI2_GYRO:
-
-                /* Read the gyroscope FIFO filter data */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_GYR_FIFO_FILT_DATA);
-                }
-
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the down-sampling rates for accelerometer or gyroscope
- * FIFO data.
- */
-int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store sampling rate */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        switch (sens_sel)
-        {
-            case BMI2_ACCEL:
-
-                /* Set the accelerometer FIFO down sampling rate */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_DOWNS, fifo_down_samp);
-                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                }
-
-                break;
-            case BMI2_GYRO:
-
-                /* Set the gyroscope FIFO down sampling rate */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    data = BMI2_SET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS, fifo_down_samp);
-                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                }
-
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the down sampling rates which is configured for
- * accelerometer or gyroscope FIFO data.
- */
-int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store sampling rate */
-    uint8_t data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_down_samp != NULL))
-    {
-        switch (sens_sel)
-        {
-            case BMI2_ACCEL:
-
-                /* Read the accelerometer FIFO down data sampling rate */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    (*fifo_down_samp) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_DOWNS);
-                }
-
-                break;
-            case BMI2_GYRO:
-
-                /* Read the gyroscope FIFO down data sampling rate */
-                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    (*fifo_down_samp) = BMI2_GET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS);
-                }
-
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the length of FIFO data available in the sensor in
- * bytes.
- */
-int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define byte index */
-    uint8_t index = 0;
-
-    /* Array to store FIFO data length */
-    uint8_t data[BMI2_FIFO_DATA_LENGTH] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (fifo_length != NULL))
-    {
-        /* Read FIFO length */
-        rslt = bmi2_get_regs(BMI2_FIFO_LENGTH_0_ADDR, data, BMI2_FIFO_DATA_LENGTH, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the MSB byte index */
-            index = BMI2_FIFO_LENGTH_MSB_BYTE;
-
-            /* Get the MSB byte of FIFO length */
-            data[index] = BMI2_GET_BIT_POS0(data[index], BMI2_FIFO_BYTE_COUNTER_MSB);
-
-            /* Get total FIFO length */
-            (*fifo_length) = ((data[index] << 8) | data[index - 1]);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the user-defined bytes of data from the given register
- * address of auxiliary sensor in manual mode.
- *
- * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
- */
-int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store burst length */
-    uint8_t burst_len = 0;
-
-    /* Variable to define APS status */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (aux_data != NULL))
-    {
-        /* Validate if manual mode */
-        if (dev->aux_man_en)
-        {
-            /* Get status of advance power save mode */
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable APS if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the register value set to that of burst
-                 * length
-                 */
-                rslt = map_read_len(&burst_len, dev);
-                if (rslt == BMI2_OK)
-                {
-                    /* Read auxiliary data */
-                    rslt = read_aux_data(reg_addr, aux_data, len, burst_len, dev);
-                }
-            }
-
-            /* Enable Advance power save if disabled for reading
-             * data and not when already disabled
-             */
-            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_AUX_INVALID_CFG;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the user-defined bytes of data and the address of
- * auxiliary sensor where data is to be written in manual mode.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- */
-int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to define APS status */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (aux_data != NULL))
-    {
-        /* Validate if manual mode */
-        if (dev->aux_man_en)
-        {
-            /* Get status of advance power save mode */
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable APS if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            /* Byte write data in the corresponding address */
-            if (rslt == BMI2_OK)
-            {
-                for (; ((loop < len) && (rslt == BMI2_OK)); loop++)
-                {
-                    rslt = write_aux_data((reg_addr + loop), aux_data[loop], dev);
-                    dev->delay_us(1000, dev->intf_ptr);
-                }
-            }
-
-            /* Enable Advance power save if disabled for writing
-             * data and not when already disabled
-             */
-            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_AUX_INVALID_CFG;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the user-defined bytes of data and the address of
- * auxiliary sensor where data is to be written, from an interleaved input,
- * in manual mode.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- */
-int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to define APS status */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (aux_data != NULL))
-    {
-        /* Validate if manual mode */
-        if (dev->aux_man_en)
-        {
-            /* Get status of advance power save mode */
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable APS if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Write the start register address extracted
-                 * from the interleaved data
-                 */
-                rslt = write_aux_data(reg_addr, aux_data[0], dev);
-
-                /* Extract the remaining address and data from
-                 * the interleaved data and write it in the
-                 * corresponding addresses byte by byte
-                 */
-                for (; ((loop < len) && (rslt == BMI2_OK)); loop += 2)
-                {
-                    rslt = write_aux_data(aux_data[loop], aux_data[loop + 1], dev);
-                    dev->delay_us(1000, dev->intf_ptr);
-                }
-
-                /* Enable Advance power save if disabled for
-                 * writing data and not when already disabled
-                 */
-                if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-                {
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_AUX_INVALID_CFG;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the data ready status of accelerometer, gyroscope,
- * auxiliary, command decoder and busy status of auxiliary.
- */
-int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (status != NULL))
-    {
-        rslt = bmi2_get_regs(BMI2_STATUS_ADDR, status, 1, dev);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables/disables OIS interface.
- */
-int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable/Disable OIS interface */
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_OIS_IF_EN, enable);
-            if (enable)
-            {
-                /* Disable auxiliary interface if OIS is enabled */
-                reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_IF_EN);
-            }
-
-            /* Set the OIS interface configurations */
-            rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API can be used to write sync commands like ODR, sync period,
- * frequency and phase, resolution ratio, sync time and delay time.
- */
-int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (command != NULL))
-    {
-        rslt = bmi2_set_regs(BMI2_SYNC_COMMAND_ADDR, command, n_comm, dev);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs self-test to check the proper functionality of the
- * accelerometer sensor.
- */
-int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store self-test result */
-    int8_t st_rslt = 0;
-
-    /* Structure to define positive accelerometer axes */
-    struct bmi2_sens_axes_data positive = { 0, 0, 0, 0 };
-
-    /* Structure to define negative accelerometer axes */
-    struct bmi2_sens_axes_data negative = { 0, 0, 0, 0 };
-
-    /* Structure for difference of accelerometer values in g */
-    struct bmi2_selftest_delta_limit accel_data_diff = { 0, 0, 0 };
-
-    /* Structure for difference of accelerometer values in mg */
-    struct bmi2_selftest_delta_limit accel_data_diff_mg = { 0, 0, 0 };
-
-    /* Initialize the polarity of self-test as positive */
-    int8_t sign = BMI2_ENABLE;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Sets the configuration required before enabling self-test */
-        rslt = pre_self_test_config(dev);
-
-        /* Wait for greater than 2 milliseconds */
-        dev->delay_us(3000, dev->intf_ptr);
-        if (rslt == BMI2_OK)
-        {
-            do
-            {
-                /* Select positive first, then negative polarity
-                 * after enabling self-test
-                 */
-                rslt = self_test_config((uint8_t) sign, dev);
-                if (rslt == BMI2_OK)
-                {
-                    /* Wait for greater than 50 milli-sec */
-                    dev->delay_us(51000, dev->intf_ptr);
-
-                    /* If polarity is positive */
-                    if (sign == BMI2_ENABLE)
-                    {
-                        /* Read and store positive acceleration value */
-                        rslt = read_accel_xyz(&positive, dev);
-                    }
-                    /* If polarity is negative */
-                    else if (sign == BMI2_DISABLE)
-                    {
-                        /* Read and store negative acceleration value */
-                        rslt = read_accel_xyz(&negative, dev);
-                    }
-                }
-                else
-                {
-                    /* Break if error */
-                    break;
-                }
-
-                /* Break if error */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-
-                /* Turn the polarity of self-test negative */
-                sign--;
-            } while (sign >= 0);
-            if (rslt == BMI2_OK)
-            {
-                /* Subtract -ve acceleration values from that of +ve values */
-                accel_data_diff.x = (positive.x) - (negative.x);
-                accel_data_diff.y = (positive.y) - (negative.y);
-                accel_data_diff.z = (positive.z) - (negative.z);
-
-                /* Convert differences of acceleration values
-                 * from 'g' to 'mg'
-                 */
-                convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev);
-
-                /* Validate self-test for acceleration values
-                 * in mg and get the self-test result
-                 */
-                st_rslt = validate_self_test(&accel_data_diff_mg);
-
-                /* Trigger a soft reset after performing self-test */
-                rslt = bmi2_soft_reset(dev);
-
-                /* Return the self-test result */
-                if (rslt == BMI2_OK)
-                {
-                    rslt = st_rslt;
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
- */
-int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define the value of feature interrupts */
-    uint8_t feat_int = 0;
-
-    /* Array to store the interrupt mask bits */
-    uint8_t data_array[2] = { 0 };
-
-    /* Structure to define map the interrupts */
-    struct bmi2_map_int map_int = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Read interrupt map1 and map2 and register */
-        rslt = bmi2_get_regs(BMI2_INT1_MAP_FEAT_ADDR, data_array, 2, dev);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get the value of the feature interrupt to be mapped */
-            extract_feat_int_map(&map_int, type, dev);
-
-            feat_int = map_int.sens_map_int;
-
-            /* Map the interrupts */
-            rslt = map_feat_int(data_array, hw_int_pin, feat_int);
-
-            /* Map the interrupts to INT1 and INT2 map register */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_set_regs(BMI2_INT1_MAP_FEAT_ADDR, &data_array[0], 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    rslt = bmi2_set_regs(BMI2_INT2_MAP_FEAT_ADDR, &data_array[1], 1, dev);
-                }
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/un-maps data interrupts to that of interrupt pins.
- */
-int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to mask interrupt pin 1 - lower nibble */
-    uint8_t int1_mask = data_int;
-
-    /* Variable to mask interrupt pin 2 - higher nibble */
-    uint8_t int2_mask = (uint8_t)(data_int << 4);
-
-    /* Variable to store register data */
-    uint8_t reg_data = 0;
-
-    /* Read interrupt map1 and map2 and register */
-    rslt = bmi2_get_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        if (int_pin < BMI2_INT_PIN_MAX)
-        {
-            switch (int_pin)
-            {
-                case BMI2_INT_NONE:
-
-                    /* Un-Map the corresponding data
-                     * interrupt to both interrupt pin 1 and 2
-                     */
-                    reg_data &= ~(int1_mask | int2_mask);
-                    break;
-                case BMI2_INT1:
-
-                    /* Map the corresponding data interrupt to
-                     * interrupt pin 1
-                     */
-                    reg_data |= int1_mask;
-                    break;
-                case BMI2_INT2:
-
-                    /* Map the corresponding data interrupt to
-                     * interrupt pin 2
-                     */
-                    reg_data |= int2_mask;
-                    break;
-                case BMI2_INT_BOTH:
-
-                    /* Map the corresponding data
-                     * interrupt to both interrupt pin 1 and 2
-                     */
-                    reg_data |= (int1_mask | int2_mask);
-                    break;
-                default:
-                    break;
-            }
-
-            /* Set the interrupts in the map register */
-            rslt = bmi2_set_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
-        }
-        else
-        {
-            /* Return error if invalid pin selection */
-            rslt = BMI2_E_INVALID_INT_PIN;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the re-mapped x, y and z axes from the sensor and
- * updates the values in the device structure.
- */
-int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Initialize the local structure for axis re-mapping */
-    struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
-    {
-        /* Get the re-mapped axes from the sensor */
-        rslt = get_remap_axes(&remap, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Store the re-mapped x-axis value in device structure
-             * and its user-value in the interface structure
-             */
-            switch (remap.x_axis)
-            {
-                case BMI2_MAP_X_AXIS:
-
-                    /* If mapped to x-axis */
-                    dev->remap.x_axis = BMI2_MAP_X_AXIS;
-                    remapped_axis->x = BMI2_X;
-                    break;
-                case BMI2_MAP_Y_AXIS:
-
-                    /* If mapped to y-axis */
-                    dev->remap.x_axis = BMI2_MAP_Y_AXIS;
-                    remapped_axis->x = BMI2_Y;
-                    break;
-                case BMI2_MAP_Z_AXIS:
-
-                    /* If mapped to z-axis */
-                    dev->remap.x_axis = BMI2_MAP_Z_AXIS;
-                    remapped_axis->x = BMI2_Z;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped x-axis sign in device structure
-             * and its user-value in the interface structure
-             */
-            if (remap.x_axis_sign)
-            {
-                /* If x-axis is mapped to -ve sign */
-                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
-                remapped_axis->x |= BMI2_AXIS_SIGN;
-            }
-            else
-            {
-                dev->remap.x_axis_sign = BMI2_POS_SIGN;
-            }
-
-            /* Store the re-mapped y-axis value in device structure
-             *  and its user-value in the interface structure
-             */
-            switch (remap.y_axis)
-            {
-                case BMI2_MAP_X_AXIS:
-
-                    /* If mapped to x-axis */
-                    dev->remap.y_axis = BMI2_MAP_X_AXIS;
-                    remapped_axis->y = BMI2_X;
-                    break;
-                case BMI2_MAP_Y_AXIS:
-
-                    /* If mapped to y-axis */
-                    dev->remap.y_axis = BMI2_MAP_Y_AXIS;
-                    remapped_axis->y = BMI2_Y;
-                    break;
-                case BMI2_MAP_Z_AXIS:
-
-                    /* If mapped to z-axis */
-                    dev->remap.y_axis = BMI2_MAP_Z_AXIS;
-                    remapped_axis->y = BMI2_Z;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped y-axis sign in device structure
-             * and its user-value in the interface structure
-             */
-            if (remap.y_axis_sign)
-            {
-                /* If y-axis is mapped to -ve sign */
-                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
-                remapped_axis->y |= BMI2_AXIS_SIGN;
-            }
-            else
-            {
-                dev->remap.y_axis_sign = BMI2_POS_SIGN;
-            }
-
-            /* Store the re-mapped z-axis value in device structure
-             *  and its user-value in the interface structure
-             */
-            switch (remap.z_axis)
-            {
-                case BMI2_MAP_X_AXIS:
-
-                    /* If mapped to x-axis */
-                    dev->remap.z_axis = BMI2_MAP_X_AXIS;
-                    remapped_axis->z = BMI2_X;
-                    break;
-                case BMI2_MAP_Y_AXIS:
-
-                    /* If mapped to y-axis */
-                    dev->remap.z_axis = BMI2_MAP_Y_AXIS;
-                    remapped_axis->z = BMI2_Y;
-                    break;
-                case BMI2_MAP_Z_AXIS:
-
-                    /* If mapped to z-axis */
-                    dev->remap.z_axis = BMI2_MAP_Z_AXIS;
-                    remapped_axis->z = BMI2_Z;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped z-axis sign in device structure
-             * and its user-value in the interface structure
-             */
-            if (remap.z_axis_sign)
-            {
-                /* If z-axis is mapped to -ve sign */
-                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
-                remapped_axis->z |= BMI2_AXIS_SIGN;
-            }
-            else
-            {
-                dev->remap.z_axis_sign = BMI2_POS_SIGN;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the re-mapped x, y and z axes to the sensor and
- * updates the them in the device structure.
- */
-int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store all the re-mapped axes */
-    uint8_t remap_axes = 0;
-
-    /* Variable to store the re-mapped x-axes */
-    uint8_t remap_x = 0;
-
-    /* Variable to store the re-mapped y-axes */
-    uint8_t remap_y = 0;
-
-    /* Variable to store the re-mapped z-axes */
-    uint8_t remap_z = 0;
-
-    /* Initialize the local structure for axis re-mapping */
-    struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
-    {
-        /* Check whether all the axes are re-mapped */
-        remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z;
-
-        /* If all the axes are re-mapped */
-        if ((remap_axes & BMI2_AXIS_MASK) == BMI2_AXIS_MASK)
-        {
-            /* Get the re-mapped value of x, y and z axis */
-            remap_x = remapped_axis->x & BMI2_AXIS_MASK;
-            remap_y = remapped_axis->y & BMI2_AXIS_MASK;
-            remap_z = remapped_axis->z & BMI2_AXIS_MASK;
-
-            /* Store the value of re-mapped x-axis in both
-             * device structure and the local structure
-             */
-            switch (remap_x)
-            {
-                case BMI2_X:
-
-                    /* If mapped to x-axis */
-                    dev->remap.x_axis = BMI2_MAP_X_AXIS;
-                    remap.x_axis = BMI2_MAP_X_AXIS;
-                    break;
-                case BMI2_Y:
-
-                    /* If mapped to y-axis */
-                    dev->remap.x_axis = BMI2_MAP_Y_AXIS;
-                    remap.x_axis = BMI2_MAP_Y_AXIS;
-                    break;
-                case BMI2_Z:
-
-                    /* If mapped to z-axis */
-                    dev->remap.x_axis = BMI2_MAP_Z_AXIS;
-                    remap.x_axis = BMI2_MAP_Z_AXIS;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped x-axis sign in the device
-             * structure and its value in local structure
-             */
-            if (remapped_axis->x & BMI2_AXIS_SIGN)
-            {
-                /* If x-axis is mapped to -ve sign */
-                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
-                remap.x_axis_sign = BMI2_MAP_NEGATIVE;
-            }
-            else
-            {
-                dev->remap.x_axis_sign = BMI2_POS_SIGN;
-                remap.x_axis_sign = BMI2_MAP_POSITIVE;
-            }
-
-            /* Store the value of re-mapped y-axis in both
-             * device structure and the local structure
-             */
-            switch (remap_y)
-            {
-                case BMI2_X:
-
-                    /* If mapped to x-axis */
-                    dev->remap.y_axis = BMI2_MAP_X_AXIS;
-                    remap.y_axis = BMI2_MAP_X_AXIS;
-                    break;
-                case BMI2_Y:
-
-                    /* If mapped to y-axis */
-                    dev->remap.y_axis = BMI2_MAP_Y_AXIS;
-                    remap.y_axis = BMI2_MAP_Y_AXIS;
-                    break;
-                case BMI2_Z:
-
-                    /* If mapped to z-axis */
-                    dev->remap.y_axis = BMI2_MAP_Z_AXIS;
-                    remap.y_axis = BMI2_MAP_Z_AXIS;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped y-axis sign in the device
-             * structure and its value in local structure
-             */
-            if (remapped_axis->y & BMI2_AXIS_SIGN)
-            {
-                /* If y-axis is mapped to -ve sign */
-                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
-                remap.y_axis_sign = BMI2_MAP_NEGATIVE;
-            }
-            else
-            {
-                dev->remap.y_axis_sign = BMI2_POS_SIGN;
-                remap.y_axis_sign = BMI2_MAP_POSITIVE;
-            }
-
-            /* Store the value of re-mapped z-axis in both
-             * device structure and the local structure
-             */
-            switch (remap_z)
-            {
-                case BMI2_X:
-
-                    /* If mapped to x-axis */
-                    dev->remap.z_axis = BMI2_MAP_X_AXIS;
-                    remap.z_axis = BMI2_MAP_X_AXIS;
-                    break;
-                case BMI2_Y:
-
-                    /* If mapped to y-axis */
-                    dev->remap.z_axis = BMI2_MAP_Y_AXIS;
-                    remap.z_axis = BMI2_MAP_Y_AXIS;
-                    break;
-                case BMI2_Z:
-
-                    /* If mapped to z-axis */
-                    dev->remap.z_axis = BMI2_MAP_Z_AXIS;
-                    remap.z_axis = BMI2_MAP_Z_AXIS;
-                    break;
-                default:
-                    break;
-            }
-
-            /* Store the re-mapped z-axis sign in the device
-             * structure and its value in local structure
-             */
-            if (remapped_axis->z & BMI2_AXIS_SIGN)
-            {
-                /* If z-axis is mapped to -ve sign */
-                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
-                remap.z_axis_sign = BMI2_MAP_NEGATIVE;
-            }
-            else
-            {
-                dev->remap.z_axis_sign = BMI2_POS_SIGN;
-                remap.z_axis_sign = BMI2_MAP_POSITIVE;
-            }
-
-            /* Set the re-mapped axes in the sensor */
-            rslt = set_remap_axes(&remap, dev);
-        }
-        else
-        {
-            rslt = BMI2_E_REMAP_ERROR;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables/disables gyroscope offset compensation. It adds the
- * offsets defined in the offset register with gyroscope data.
- */
-int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get the status of gyroscope offset enable */
-        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN, enable);
-
-            /* Enable/Disable gyroscope offset compensation */
-            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the gyroscope bias values for each axis which is used
- * for gyroscope offset compensation.
- */
-int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[4] = { 0 };
-
-    /* Variable to store LSB value of offset compensation for x-axis */
-    uint8_t gyr_off_lsb_x;
-
-    /* Variable to store LSB value of offset compensation for y-axis */
-    uint8_t gyr_off_lsb_y;
-
-    /* Variable to store LSB value of offset compensation for z-axis */
-    uint8_t gyr_off_lsb_z;
-
-    /* Variable to store MSB value of offset compensation for x-axis */
-    uint8_t gyr_off_msb_x;
-
-    /* Variable to store MSB value of offset compensation for y-axis */
-    uint8_t gyr_off_msb_y;
-
-    /* Variable to store MSB value of offset compensation for z-axis */
-    uint8_t gyr_off_msb_z;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
-    {
-        /* Get the gyroscope compensated offset values */
-        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get LSB and MSB values of offset compensation for
-             * x, y and z axis
-             */
-            gyr_off_lsb_x = reg_data[0];
-            gyr_off_lsb_y = reg_data[1];
-            gyr_off_lsb_z = reg_data[2];
-            gyr_off_msb_x = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_X_MASK;
-            gyr_off_msb_y = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Y_MASK;
-            gyr_off_msb_z = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Z_MASK;
-
-            /* Gyroscope offset compensation value for x-axis */
-            gyr_off_comp_axes->x = (int16_t)(((uint16_t) gyr_off_msb_x << 8) | gyr_off_lsb_x);
-
-            /* Gyroscope offset compensation value for y-axis */
-            gyr_off_comp_axes->y = (int16_t)(((uint16_t) gyr_off_msb_y << 6) | gyr_off_lsb_y);
-
-            /* Gyroscope offset compensation value for z-axis */
-            gyr_off_comp_axes->z = (int16_t)(((uint16_t) gyr_off_msb_z << 4) | gyr_off_lsb_z);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes the gyroscope bias values for each axis which is used
- * for gyroscope offset compensation.
- */
-int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[4] = { 0 };
-
-    /* Variable to store MSB value of offset compensation for x-axis */
-    uint8_t gyr_off_msb_x;
-
-    /* Variable to store MSB value of offset compensation for y-axis */
-    uint8_t gyr_off_msb_y;
-
-    /* Variable to store MSB value of offset compensation for z-axis */
-    uint8_t gyr_off_msb_z;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
-    {
-        /* Get the MSB values of gyroscope compensated offset values */
-        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data[3], 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get MSB value of x-axis from user-input */
-            gyr_off_msb_x = (uint8_t)((gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
-
-            /* Get MSB value of y-axis from user-input */
-            gyr_off_msb_y = (uint8_t)((gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
-
-            /* Get MSB value of z-axis from user-input */
-            gyr_off_msb_z = (uint8_t)((gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
-
-            /* Get LSB value of x-axis from user-input */
-            reg_data[0] = (uint8_t)(gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_LSB_MASK);
-
-            /* Get LSB value of y-axis from user-input */
-            reg_data[1] = (uint8_t)(gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_LSB_MASK);
-
-            /* Get LSB value of z-axis from user-input */
-            reg_data[2] = (uint8_t)(gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_LSB_MASK);
-
-            /* Get MSB value of x-axis to be set */
-            reg_data[3] = BMI2_SET_BIT_POS0(reg_data[3], BMI2_GYR_OFF_COMP_MSB_X, gyr_off_msb_x);
-
-            /* Get MSB value of y-axis to be set */
-            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Y, gyr_off_msb_y);
-
-            /* Get MSB value of z-axis to be set */
-            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Z, gyr_off_msb_z);
-
-            /* Set the offset compensation values of axes */
-            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API updates the cross sensitivity coefficient between gyroscope's
- * X and Z axes.
- */
-int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-    struct bmi2_sensor_data data;
-
-    /* Check if the feature is supported by this variant */
-    if (dev->variant_feature & BMI2_GYRO_CROSS_SENS_ENABLE)
-    {
-        rslt = null_ptr_check(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Select the feature whose data is to be acquired */
-            data.type = BMI2_GYRO_CROSS_SENSE;
-
-            /* Get the respective data */
-            rslt = bmi2_get_sensor_data(&data, 1, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Update the gyroscope cross sense value of z axis
-                 * in the device structure
-                 */
-                dev->gyr_cross_sens_zx = data.sens_data.correction_factor_zx;
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_NULL_PTR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets Error bits and message indicating internal status.
- */
-int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (int_stat != NULL))
-    {
-        /* Delay to read the internal status */
-        dev->delay_us(20000, dev->intf_ptr);
-
-        /* Get the error bits and message */
-        rslt = bmi2_get_regs(BMI2_INTERNAL_STATUS_ADDR, int_stat, 1, dev);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*! @cond DOXYGEN_SUPRESS */
-
-/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
- * directories */
-
-/*!
- * @brief This API verifies and allows only the correct position to do Fast Offset Compensation for
- * accelerometer & gyro.
- */
-static int8_t verify_foc_position(uint8_t sens_list,
-                                  const struct bmi2_accel_foc_g_value *accel_g_axis,
-                                  struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    struct bmi2_sens_axes_data avg_foc_data = { 0 };
-    struct bmi2_foc_temp_value temp_foc_data = { 0 };
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable sensor */
-        rslt = bmi2_sensor_enable(&sens_list, 1, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-
-        rslt = get_average_of_sensor_data(sens_list, &temp_foc_data, dev);
-        if (rslt == BMI2_OK)
-        {
-            if (sens_list == BMI2_ACCEL)
-            {
-
-                /* Taking modulus to make negative values as positive */
-                if ((accel_g_axis->x == 1) && (accel_g_axis->sign == 1))
-                {
-                    temp_foc_data.x = temp_foc_data.x * -1;
-                }
-                else if ((accel_g_axis->y == 1) && (accel_g_axis->sign == 1))
-                {
-                    temp_foc_data.y = temp_foc_data.y * -1;
-                }
-                else if ((accel_g_axis->z == 1) && (accel_g_axis->sign == 1))
-                {
-                    temp_foc_data.z = temp_foc_data.z * -1;
-                }
-            }
-
-            /* Typecasting into 16bit */
-            avg_foc_data.x = (int16_t)(temp_foc_data.x);
-            avg_foc_data.y = (int16_t)(temp_foc_data.y);
-            avg_foc_data.z = (int16_t)(temp_foc_data.z);
-
-            rslt = validate_foc_position(sens_list, accel_g_axis, avg_foc_data, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*! @endcond */
-
-/*!
- * @brief This API performs Fast Offset Compensation for accelerometer.
- */
-int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Structure to define the accelerometer configurations */
-    struct bmi2_accel_config acc_cfg = { 0, 0, 0, 0 };
-
-    /* Variable to store status of advance power save */
-    uint8_t aps = 0;
-
-    /* Variable to store status of accelerometer enable */
-    uint8_t acc_en = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (accel_g_value != NULL))
-    {
-        /* Check for input validity */
-        if ((((BMI2_ABS(accel_g_value->x)) + (BMI2_ABS(accel_g_value->y)) + (BMI2_ABS(accel_g_value->z))) == 1) &&
-            ((accel_g_value->sign == 1) || (accel_g_value->sign == 0)))
-        {
-            rslt = verify_foc_position(BMI2_ACCEL, accel_g_value, dev);
-            if (rslt == BMI2_OK)
-            {
-
-                /* Save accelerometer configurations, accelerometer
-                 * enable status and advance power save status
-                 */
-                rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev);
-            }
-
-            /* Set configurations for FOC */
-            if (rslt == BMI2_OK)
-            {
-                rslt = set_accel_foc_config(dev);
-            }
-
-            /* Perform accelerometer FOC */
-            if (rslt == BMI2_OK)
-            {
-                rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev);
-            }
-
-            /* Restore the saved configurations */
-            if (rslt == BMI2_OK)
-            {
-                rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_INPUT;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API performs Fast Offset Compensation for gyroscope.
- */
-int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Structure to define the gyroscope configurations */
-    struct bmi2_gyro_config gyr_cfg = { 0, 0, 0, 0, 0, 0 };
-
-    /* Variable to store status of advance power save */
-    uint8_t aps = 0;
-
-    /* Variable to store status of gyroscope enable */
-    uint8_t gyr_en = 0;
-
-    /* Array of structure to store gyroscope data */
-    struct bmi2_sens_axes_data gyr_value[128];
-
-    /* Structure to store gyroscope data temporarily */
-    struct bmi2_foc_temp_value temp = { 0, 0, 0 };
-
-    /* Variable to store status read from the status register */
-    uint8_t reg_status = 0;
-
-    /* Variable to define count */
-    uint8_t loop = 0;
-
-    /* Structure to store the offset values to be stored in the register */
-    struct bmi2_sens_axes_data gyro_offset = { 0, 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Argument2 is not applicable for gyro */
-        rslt = verify_foc_position(BMI2_GYRO, 0, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Save gyroscope configurations, gyroscope enable
-             * status and advance power save status
-             */
-            rslt = save_gyro_config(&gyr_cfg, &aps, &gyr_en, dev);
-
-            /* Set configurations for gyroscope FOC */
-            if (rslt == BMI2_OK)
-            {
-                rslt = set_gyro_foc_config(dev);
-            }
-
-            /* Perform FOC */
-            if (rslt == BMI2_OK)
-            {
-                for (loop = 0; loop < 128; loop++)
-                {
-                    /* Giving a delay of more than 40ms since ODR is configured as 25Hz */
-                    dev->delay_us(50000, dev->intf_ptr);
-
-                    /* Get gyroscope data ready interrupt status */
-                    rslt = bmi2_get_status(&reg_status, dev);
-
-                    /* Read 128 samples of gyroscope data on data ready interrupt */
-                    if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_GYR))
-                    {
-                        rslt = read_gyro_xyz(&gyr_value[loop], dev);
-                        if (rslt == BMI2_OK)
-                        {
-                            /* Store the data in a temporary structure */
-                            temp.x = temp.x + (int32_t)gyr_value[loop].x;
-                            temp.y = temp.y + (int32_t)gyr_value[loop].y;
-                            temp.z = temp.z + (int32_t)gyr_value[loop].z;
-                        }
-                    }
-
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                    else if ((reg_status & BMI2_DRDY_GYR) != BMI2_DRDY_GYR)
-                    {
-                        rslt = BMI2_E_INVALID_STATUS;
-                        break;
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    /* Take average of x, y and z data for lesser
-                     * noise. It is same as offset data since lsb/dps
-                     * is same for both data and offset register
-                     */
-                    gyro_offset.x = (int16_t)(temp.x / 128);
-                    gyro_offset.y = (int16_t)(temp.y / 128);
-                    gyro_offset.z = (int16_t)(temp.z / 128);
-
-                    /* Saturate gyroscope data since the offset
-                     * registers are of 10 bit value where as the
-                     * gyroscope data is of 16 bit value
-                     */
-                    saturate_gyro_data(&gyro_offset);
-
-                    /* Invert the gyroscope offset  data */
-                    invert_gyro_offset(&gyro_offset);
-
-                    /* Write offset data in the gyroscope offset
-                     * compensation register
-                     */
-                    rslt = bmi2_write_gyro_offset_comp_axes(&gyro_offset, dev);
-                }
-
-                /* Enable gyroscope offset compensation */
-                if (rslt == BMI2_OK)
-                {
-                    rslt = bmi2_set_gyro_offset_comp(BMI2_ENABLE, dev);
-                }
-
-                /* Restore the saved gyroscope configurations */
-                if (rslt == BMI2_OK)
-                {
-                    rslt = restore_gyro_config(&gyr_cfg, aps, gyr_en, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to get the feature configuration from the
- * selected page.
- */
-int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define bytes remaining to read */
-    uint8_t bytes_remain = BMI2_FEAT_SIZE_IN_BYTES;
-
-    /* Variable to define the read-write length */
-    uint8_t read_write_len = 0;
-
-    /* Variable to define the feature configuration address */
-    uint8_t addr = BMI2_FEATURES_REG_ADDR;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    if ((feat_config == NULL) || (dev == NULL))
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-    else
-    {
-        /* Check whether the page is valid */
-        if (sw_page < dev->page_max)
-        {
-            /* Switch page */
-            rslt = bmi2_set_regs(BMI2_FEAT_PAGE_ADDR, &sw_page, 1, dev);
-
-            /* If user length is less than feature length */
-            if ((rslt == BMI2_OK) && (dev->read_write_len < BMI2_FEAT_SIZE_IN_BYTES))
-            {
-                /* Read-write should be even */
-                if ((dev->read_write_len % 2) != 0)
-                {
-                    dev->read_write_len--;
-                }
-
-                while (bytes_remain > 0)
-                {
-                    if (bytes_remain >= dev->read_write_len)
-                    {
-                        /* Read from the page */
-                        rslt = bmi2_get_regs(addr, &feat_config[index], dev->read_write_len, dev);
-
-                        /* Update index */
-                        index += (uint8_t) dev->read_write_len;
-
-                        /* Update address */
-                        addr += (uint8_t) dev->read_write_len;
-
-                        /* Update read-write length */
-                        read_write_len += (uint8_t) dev->read_write_len;
-                    }
-                    else
-                    {
-                        /* Read from the page */
-                        rslt = bmi2_get_regs(addr, (uint8_t *) (feat_config + index), (uint16_t) bytes_remain, dev);
-
-                        /* Update read-write length */
-                        read_write_len += bytes_remain;
-                    }
-
-                    /* Remaining bytes */
-                    bytes_remain = BMI2_FEAT_SIZE_IN_BYTES - read_write_len;
-
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                }
-            }
-            else if (rslt == BMI2_OK)
-            {
-                /* Get configuration from the page */
-                rslt = bmi2_get_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_PAGE;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to extract the input feature configuration
- * details from the look-up table.
- */
-uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
-                                       const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the input feature from the input configuration array */
-    while (loop < dev->input_sens)
-    {
-        if (dev->feat_config[loop].type == type)
-        {
-            *feat_config = dev->feat_config[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*! @cond DOXYGEN_SUPRESS */
-
-/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
- * directories */
-
-/*!
- * @brief This internal API writes the configuration file.
- */
-static int8_t write_config_file(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to update the configuration file index */
-    uint16_t index = 0;
-
-    /* config file size */
-    uint16_t config_size = dev->config_size;
-
-    /* Variable to get the remainder */
-    uint8_t remain = (uint8_t)(config_size % dev->read_write_len);
-
-    /* Variable to get the balance bytes */
-    uint16_t bal_byte = 0;
-
-    /* Variable to define temporary read/write length */
-    uint16_t read_write_len = 0;
-
-    /* Disable advanced power save mode */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable loading of the configuration */
-        rslt = set_config_load(BMI2_DISABLE, dev);
-        if (rslt == BMI2_OK)
-        {
-            if (!remain)
-            {
-                /* Write the configuration file */
-                for (index = 0; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len)
-                {
-                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
-                }
-            }
-            else
-            {
-                /* Get the balance bytes */
-                bal_byte = (uint16_t) config_size - (uint16_t) remain;
-
-                /* Write the configuration file for the balancem bytes */
-                for (index = 0; (index < bal_byte) && (rslt == BMI2_OK); index += dev->read_write_len)
-                {
-                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    /* Update length in a temporary variable */
-                    read_write_len = dev->read_write_len;
-
-                    /* Write the remaining bytes in 2 bytes length */
-                    dev->read_write_len = 2;
-
-                    /* Write the configuration file for the remaining bytes */
-                    for (index = bal_byte;
-                         (index < config_size) && (rslt == BMI2_OK);
-                         index += dev->read_write_len)
-                    {
-                        rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
-                    }
-
-                    /* Restore the user set length back from the temporary variable */
-                    dev->read_write_len = read_write_len;
-                }
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Enable loading of the configuration */
-                rslt = set_config_load(BMI2_ENABLE, dev);
-
-                /* Wait till ASIC is initialized */
-                dev->delay_us(150000, dev->intf_ptr);
-                if (rslt == BMI2_OK)
-                {
-                    /* Enable advanced power save mode */
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables the loading of the configuration
- * file.
- */
-static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_CONF_LOAD_EN, enable);
-        rslt = bmi2_set_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API loads the configuration file.
- */
-static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store address */
-    uint8_t addr_array[2] = { 0 };
-
-    if (config_data != NULL)
-    {
-        /* Store 0 to 3 bits of address in first byte */
-        addr_array[0] = (uint8_t)((index / 2) & 0x0F);
-
-        /* Store 4 to 11 bits of address in the second byte */
-        addr_array[1] = (uint8_t)((index / 2) >> 4);
-
-        /* Write the 2 bytes of address in consecutive locations */
-        rslt = bmi2_set_regs(BMI2_INIT_ADDR_0, addr_array, 2, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Burst write configuration file data corresponding to user set length */
-            rslt = bmi2_set_regs(BMI2_INIT_DATA_ADDR, (uint8_t *)config_data, write_len, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API validates bandwidth and performance mode of the
- * accelerometer set by the user.
- */
-static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Validate and auto-correct performance mode */
-    rslt = check_boundary_val(perf_mode, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Validate and auto-correct bandwidth parameter */
-        if (*perf_mode == BMI2_PERF_OPT_MODE)
-        {
-            /* Validate for continuous filter mode */
-            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_CIC_AVG8, dev);
-        }
-        else
-        {
-            /* Validate for CIC averaging mode */
-            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_RES_AVG128, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API validates ODR and range of the accelerometer set by
- * the user.
- */
-static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Validate and auto correct ODR */
-    rslt = check_boundary_val(odr, BMI2_ACC_ODR_0_78HZ, BMI2_ACC_ODR_1600HZ, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Validate and auto correct Range */
-        rslt = check_boundary_val(range, BMI2_ACC_RANGE_2G, BMI2_ACC_RANGE_16G, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API validates bandwidth, performance mode, low power/
- * high performance mode, ODR, and range set by the user.
- */
-static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Validate and auto-correct performance mode */
-    rslt = check_boundary_val(&config->filter_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Validate and auto-correct bandwidth parameter */
-        rslt = check_boundary_val(&config->bwp, BMI2_GYR_OSR4_MODE, BMI2_GYR_CIC_MODE, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Validate and auto-correct low power/high-performance parameter */
-            rslt = check_boundary_val(&config->noise_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Validate and auto-correct ODR parameter */
-                rslt = check_boundary_val(&config->odr, BMI2_GYR_ODR_25HZ, BMI2_GYR_ODR_3200HZ, dev);
-                if (rslt == BMI2_OK)
-                {
-                    /* Validate and auto-correct OIS range */
-                    rslt = check_boundary_val(&config->ois_range, BMI2_GYR_OIS_250, BMI2_GYR_OIS_2000, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        /* Validate and auto-correct range parameter */
-                        rslt = check_boundary_val(&config->range, BMI2_GYR_RANGE_2000, BMI2_GYR_RANGE_125, dev);
-                    }
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API shows the error status when illegal sensor
- * configuration is set.
- */
-static int8_t cfg_error_status(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    /* Get error status of the set sensor configuration */
-    rslt = bmi2_get_regs(BMI2_EVENT_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_GET_BITS(reg_data, BMI2_EVENT_FLAG);
-        switch (reg_data)
-        {
-            case BMI2_NO_ERROR:
-                rslt = BMI2_OK;
-                break;
-            case BMI2_ACC_ERROR:
-                rslt = BMI2_E_ACC_INVALID_CFG;
-                break;
-            case BMI2_GYR_ERROR:
-                rslt = BMI2_E_GYRO_INVALID_CFG;
-                break;
-            case BMI2_ACC_GYR_ERROR:
-                rslt = BMI2_E_ACC_GYR_INVALID_CFG;
-                break;
-            default:
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API:
- * 1) Enables/Disables auxiliary interface.
- * 2) Sets auxiliary interface configurations like I2C address, manual/auto
- * mode enable, manual burst read length, AUX burst read length and AUX read
- * address.
- * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
- */
-static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Validate auxiliary configurations */
-    rslt = validate_aux_config(config, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable/Disable auxiliary interface */
-        rslt = set_aux_interface(config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Set the auxiliary interface configurations */
-            rslt = config_aux_interface(config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Set read out offset and ODR */
-                rslt = config_aux(config, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets gyroscope user-gain configurations like gain
- * update value for x, y and z-axis.
- */
-static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for user-gain */
-    struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for user-gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user-gain feature resides */
-        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for user-gain select */
-            idx = user_gain_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set ratio_x */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_X, config->ratio_x);
-
-            /* Increment offset by 1 word to set ratio_y */
-            idx++;
-
-            /* Set ratio_y */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Y, config->ratio_y);
-
-            /* Increment offset by 1 word to set ratio_z */
-            idx++;
-
-            /* Set ratio_z */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Z, config->ratio_z);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - user_gain_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[user_gain_config.start_addr +
-                            index] = *((uint8_t *) data_p + user_gain_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables auxiliary interface.
- */
-static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_IF_EN, config->aux_en);
-
-        /* Enable/Disable auxiliary interface */
-        rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets auxiliary configurations like manual/auto mode
- * FCU write command enable and read burst length for both data and manual mode.
- *
- * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
- * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
- */
-static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data[2] = { 0 };
-
-    /* Variable to store status */
-    uint8_t status = 0;
-
-    /* Variable to define count */
-    uint8_t count = 0;
-
-    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set I2C address for AUX sensor */
-        reg_data[0] = BMI2_SET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR, config->i2c_device_addr);
-
-        /* Set the AUX IF to either manual or auto mode */
-        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN, config->manual_en);
-
-        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
-        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN, config->fcu_write_en);
-
-        /* Set the burst read length for manual mode */
-        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST, config->man_rd_burst);
-
-        /* Set the burst read length for data mode */
-        reg_data[1] = BMI2_SET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST, config->aux_rd_burst);
-        for (;;)
-        {
-            /* Check if auxiliary sensor is busy */
-            rslt = bmi2_get_status(&status, dev);
-            if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
-            {
-                /* Set the configurations if AUX is not busy */
-                rslt = bmi2_set_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
-                dev->delay_us(1000, dev->intf_ptr);
-                if (rslt == BMI2_OK)
-                {
-                    /* If data mode */
-                    if (!config->manual_en)
-                    {
-                        /* Disable manual enable flag in device structure */
-                        dev->aux_man_en = 0;
-
-                        /* Set the read address of the AUX sensor */
-                        rslt = bmi2_set_regs(BMI2_AUX_RD_ADDR, (uint8_t *) &config->read_addr, 1, dev);
-                        dev->delay_us(1000, dev->intf_ptr);
-                    }
-                    else
-                    {
-                        /* Enable manual enable flag in device structure */
-                        dev->aux_man_en = 1;
-
-                        /* Update manual read burst length in device structure */
-                        dev->aux_man_rd_burst_len = config->man_rd_burst;
-                    }
-                }
-
-                /* Break after setting the register */
-                break;
-            }
-
-            /* Increment count after every 10 seconds */
-            dev->delay_us(10000, dev->intf_ptr);
-            count++;
-
-            /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
-            if (count > 20)
-            {
-                rslt = BMI2_E_AUX_BUSY;
-                break;
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API triggers read out offset and sets ODR of the
- * auxiliary sensor.
- */
-static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Trigger read out offset */
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT, config->offset);
-
-        /* Set ODR */
-        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN, config->odr);
-
-        /* Set auxiliary configuration register */
-        rslt = bmi2_set_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
-        dev->delay_us(1000, dev->intf_ptr);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API checks the busy status of auxiliary sensor and sets
- * the auxiliary register addresses when not busy.
- */
-static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to get status of AUX_BUSY */
-    uint8_t status = 0;
-
-    /* Variable to define count for time-out */
-    uint8_t count = 0;
-
-    for (;;)
-    {
-        /* Check if AUX is busy */
-        rslt = bmi2_get_status(&status, dev);
-
-        /* Set the registers if not busy */
-        if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
-        {
-            rslt = bmi2_set_regs(reg_addr, &reg_data, 1, dev);
-            dev->delay_us(1000, dev->intf_ptr);
-
-            /* Break after setting the register */
-            break;
-        }
-
-        /* Increment count after every 10 seconds */
-        dev->delay_us(10000, dev->intf_ptr);
-        count++;
-
-        /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
-        if (count > 20)
-        {
-            rslt = BMI2_E_AUX_BUSY;
-            break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API validates auxiliary configuration set by the user.
- */
-static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Validate ODR for auxiliary sensor */
-    rslt = check_boundary_val(&config->odr, BMI2_AUX_ODR_0_78HZ, BMI2_AUX_ODR_800HZ, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets accelerometer configurations like ODR,
- * bandwidth, performance mode and g-range.
- */
-static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store data */
-    uint8_t data_array[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (config != NULL))
-    {
-        /* Read the sensor configuration details */
-        rslt = bmi2_get_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get accelerometer performance mode */
-            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE);
-
-            /* Get accelerometer bandwidth */
-            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_ACC_BW_PARAM);
-
-            /* Get accelerometer ODR */
-            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_ACC_ODR);
-
-            /* Get accelerometer range */
-            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_ACC_RANGE);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets gyroscope configurations like ODR, bandwidth,
- * low power/high performance mode, performance mode and range.
- */
-static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store data */
-    uint8_t data_array[2] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (config != NULL))
-    {
-        /* Read the sensor configuration details */
-        rslt = bmi2_get_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get gyroscope performance mode */
-            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE);
-
-            /* Get gyroscope noise performance mode */
-            config->noise_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_NOISE_PERF_MODE);
-
-            /* Get gyroscope bandwidth */
-            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_GYR_BW_PARAM);
-
-            /* Get gyroscope ODR */
-            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_GYR_ODR);
-
-            /* Get gyroscope OIS range */
-            config->ois_range = BMI2_GET_BITS(data_array[1], BMI2_GYR_OIS_RANGE);
-
-            /* Get gyroscope range */
-            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_GYR_RANGE);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API:
- * 1) Gets the status of auxiliary interface enable.
- * 2) Gets auxiliary interface configurations like I2C address, manual/auto
- * mode enable, manual burst read length, AUX burst read length and AUX read
- * address.
- * 3) Gets ODR and offset.
- */
-static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (config != NULL))
-    {
-        /* Get enable status of auxiliary interface */
-        rslt = get_aux_interface(config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the auxiliary interface configurations */
-            rslt = get_aux_interface_config(config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Get read out offset and ODR */
-                rslt = get_aux_cfg(config, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets gyroscope user-gain configurations like gain
- * update value for x, y and z-axis.
- */
-static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for user-gain */
-    struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
-
-    /* Search for user-gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user-gain feature resides */
-        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for user-gain select */
-            idx = user_gain_config.start_addr;
-
-            /* Get word to calculate ratio_x */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get ratio_x */
-            config->ratio_x = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_X_MASK;
-
-            /* Get word to calculate ratio_y */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get ratio_y */
-            config->ratio_y = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Y_MASK;
-
-            /* Get word to calculate ratio_z */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get ratio_z */
-            config->ratio_z = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Z_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the enable status of auxiliary interface.
- */
-static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    /* Get the enable status of auxiliary interface */
-    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        config->aux_en = BMI2_GET_BITS(reg_data, BMI2_AUX_IF_EN);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets auxiliary configurations like manual/auto mode
- * FCU write command enable and read burst length for both data and manual mode.
- */
-static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data[2] = { 0 };
-
-    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get I2C address for auxiliary sensor */
-        config->i2c_device_addr = BMI2_GET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR);
-
-        /* Get the AUX IF to either manual or auto mode */
-        config->manual_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN);
-
-        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
-        config->fcu_write_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN);
-
-        /* Get the burst read length for manual mode */
-        config->man_rd_burst = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST);
-
-        /* Get the burst read length for data mode */
-        config->aux_rd_burst = BMI2_GET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST);
-
-        /* If data mode, get the read address of the auxiliary sensor from where data is to be read */
-        if (!config->manual_en)
-        {
-            rslt = bmi2_get_regs(BMI2_AUX_RD_ADDR, &config->read_addr, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets read out offset and ODR of the auxiliary
- * sensor.
- */
-static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get read out offset */
-        config->offset = BMI2_GET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT);
-
-        /* Get ODR */
-        config->odr = BMI2_GET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API maps/un-maps feature interrupts to that of interrupt
- * pins.
- */
-static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Check for NULL error */
-    if (reg_data_array != NULL)
-    {
-        /* Check validity on interrupt pin selection */
-        if (int_pin < BMI2_INT_PIN_MAX)
-        {
-            switch (int_pin)
-            {
-                case BMI2_INT_NONE:
-
-                    /* Un-Map the corresponding feature interrupt to interrupt pin 1 and 2 */
-                    reg_data_array[0] &= ~(int_mask);
-                    reg_data_array[1] &= ~(int_mask);
-                    break;
-                case BMI2_INT1:
-
-                    /* Map the corresponding feature interrupt to interrupt pin 1 */
-                    reg_data_array[0] |= int_mask;
-
-                    /* Un-map the corresponding feature interrupt to interrupt pin 2 */
-                    reg_data_array[1] &= ~(int_mask);
-                    break;
-                case BMI2_INT2:
-
-                    /* Map the corresponding feature interrupt to interrupt pin 2 */
-                    reg_data_array[1] |= int_mask;
-
-                    /* Un-map the corresponding feature interrupt to interrupt pin 1 */
-                    reg_data_array[0] &= ~(int_mask);
-                    break;
-                case BMI2_INT_BOTH:
-
-                    /* Map the corresponding feature interrupt to interrupt pin 1 and 2 */
-                    reg_data_array[0] |= int_mask;
-                    reg_data_array[1] |= int_mask;
-                    break;
-                default:
-                    break;
-            }
-        }
-        else
-        {
-            /* Return error if invalid pin selection */
-            rslt = BMI2_E_INVALID_INT_PIN;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the accelerometer data from the register.
- */
-static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define data stored in register */
-    uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
-
-    /* Read the sensor data */
-    rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get accelerometer data from the register */
-        get_acc_gyr_data(data, reg_data);
-
-        /* Get the re-mapped accelerometer data */
-        get_remapped_data(data, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the gyroscope data from the register.
- */
-static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define data stored in register */
-    uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
-
-    /* Read the sensor data */
-    rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get gyroscope data from the register */
-        get_acc_gyr_data(data, reg_data);
-
-        /* Get the compensated gyroscope data */
-        comp_gyro_cross_axis_sensitivity(data, dev);
-
-        /* Get the re-mapped gyroscope data */
-        get_remapped_data(data, dev);
-
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the accelerometer/gyroscope data.
- */
-static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data)
-{
-    /* Variables to store msb value */
-    uint8_t msb;
-
-    /* Variables to store lsb value */
-    uint8_t lsb;
-
-    /* Variables to store both msb and lsb value */
-    uint16_t msb_lsb;
-
-    /* Variables to define index */
-    uint8_t index = 0;
-
-    /* Read x-axis data */
-    lsb = reg_data[index++];
-    msb = reg_data[index++];
-    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
-    data->x = (int16_t) msb_lsb;
-
-    /* Read y-axis data */
-    lsb = reg_data[index++];
-    msb = reg_data[index++];
-    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
-    data->y = (int16_t) msb_lsb;
-
-    /* Read z-axis data */
-    lsb = reg_data[index++];
-    msb = reg_data[index++];
-    msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
-    data->z = (int16_t) msb_lsb;
-}
-
-/*!
- * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
- */
-static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev)
-{
-    /* Array to defined the re-mapped sensor data */
-    int16_t remap_data[3] = { 0 };
-    int16_t pos_multiplier = INT16_C(1);
-    int16_t neg_multiplier = INT16_C(-1);
-
-    /* Fill the array with the un-mapped sensor data */
-    remap_data[0] = data->x;
-    remap_data[1] = data->y;
-    remap_data[2] = data->z;
-
-    /* Get the re-mapped x axis data */
-    if (dev->remap.x_axis_sign == BMI2_POS_SIGN)
-    {
-        data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier);
-    }
-    else
-    {
-        data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier);
-    }
-
-    /* Get the re-mapped y axis data */
-    if (dev->remap.y_axis_sign == BMI2_POS_SIGN)
-    {
-        data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier);
-    }
-    else
-    {
-        data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier);
-    }
-
-    /* Get the re-mapped z axis data */
-    if (dev->remap.z_axis_sign == BMI2_POS_SIGN)
-    {
-        data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier);
-    }
-    else
-    {
-        data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier);
-    }
-}
-
-/*!
- * @brief This internal API reads the user-defined bytes of data from the given
- * register address of auxiliary sensor in manual mode.
- */
-static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to store the register data */
-    uint8_t reg_data[15] = { 0 };
-
-    /* Variable to define number of bytes to read */
-    uint16_t read_length = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to define counts to get the correct array index */
-    uint8_t count = 0;
-
-    /* Variable to define index for the array */
-    uint8_t idx = 0;
-
-    while (len > 0)
-    {
-        /* Set the read address if AUX is not busy */
-        rslt = set_if_aux_not_busy(BMI2_AUX_RD_ADDR, reg_addr, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Read data from bmi2 data register */
-            rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, (uint16_t) burst_len, dev);
-            dev->delay_us(1000, dev->intf_ptr);
-            if (rslt == BMI2_OK)
-            {
-                /* Get number of bytes to be read */
-                if (len < burst_len)
-                {
-                    read_length = (uint8_t) len;
-                }
-                else
-                {
-                    read_length = burst_len;
-                }
-
-                /* Update array index and store the data */
-                for (loop = 0; loop < read_length; loop++)
-                {
-                    idx = loop + count;
-                    aux_data[idx] = reg_data[loop];
-                }
-            }
-        }
-
-        /* Update address for the next read */
-        reg_addr += burst_len;
-
-        /* Update count for the array index */
-        count += burst_len;
-
-        /* Update no of bytes left to read */
-        len -= read_length;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API writes AUX write address and the user-defined bytes
- * of data to the AUX sensor in manual mode.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- */
-static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Write data to be written to the AUX sensor in bmi2 register */
-    rslt = bmi2_set_regs(BMI2_AUX_WR_DATA_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Write the AUX address where data is to be stored when AUX is not busy */
-        rslt = set_if_aux_not_busy(BMI2_AUX_WR_ADDR, reg_addr, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API reads the user-defined bytes of data from the given
- * register address of auxiliary sensor in data mode.
- */
-static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variables to define loop */
-    uint8_t count = 0;
-
-    /* Variables to define index */
-    uint8_t index = 0;
-
-    /* Array to define data stored in register */
-    uint8_t reg_data[BMI2_AUX_NUM_BYTES] = { 0 };
-
-    /* Check if data mode */
-    if (!dev->aux_man_en)
-    {
-        /* Read the auxiliary sensor data */
-        rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, BMI2_AUX_NUM_BYTES, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the 8 bytes of auxiliary data */
-            do
-            {
-                *(aux_data + count++) = *(reg_data + index++);
-            } while (count < BMI2_AUX_NUM_BYTES);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_AUX_INVALID_CFG;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API maps the actual burst read length with that of the
- * register value set by user.
- */
-static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Get the burst read length against the values set by the user */
-    switch (dev->aux_man_rd_burst_len)
-    {
-        case BMI2_AUX_READ_LEN_0:
-            *len = 1;
-            break;
-        case BMI2_AUX_READ_LEN_1:
-            *len = 2;
-            break;
-        case BMI2_AUX_READ_LEN_2:
-            *len = 6;
-            break;
-        case BMI2_AUX_READ_LEN_3:
-            *len = 8;
-            break;
-        default:
-            rslt = BMI2_E_AUX_INVALID_CFG;
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API computes the number of bytes of accelerometer FIFO
- * data which is to be parsed in header-less mode.
- */
-static int8_t parse_fifo_accel_len(uint16_t *start_idx,
-                                   uint16_t *len,
-                                   const uint16_t *acc_count,
-                                   const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Data start index */
-    (*start_idx) = fifo->acc_byte_start_idx;
-
-    /* If only accelerometer is enabled */
-    if (fifo->data_enable == BMI2_FIFO_ACC_EN)
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_LENGTH);
-    }
-    /* If only accelerometer and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_AUX_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_AUX_LENGTH);
-    }
-    /* If only accelerometer and gyroscope are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_GYR_LENGTH);
-    }
-    /* If only accelerometer, gyroscope and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ALL_LENGTH);
-    }
-    else
-    {
-        /* Move the data index to the last byte to mark completion when
-         * no sensors or sensors apart from accelerometer are enabled
-         */
-        (*start_idx) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-
-    /* If more data is requested than available */
-    if ((*len) > fifo->length)
-    {
-        (*len) = fifo->length;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse the accelerometer data from the
- * FIFO in header mode.
- */
-static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
-                                        uint16_t *accel_length,
-                                        struct bmi2_fifo_frame *fifo,
-                                        const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define header frame */
-    uint8_t frame_header = 0;
-
-    /* Variable to index the data bytes */
-    uint16_t data_index;
-
-    /* Variable to index accelerometer frames */
-    uint16_t accel_index = 0;
-
-    /* Variable to indicate accelerometer frames read */
-    uint16_t frame_to_read = *accel_length;
-
-    for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;)
-    {
-        /* Get frame header byte */
-        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
-
-        /* Parse virtual header if S4S is enabled */
-        parse_if_virtual_header(&frame_header, &data_index, fifo);
-
-        /* Index shifted to next byte where data starts */
-        data_index++;
-        switch (frame_header)
-        {
-            /* If header defines accelerometer frame */
-            case BMI2_FIFO_HEADER_ACC_FRM:
-            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-            case BMI2_FIFO_HEADER_ALL_FRM:
-
-                /* Unpack from normal frames */
-                rslt = unpack_accel_frame(acc, &data_index, &accel_index, frame_header, fifo, dev);
-                break;
-
-            /* If header defines only gyroscope frame */
-            case BMI2_FIFO_HEADER_GYR_FRM:
-                rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
-                break;
-
-            /* If header defines only auxiliary frame */
-            case BMI2_FIFO_HEADER_AUX_FRM:
-                rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
-                break;
-
-            /* If header defines only auxiliary and gyroscope frame */
-            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-                rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
-                break;
-
-            /* If header defines sensor time frame */
-            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
-                rslt = unpack_sensortime_frame(&data_index, fifo);
-                break;
-
-            /* If header defines skip frame */
-            case BMI2_FIFO_HEADER_SKIP_FRM:
-                rslt = unpack_skipped_frame(&data_index, fifo);
-                break;
-
-            /* If header defines Input configuration frame */
-            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
-                break;
-
-            /* If header defines invalid frame or end of valid data */
-            case BMI2_FIFO_HEAD_OVER_READ_MSB:
-
-                /* Move the data index to the last byte to mark completion */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
-                break;
-            default:
-
-                /* Move the data index to the last byte in case of invalid values */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-        }
-
-        /* Break if Number of frames to be read is complete or FIFO is mpty */
-        if ((frame_to_read == accel_index) || (rslt == BMI2_W_FIFO_EMPTY))
-        {
-            break;
-        }
-    }
-
-    /* Update the accelerometer frame index */
-    (*accel_length) = accel_index;
-
-    /* Update the accelerometer byte index */
-    fifo->acc_byte_start_idx = data_index;
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse the accelerometer data from the
- * FIFO data in both header and header-less mode. It updates the current data
- * byte to be parsed.
- */
-static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
-                                 uint16_t *idx,
-                                 uint16_t *acc_idx,
-                                 uint8_t frame,
-                                 const struct bmi2_fifo_frame *fifo,
-                                 const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    switch (frame)
-    {
-        /* If frame contains only accelerometer data */
-        case BMI2_FIFO_HEADER_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_frm_len) > fifo->length)
-            {
-                /* Update the data index as complete*/
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the accelerometer data */
-            unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
-            }
-
-            /* Update accelerometer frame index */
-            (*acc_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the accelerometer data */
-            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_LENGTH), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
-            }
-
-            /* Update accelerometer frame index */
-            (*acc_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the accelerometer data */
-            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
-            }
-
-            /* Update accelerometer frame index */
-            (*acc_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer, gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_ALL_FRM:
-        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
-
-            /* Partially read, then skip the data*/
-            if ((*idx + fifo->all_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the accelerometer data */
-            unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_AUX_LENGTH), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
-            }
-
-            /* Update accelerometer frame index */
-            (*acc_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->aux_gyr_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->aux_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->gyr_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-        default:
-
-            /* Move the data index to the last byte in case of invalid values */
-            (*idx) = fifo->length;
-
-            /* FIFO is empty */
-            rslt = BMI2_W_FIFO_EMPTY;
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse accelerometer data from the
- * FIFO data.
- */
-static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
-                              uint16_t data_start_index,
-                              const struct bmi2_fifo_frame *fifo,
-                              const struct bmi2_dev *dev)
-{
-    /* Variables to store LSB value */
-    uint16_t data_lsb;
-
-    /* Variables to store MSB value */
-    uint16_t data_msb;
-
-    /* Accelerometer raw x data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    acc->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accelerometer raw y data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    acc->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Accelerometer raw z data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    acc->z = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Get the re-mapped accelerometer data */
-    get_remapped_data(acc, dev);
-}
-
-/*!
- * @brief This internal API computes the number of bytes of gyroscope FIFO data
- * which is to be parsed in header-less mode.
- */
-static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
-                                  uint16_t(*len),
-                                  const uint16_t *gyr_count,
-                                  const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Data start index */
-    (*start_idx) = fifo->gyr_byte_start_idx;
-
-    /* If only gyroscope is enabled */
-    if (fifo->data_enable == BMI2_FIFO_GYR_EN)
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_LENGTH);
-    }
-    /* If only gyroscope and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_AUX_LENGTH);
-    }
-    /* If only accelerometer and gyroscope are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ACC_GYR_LENGTH);
-    }
-    /* If only accelerometer, gyroscope and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ALL_LENGTH);
-    }
-    else
-    {
-        /* Move the data index to the last byte to mark completion when
-         * no sensors or sensors apart from gyroscope are enabled
-         */
-        (*start_idx) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-
-    /* If more data is requested than available */
-    if (((*len)) > fifo->length)
-    {
-        (*len) = fifo->length;
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to parse the gyroscope data from the
- *  FIFO data in header mode.
- */
-static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
-                                       uint16_t *gyro_length,
-                                       struct bmi2_fifo_frame *fifo,
-                                       const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define header frame */
-    uint8_t frame_header = 0;
-
-    /* Variable to index the data bytes */
-    uint16_t data_index;
-
-    /* Variable to index gyroscope frames */
-    uint16_t gyro_index = 0;
-
-    /* Variable to indicate gyroscope frames read */
-    uint16_t frame_to_read = (*gyro_length);
-
-    for (data_index = fifo->gyr_byte_start_idx; data_index < fifo->length;)
-    {
-        /* Get frame header byte */
-        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
-
-        /* Parse virtual header if S4S is enabled */
-        parse_if_virtual_header(&frame_header, &data_index, fifo);
-
-        /* Index shifted to next byte where data starts */
-        data_index++;
-        switch (frame_header)
-        {
-            /* If header defines gyroscope frame */
-            case BMI2_FIFO_HEADER_GYR_FRM:
-            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-            case BMI2_FIFO_HEADER_ALL_FRM:
-
-                /* Unpack from normal frames */
-                rslt = unpack_gyro_frame(gyr, &data_index, &gyro_index, frame_header, fifo, dev);
-                break;
-
-            /* If header defines only accelerometer frame */
-            case BMI2_FIFO_HEADER_ACC_FRM:
-                rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
-                break;
-
-            /* If header defines only auxiliary frame */
-            case BMI2_FIFO_HEADER_AUX_FRM:
-                rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
-                break;
-
-            /* If header defines only auxiliary and accelerometer frame */
-            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-                rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
-                break;
-
-            /* If header defines sensor time frame */
-            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
-                rslt = unpack_sensortime_frame(&data_index, fifo);
-                break;
-
-            /* If header defines skip frame */
-            case BMI2_FIFO_HEADER_SKIP_FRM:
-                rslt = unpack_skipped_frame(&data_index, fifo);
-                break;
-
-            /* If header defines Input configuration frame */
-            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
-                break;
-
-            /* If header defines invalid frame or end of valid data */
-            case BMI2_FIFO_HEAD_OVER_READ_MSB:
-
-                /* Move the data index to the last byte */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
-                break;
-            default:
-
-                /* Move the data index to the last byte in case of invalid values */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-        }
-
-        /* Break if number of frames to be read is complete or FIFO is empty */
-        if ((frame_to_read == gyro_index) || (rslt == BMI2_W_FIFO_EMPTY))
-        {
-            break;
-        }
-    }
-
-    /* Update the gyroscope frame index */
-    (*gyro_length) = gyro_index;
-
-    /* Update the gyroscope byte index */
-    fifo->gyr_byte_start_idx = data_index;
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse the gyroscope data from the FIFO
- * data in both header and header-less mode. It updates the current data byte to
- * be parsed.
- */
-static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
-                                uint16_t *idx,
-                                uint16_t *gyr_idx,
-                                uint8_t frame,
-                                const struct bmi2_fifo_frame *fifo,
-                                const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    switch (frame)
-    {
-        /* If frame contains only gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->gyr_frm_len) > fifo->length)
-            {
-                /* Update the data index as complete*/
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the gyroscope data */
-            unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
-            }
-
-            /* Update gyroscope frame index */
-            (*gyr_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the gyroscope data */
-            unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
-            }
-
-            /* Update gyroscope frame index */
-            (*gyr_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the gyroscope data */
-            unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
-            }
-
-            /* Update gyroscope frame index */
-            (*gyr_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer, gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_ALL_FRM:
-        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
-
-            /* Partially read, then skip the data*/
-            if ((*idx + fifo->all_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the gyroscope data */
-            unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
-            }
-
-            /* Update gyroscope frame index */
-            (*gyr_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->acc_aux_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->aux_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only accelerometer data */
-        case BMI2_FIFO_HEADER_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->acc_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-        default:
-
-            /* Move the data index to the last byte in case of invalid values */
-            (*idx) = fifo->length;
-
-            /* FIFO is empty */
-            rslt = BMI2_W_FIFO_EMPTY;
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse gyroscope data from the FIFO data.
- */
-static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
-                             uint16_t data_start_index,
-                             const struct bmi2_fifo_frame *fifo,
-                             const struct bmi2_dev *dev)
-{
-    /* Variables to store LSB value */
-    uint16_t data_lsb;
-
-    /* Variables to store MSB value */
-    uint16_t data_msb;
-
-    /* Gyroscope raw x data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    gyr->x = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyroscope raw y data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    gyr->y = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Gyroscope raw z data */
-    data_lsb = fifo->data[data_start_index++];
-    data_msb = fifo->data[data_start_index++];
-    gyr->z = (int16_t)((data_msb << 8) | data_lsb);
-
-    /* Get the compensated gyroscope data */
-    comp_gyro_cross_axis_sensitivity(gyr, dev);
-
-    /* Get the re-mapped gyroscope data */
-    get_remapped_data(gyr, dev);
-}
-
-/*!
- * @brief This API computes the number of bytes of auxiliary FIFO data which is
- * to be parsed in header-less mode.
- */
-static int8_t parse_fifo_aux_len(uint16_t *start_idx,
-                                 uint16_t(*len),
-                                 const uint16_t *aux_count,
-                                 const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Data start index */
-    *start_idx = fifo->aux_byte_start_idx;
-
-    /* If only auxiliary is enabled */
-    if (fifo->data_enable == BMI2_FIFO_AUX_EN)
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_AUX_LENGTH);
-    }
-    /* If only accelerometer and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ACC_AUX_LENGTH);
-    }
-    /* If only accelerometer and gyroscope are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_GYR_AUX_LENGTH);
-    }
-    /* If only accelerometer, gyroscope and auxiliary are enabled */
-    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_ACC_EN))
-    {
-        /* Number of bytes to be read */
-        (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ALL_LENGTH);
-    }
-    else
-    {
-        /* Move the data index to the last byte to mark completion when
-         * no sensors or sensors apart from gyroscope are enabled
-         */
-        (*start_idx) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-
-    /* If more data is requested than available */
-    if (((*len)) > fifo->length)
-    {
-        (*len) = fifo->length;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to parse the auxiliary data from the FIFO data in
- * header mode.
- */
-static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
-                                      uint16_t *aux_len,
-                                      struct bmi2_fifo_frame *fifo,
-                                      const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define header frame */
-    uint8_t frame_header = 0;
-
-    /* Variable to index the data bytes */
-    uint16_t data_index;
-
-    /* Variable to index gyroscope frames */
-    uint16_t aux_index = 0;
-
-    /* Variable to indicate auxiliary frames read */
-    uint16_t frame_to_read = *aux_len;
-
-    for (data_index = fifo->aux_byte_start_idx; data_index < fifo->length;)
-    {
-        /* Get frame header byte */
-        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
-
-        /* Parse virtual header if S4S is enabled */
-        parse_if_virtual_header(&frame_header, &data_index, fifo);
-
-        /* Index shifted to next byte where data starts */
-        data_index++;
-        switch (frame_header)
-        {
-            /* If header defines auxiliary frame */
-            case BMI2_FIFO_HEADER_AUX_FRM:
-            case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-            case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-            case BMI2_FIFO_HEADER_ALL_FRM:
-
-                /* Unpack from normal frames */
-                rslt = unpack_aux_frame(aux, &data_index, &aux_index, frame_header, fifo, dev);
-                break;
-
-            /* If header defines only accelerometer frame */
-            case BMI2_FIFO_HEADER_ACC_FRM:
-                rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
-                break;
-
-            /* If header defines only gyroscope frame */
-            case BMI2_FIFO_HEADER_GYR_FRM:
-                rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
-                break;
-
-            /* If header defines only gyroscope and accelerometer frame */
-            case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-                rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
-                break;
-
-            /* If header defines sensor time frame */
-            case BMI2_FIFO_HEADER_SENS_TIME_FRM:
-                rslt = unpack_sensortime_frame(&data_index, fifo);
-                break;
-
-            /* If header defines skip frame */
-            case BMI2_FIFO_HEADER_SKIP_FRM:
-                rslt = unpack_skipped_frame(&data_index, fifo);
-                break;
-
-            /* If header defines Input configuration frame */
-            case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
-                break;
-
-            /* If header defines invalid frame or end of valid data */
-            case BMI2_FIFO_HEAD_OVER_READ_MSB:
-
-                /* Move the data index to the last byte */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
-                rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
-                break;
-            default:
-
-                /* Move the data index to the last byte in case
-                 * of invalid values
-                 */
-                data_index = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-        }
-
-        /* Break if number of frames to be read is complete or FIFO is
-         * empty
-         */
-        if ((frame_to_read == aux_index) || (rslt == BMI2_W_FIFO_EMPTY))
-        {
-            break;
-        }
-    }
-
-    /* Update the gyroscope frame index */
-    (*aux_len) = aux_index;
-
-    /* Update the gyroscope byte index */
-    fifo->aux_byte_start_idx = data_index;
-
-    return rslt;
-}
-
-/*!
- * @brief This API is used to parse the auxiliary frame from the FIFO data in
- * both header mode and header-less mode and update the data_index value which
- * is used to store the index of the current data byte which is parsed.
- */
-static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
-                               uint16_t *idx,
-                               uint16_t *aux_idx,
-                               uint8_t frame,
-                               const struct bmi2_fifo_frame *fifo,
-                               const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    switch (frame)
-    {
-        /* If frame contains only auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->aux_frm_len) > fifo->length)
-            {
-                /* Update the data index as complete*/
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the auxiliary data */
-            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_AUX_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
-            }
-
-            /* Update auxiliary frame index */
-            (*aux_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the auxiliary data */
-            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
-            }
-
-            /* Update auxiliary frame index */
-            (*aux_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
-
-            /* Partially read, then skip the data */
-            if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the auxiliary data */
-            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
-            }
-
-            /* Update auxiliary frame index */
-            (*aux_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer, gyroscope and auxiliary data */
-        case BMI2_FIFO_HEADER_ALL_FRM:
-        case BMI2_FIFO_HEAD_LESS_ALL_FRM:
-
-            /* Partially read, then skip the data */
-            if ((*idx + fifo->all_frm_len) > fifo->length)
-            {
-                /* Move the data index to the last byte */
-                (*idx) = fifo->length;
-
-                /* FIFO is empty */
-                rslt = BMI2_W_FIFO_EMPTY;
-                break;
-            }
-
-            /* Get the auxiliary data */
-            unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
-
-            /* Update data index */
-            (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
-
-            /* Get virtual sensor time if S4S is enabled */
-            if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
-            {
-                unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
-            }
-
-            /* Update auxiliary frame index */
-            (*aux_idx)++;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only accelerometer data */
-        case BMI2_FIFO_HEADER_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_ACC_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->acc_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains only gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->gyr_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-
-        /* If frame contains accelerometer and gyroscope data */
-        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-        case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
-
-            /* Update data index */
-            (*idx) = (*idx) + fifo->acc_gyr_frm_len;
-
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-            break;
-        default:
-
-            /* Move the data index to the last byte in case of
-             * invalid values
-             */
-            (*idx) = fifo->length;
-
-            /* FIFO is empty */
-            rslt = BMI2_W_FIFO_EMPTY;
-            break;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse auxiliary data from the FIFO data.
- */
-static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
-                            uint16_t data_start_index,
-                            const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to store index */
-    uint16_t idx = 0;
-
-    /* Get auxiliary data */
-    for (; idx < 8; idx++)
-    {
-        aux->data[idx] = fifo->data[data_start_index++];
-    }
-}
-
-/*!
- * @brief This internal API parses virtual frame header from the FIFO data.
- */
-static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to extract virtual header byte */
-    uint8_t virtual_header_mode;
-
-    /* Extract virtual header mode from the frame header */
-    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
-
-    /* If the extracted header byte is a virtual header */
-    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
-    {
-        /* If frame header is not activity recognition header */
-        if (*frame_header != 0xC8)
-        {
-            /* Index shifted to next byte where sensor frame is present */
-            (*data_index) = (*data_index) + 1;
-
-            /* Get the sensor frame header */
-            *frame_header = fifo->data[*data_index] & BMI2_FIFO_TAG_INTR_MASK;
-        }
-    }
-}
-
-/*!
- * @brief This internal API gets sensor time from the accelerometer and
- * gyroscope virtual frames and updates in the data structure.
- */
-static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define 3 bytes of sensor time */
-    uint32_t sensor_time_byte3;
-    uint16_t sensor_time_byte2;
-    uint8_t sensor_time_byte1;
-
-    /* Get sensor time from the FIFO data */
-    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
-    sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
-    sensor_time_byte1 = fifo->data[(*idx)];
-
-    /* Store sensor time in the sensor data structure */
-    sens->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-
-    /* Move the data index by 3 bytes */
-    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
-}
-
-/*!
- * @brief This internal API gets sensor time from the auxiliary virtual
- * frames and updates in the data structure.
- */
-static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
-                                        uint16_t *idx,
-                                        const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define 3 bytes of sensor time */
-    uint32_t sensor_time_byte3;
-    uint16_t sensor_time_byte2;
-    uint8_t sensor_time_byte1;
-
-    /* Get sensor time from the FIFO data */
-    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
-    sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
-    sensor_time_byte1 = fifo->data[(*idx)];
-
-    /* Store sensor time in the sensor data structure */
-    aux->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-
-    /* Move the data index by 3 bytes */
-    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
-}
-
-/*!
- * @brief This internal API is used to reset the FIFO related configurations in
- * the FIFO frame structure for the next FIFO read.
- */
-static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev)
-{
-    /* Reset FIFO data structure */
-    fifo->acc_byte_start_idx = 0;
-    fifo->aux_byte_start_idx = 0;
-    fifo->gyr_byte_start_idx = 0;
-    fifo->sensor_time = 0;
-    fifo->skipped_frame_count = 0;
-    fifo->act_recog_byte_start_idx = 0;
-
-    /* If S4S is enabled */
-    if ((dev->sens_en_stat & BMI2_EXT_SENS_SEL) == BMI2_EXT_SENS_SEL)
-    {
-        fifo->acc_frm_len = BMI2_FIFO_VIRT_ACC_LENGTH;
-        fifo->gyr_frm_len = BMI2_FIFO_VIRT_GYR_LENGTH;
-        fifo->aux_frm_len = BMI2_FIFO_VIRT_AUX_LENGTH;
-        fifo->acc_gyr_frm_len = BMI2_FIFO_VIRT_ACC_GYR_LENGTH;
-        fifo->acc_aux_frm_len = BMI2_FIFO_VIRT_ACC_AUX_LENGTH;
-        fifo->aux_gyr_frm_len = BMI2_FIFO_VIRT_GYR_AUX_LENGTH;
-        fifo->all_frm_len = BMI2_FIFO_VIRT_ALL_LENGTH;
-
-        /* If S4S is not enabled */
-    }
-    else
-    {
-        fifo->acc_frm_len = BMI2_FIFO_ACC_LENGTH;
-        fifo->gyr_frm_len = BMI2_FIFO_GYR_LENGTH;
-        fifo->aux_frm_len = BMI2_FIFO_AUX_LENGTH;
-        fifo->acc_gyr_frm_len = BMI2_FIFO_ACC_GYR_LENGTH;
-        fifo->acc_aux_frm_len = BMI2_FIFO_ACC_AUX_LENGTH;
-        fifo->aux_gyr_frm_len = BMI2_FIFO_GYR_AUX_LENGTH;
-        fifo->all_frm_len = BMI2_FIFO_ALL_LENGTH;
-    }
-}
-
-/*!
- * @brief This API internal checks whether the FIFO data read is an empty frame.
- * If empty frame, index is moved to the last byte.
- */
-static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Validate data index */
-    if (((*data_index) + 6) < fifo->length)
-    {
-        /* Check if FIFO is empty */
-        if (((fifo->data[(*data_index)] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
-             (fifo->data[(*data_index) + 1] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
-            ((fifo->data[(*data_index) + 2] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
-             (fifo->data[(*data_index) + 3] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
-            ((fifo->data[(*data_index) + 4] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
-             (fifo->data[(*data_index) + 5] == BMI2_FIFO_LSB_CONFIG_CHECK)))
-        {
-            /* Move the data index to the last byte to mark completion */
-            (*data_index) = fifo->length;
-
-            /* FIFO is empty */
-            rslt = BMI2_W_FIFO_EMPTY;
-        }
-        else
-        {
-            /* More frames could be read */
-            rslt = BMI2_W_PARTIAL_READ;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Validate data index */
-    if (((*data_index) + current_frame_length) > fifo->length)
-    {
-        /* Move the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Move the data index to next frame */
-        (*data_index) = (*data_index) + current_frame_length;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse and store the sensor time from the
- * FIFO data.
- */
-static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variables to define 3 bytes of sensor time */
-    uint32_t sensor_time_byte3 = 0;
-    uint16_t sensor_time_byte2 = 0;
-    uint8_t sensor_time_byte1 = 0;
-
-    /* Validate data index */
-    if (((*data_index) + BMI2_SENSOR_TIME_LENGTH) > fifo->length)
-    {
-        /* Move the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Get sensor time from the FIFO data */
-        sensor_time_byte3 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_MSB_BYTE] << 16;
-        sensor_time_byte2 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
-        sensor_time_byte1 = fifo->data[(*data_index)];
-
-        /* Update sensor time in the FIFO structure */
-        fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
-
-        /* Move the data index by 3 bytes */
-        (*data_index) = (*data_index) + BMI2_SENSOR_TIME_LENGTH;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse and store the skipped frame count
- * from the FIFO data.
- */
-static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Validate data index */
-    if ((*data_index) >= fifo->length)
-    {
-        /* Update the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Update skipped frame count in the FIFO structure */
-        fifo->skipped_frame_count = fifo->data[(*data_index)];
-
-        /* Move the data index by 1 byte */
-        (*data_index) = (*data_index) + 1;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables and configures the accelerometer which is
- * needed for self-test operation. It also sets the amplitude for the self-test.
- */
-static int8_t pre_self_test_config(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Structure to define sensor configurations */
-    struct bmi2_sens_config sens_cfg;
-
-    /* List the sensors to be selected */
-    uint8_t sens_sel = BMI2_ACCEL;
-
-    /* Enable accelerometer */
-    rslt = bmi2_sensor_enable(&sens_sel, 1, dev);
-    dev->delay_us(1000, dev->intf_ptr);
-
-    /* Enable self-test amplitude */
-    if (rslt == BMI2_OK)
-    {
-        rslt = set_accel_self_test_amp(BMI2_ENABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Select accelerometer for sensor configurations */
-        sens_cfg.type = BMI2_ACCEL;
-
-        /* Get the default values */
-        rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Set the configurations required for self-test */
-            sens_cfg.cfg.acc.odr = BMI2_ACC_ODR_1600HZ;
-            sens_cfg.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-            sens_cfg.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-            sens_cfg.cfg.acc.range = BMI2_ACC_RANGE_16G;
-
-            /* Set accelerometer configurations */
-            rslt = bmi2_set_sensor_config(&sens_cfg, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API performs the steps needed for self-test operation
- * before reading the accelerometer self-test data.
- */
-static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Enable the accelerometer self-test feature */
-    rslt = set_accel_self_test_enable(BMI2_ENABLE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Selects the sign of accelerometer self-test excitation */
-        rslt = set_acc_self_test_sign(sign, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables or disables the accelerometer self-test
- * feature in the sensor.
- */
-static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define data */
-    uint8_t data = 0;
-
-    /* Enable/Disable self-test feature */
-    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        data = BMI2_SET_BIT_POS0(data, BMI2_ACC_SELF_TEST_EN, enable);
-        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sign for accelerometer self-test
- * excitation.
- */
-static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define data */
-    uint8_t data = 0;
-
-    /* Select the sign for self-test excitation */
-    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_SIGN, sign);
-        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the amplitude of the accelerometer self-test
- * deflection in the sensor.
- */
-static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define data */
-    uint8_t data = 0;
-
-    /* Select amplitude of the self-test deflection */
-    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_AMP, amp);
-        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API reads the accelerometer data for x,y and z axis from
- * the sensor. The data units is in LSB format.
- */
-static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Array to define data buffer */
-    uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
-
-    rslt = bmi2_get_regs(BMI2_ACC_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Accelerometer data x axis */
-        msb = data[1];
-        lsb = data[0];
-        accel->x = (int16_t)((msb << 8) | lsb);
-
-        /* Accelerometer data y axis */
-        msb = data[3];
-        lsb = data[2];
-        accel->y = (int16_t)((msb << 8) | lsb);
-
-        /* Accelerometer data z axis */
-        msb = data[5];
-        lsb = data[4];
-        accel->z = (int16_t)((msb << 8) | lsb);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API reads the gyroscope data for x, y and z axis from
- * the sensor. The data units is in LSB format.
- */
-static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Array to define data buffer */
-    uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
-
-    rslt = bmi2_get_regs(BMI2_GYR_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Gyroscope data x axis */
-        msb = data[1];
-        lsb = data[0];
-        gyro->x = (int16_t)((msb << 8) | lsb);
-
-        /* Gyroscope data y axis */
-        msb = data[3];
-        lsb = data[2];
-        gyro->y = (int16_t)((msb << 8) | lsb);
-
-        /* Gyroscope data z axis */
-        msb = data[5];
-        lsb = data[4];
-        gyro->z = (int16_t)((msb << 8) | lsb);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API converts LSB value of accelerometer axes to form
- * 'g' to 'mg' for self-test.
- */
-static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
-                          struct bmi2_selftest_delta_limit *acc_data_diff_mg,
-                          const struct bmi2_dev *dev)
-{
-    /* Variable to define LSB/g value of axes */
-    uint32_t lsb_per_g;
-
-    /* Range considered for self-test is +/-16g */
-    uint8_t range = BMI2_ACC_SELF_TEST_RANGE;
-
-    /* lsb_per_g for the respective resolution and 16g range */
-    lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range));
-
-    /* Accelerometer x value in mg */
-    acc_data_diff_mg->x = (acc_data_diff->x / (int32_t) lsb_per_g) * 1000;
-
-    /* Accelerometer y value in mg */
-    acc_data_diff_mg->y = (acc_data_diff->y / (int32_t) lsb_per_g) * 1000;
-
-    /* Accelerometer z value in mg */
-    acc_data_diff_mg->z = (acc_data_diff->z / (int32_t) lsb_per_g) * 1000;
-}
-
-/*!
- * @brief This internal API is used to calculate the power of a value.
- */
-static int32_t power(int16_t base, uint8_t resolution)
-{
-    /* Initialize loop */
-    uint8_t loop = 1;
-
-    /* Initialize variable to store the power of 2 value */
-    int32_t value = 1;
-
-    for (; loop <= resolution; loop++)
-    {
-        value = (int32_t)(value * base);
-    }
-
-    return value;
-}
-
-/*!
- * @brief This internal API validates the accelerometer self-test data and
- * decides the result of self-test operation.
- */
-static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* As per the data sheet, The actually measured signal differences should be significantly
-     * larger than the minimum differences for each axis in order for the self-test to pass.
-     */
-    if ((accel_data_diff->x > BMI2_ST_ACC_X_SIG_MIN_DIFF) && (accel_data_diff->y < BMI2_ST_ACC_Y_SIG_MIN_DIFF) &&
-        (accel_data_diff->z > BMI2_ST_ACC_Z_SIG_MIN_DIFF))
-    {
-        /* Self-test pass */
-        rslt = BMI2_OK;
-    }
-    else
-    {
-        /* Self-test fail*/
-        rslt = BMI2_E_SELF_TEST_FAIL;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
- */
-static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for axis re-mapping */
-    struct bmi2_feature_config remap_config = { 0, 0, 0 };
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Search for axis re-mapping and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
-        if (feat_found)
-        {
-            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for axis re-mapping */
-                idx = remap_config.start_addr;
-
-                /* Get the re-mapped x-axis */
-                remap->x_axis = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_X_AXIS);
-
-                /* Get the re-mapped x-axis polarity */
-                remap->x_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_X_AXIS_SIGN);
-
-                /* Get the re-mapped y-axis */
-                remap->y_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS);
-
-                /* Get the re-mapped y-axis polarity */
-                remap->y_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS_SIGN);
-
-                /* Get the re-mapped z-axis */
-                remap->z_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Z_AXIS);
-
-                /* Increment byte to fetch the next data */
-                idx++;
-
-                /* Get the re-mapped z-axis polarity */
-                remap->z_axis_sign = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
- */
-static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define the register address */
-    uint8_t reg_addr = 0;
-
-    /* Variable to set the re-mapped x-axes in the sensor */
-    uint8_t x_axis = 0;
-
-    /* Variable to set the re-mapped y-axes in the sensor */
-    uint8_t y_axis = 0;
-
-    /* Variable to set the re-mapped z-axes in the sensor */
-    uint8_t z_axis = 0;
-
-    /* Variable to set the re-mapped x-axes sign in the sensor */
-    uint8_t x_axis_sign = 0;
-
-    /* Variable to set the re-mapped y-axes sign in the sensor */
-    uint8_t y_axis_sign = 0;
-
-    /* Variable to set the re-mapped z-axes sign in the sensor */
-    uint8_t z_axis_sign = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for axis re-mapping */
-    struct bmi2_feature_config remap_config = { 0, 0, 0 };
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Search for axis-re-mapping and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
-        if (feat_found)
-        {
-            /* Get the configuration from the page where axis re-mapping feature resides */
-            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes */
-                idx = remap_config.start_addr;
-
-                /* Set the value of re-mapped x-axis */
-                x_axis = remap->x_axis & BMI2_X_AXIS_MASK;
-
-                /* Set the value of re-mapped x-axis sign */
-                x_axis_sign = ((remap->x_axis_sign << BMI2_X_AXIS_SIGN_POS) & BMI2_X_AXIS_SIGN_MASK);
-
-                /* Set the value of re-mapped y-axis */
-                y_axis = ((remap->y_axis << BMI2_Y_AXIS_POS) & BMI2_Y_AXIS_MASK);
-
-                /* Set the value of re-mapped y-axis sign */
-                y_axis_sign = ((remap->y_axis_sign << BMI2_Y_AXIS_SIGN_POS) & BMI2_Y_AXIS_SIGN_MASK);
-
-                /* Set the value of re-mapped z-axis */
-                z_axis = ((remap->z_axis << BMI2_Z_AXIS_POS) & BMI2_Z_AXIS_MASK);
-
-                /* Set the value of re-mapped z-axis sign */
-                z_axis_sign = remap->z_axis_sign & BMI2_Z_AXIS_SIGN_MASK;
-
-                /* Arrange axes in the first byte */
-                feat_config[idx] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis;
-
-                /* Increment the index */
-                idx++;
-
-                /* Cannot OR in the second byte since it holds
-                 * gyroscope self-offset correction bit
-                 */
-                feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN, z_axis_sign);
-
-                /* Update the register address */
-                reg_addr = BMI2_FEATURES_REG_ADDR + remap_config.start_addr;
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(reg_addr, &feat_config[remap_config.start_addr], 2, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API corrects the gyroscope cross-axis sensitivity
- * between the z and the x axis.
- */
-static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev)
-{
-    /* Get the compensated gyroscope x-axis */
-    gyr_data->x = gyr_data->x - (int16_t)(((int32_t) dev->gyr_cross_sens_zx * (int32_t) gyr_data->z) / 512);
-}
-
-/*!
- * @brief This internal API is used to validate the boundary conditions.
- */
-static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    if (val != NULL)
-    {
-        /* Check if value is below minimum value */
-        if (*val < min)
-        {
-            /* Auto correct the invalid value to minimum value */
-            *val = min;
-            dev->info |= BMI2_I_MIN_VALUE;
-        }
-
-        /* Check if value is above maximum value */
-        if (*val > max)
-        {
-            /* Auto correct the invalid value to maximum value */
-            *val = max;
-            dev->info |= BMI2_I_MAX_VALUE;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API saves the configurations before performing FOC.
- */
-static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
-                                    uint8_t *aps,
-                                    uint8_t *acc_en,
-                                    struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to get the status from PWR_CTRL register */
-    uint8_t pwr_ctrl_data = 0;
-
-    /* Get accelerometer configurations to be saved */
-    rslt = get_accel_config(acc_cfg, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get accelerometer enable status to be saved */
-        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-        *acc_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_ACC_EN);
-
-        /* Get advance power save mode to be saved */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_get_adv_power_save(aps, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal sets configurations for performing accelerometer FOC.
- */
-static int8_t set_accel_foc_config(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select the sensor */
-    uint8_t sens_list = BMI2_ACCEL;
-
-    /* Variable to set the accelerometer configuration value */
-    uint8_t acc_conf_data = BMI2_FOC_ACC_CONF_VAL;
-
-    /* Disabling offset compensation */
-    rslt = set_accel_offset_comp(BMI2_DISABLE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */
-        rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, &acc_conf_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Set accelerometer to normal mode by enabling it */
-            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Disable advance power save mode */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API performs Fast Offset Compensation for accelerometer.
- */
-static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
-                                const struct bmi2_accel_config *acc_cfg,
-                                struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_E_INVALID_STATUS;
-
-    /* Variable to define count */
-    uint8_t loop;
-
-    /* Variable to store status read from the status register */
-    uint8_t reg_status = 0;
-
-    /* Array of structure to store accelerometer data */
-    struct bmi2_sens_axes_data accel_value[128] = { { 0 } };
-
-    /* Structure to store accelerometer data temporarily */
-    struct bmi2_foc_temp_value temp = { 0, 0, 0 };
-
-    /* Structure to store the average of accelerometer data */
-    struct bmi2_sens_axes_data accel_avg = { 0, 0, 0, 0 };
-
-    /* Variable to define LSB per g value */
-    uint16_t lsb_per_g = 0;
-
-    /* Variable to define range */
-    uint8_t range = 0;
-
-    /* Structure to store accelerometer data deviation from ideal value */
-    struct bmi2_offset_delta delta = { 0, 0, 0 };
-
-    /* Structure to store accelerometer offset values */
-    struct bmi2_accel_offset offset = { 0, 0, 0 };
-
-    /* Variable tries max 5 times for interrupt then generates timeout */
-    uint8_t try_cnt;
-
-    for (loop = 0; loop < 128; loop++)
-    {
-        try_cnt = 5;
-        while (try_cnt && (!(reg_status & BMI2_DRDY_ACC)))
-        {
-            /* 20ms delay for 50Hz ODR */
-            dev->delay_us(20000, dev->intf_ptr);
-            rslt = bmi2_get_status(&reg_status, dev);
-            try_cnt--;
-        }
-
-        if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_ACC))
-        {
-            rslt = read_accel_xyz(&accel_value[loop], dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            rslt = read_accel_xyz(&accel_value[loop], dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Store the data in a temporary structure */
-            temp.x = temp.x + (int32_t)accel_value[loop].x;
-            temp.y = temp.y + (int32_t)accel_value[loop].y;
-            temp.z = temp.z + (int32_t)accel_value[loop].z;
-        }
-        else
-        {
-            break;
-        }
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Take average of x, y and z data for lesser noise */
-        accel_avg.x = (int16_t)(temp.x / 128);
-        accel_avg.y = (int16_t)(temp.y / 128);
-        accel_avg.z = (int16_t)(temp.z / 128);
-
-        /* Get the exact range value */
-        map_accel_range(acc_cfg->range, &range);
-
-        /* Get the smallest possible measurable acceleration level given the range and
-         * resolution */
-        lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range));
-
-        /* Compensate acceleration data against gravity */
-        comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta);
-
-        /* Scale according to offset register resolution */
-        scale_accel_offset(range, &delta, &offset);
-
-        /* Invert the accelerometer offset data */
-        invert_accel_offset(&offset);
-
-        /* Write offset data in the offset compensation register */
-        rslt = write_accel_offset(&offset, dev);
-
-        /* Enable offset compensation */
-        if (rslt == BMI2_OK)
-        {
-            rslt = set_accel_offset_comp(BMI2_ENABLE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables the offset compensation for
- * filtered and un-filtered accelerometer data.
- */
-static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t data = 0;
-
-    /* Enable/Disable offset compensation */
-    rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        data = BMI2_SET_BITS(data, BMI2_NV_ACC_OFFSET, offset_en);
-        rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API converts the accelerometer range value into
- * corresponding integer value.
- */
-static void map_accel_range(uint8_t range_in, uint8_t *range_out)
-{
-    switch (range_in)
-    {
-        case BMI2_ACC_RANGE_2G:
-            *range_out = 2;
-            break;
-        case BMI2_ACC_RANGE_4G:
-            *range_out = 4;
-            break;
-        case BMI2_ACC_RANGE_8G:
-            *range_out = 8;
-            break;
-        case BMI2_ACC_RANGE_16G:
-            *range_out = 16;
-            break;
-        default:
-
-            /* By default RANGE 8G is set */
-            *range_out = 8;
-            break;
-    }
-}
-
-/*!
- * @brief This internal API compensate the accelerometer data against gravity.
- */
-static void comp_for_gravity(uint16_t lsb_per_g,
-                             const struct bmi2_accel_foc_g_value *g_val,
-                             const struct bmi2_sens_axes_data *data,
-                             struct bmi2_offset_delta *comp_data)
-{
-    /* Array to store the accelerometer values in LSB */
-    int16_t accel_value_lsb[3] = { 0 };
-
-    /* Convert g-value to LSB */
-    accel_value_lsb[BMI2_X_AXIS] = (int16_t)(lsb_per_g * g_val->x);
-    accel_value_lsb[BMI2_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y);
-    accel_value_lsb[BMI2_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z);
-
-    /* Get the compensated values for X, Y and Z axis */
-    comp_data->x = (data->x - accel_value_lsb[BMI2_X_AXIS]);
-    comp_data->y = (data->y - accel_value_lsb[BMI2_Y_AXIS]);
-    comp_data->z = (data->z - accel_value_lsb[BMI2_Z_AXIS]);
-}
-
-/*!
- * @brief This internal API scales the compensated accelerometer data according
- * to the offset register resolution.
- *
- * @note The bit position is always greater than 0 since accelerometer data is
- * 16 bit wide.
- */
-static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data, struct bmi2_accel_offset *data)
-{
-    /* Variable to store the position of bit having 3.9mg resolution */
-    int8_t bit_pos_3_9mg;
-
-    /* Variable to store the position previous of bit having 3.9mg resolution */
-    int8_t bit_pos_3_9mg_prev_bit;
-
-    /* Variable to store the round-off value */
-    uint8_t round_off;
-
-    /* Find the bit position of 3.9mg */
-    bit_pos_3_9mg = get_bit_pos_3_9mg(range);
-
-    /* Round off, consider if the next bit is high */
-    bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1;
-    round_off = (uint8_t)(power(2, ((uint8_t) bit_pos_3_9mg_prev_bit)));
-
-    /* Scale according to offset register resolution */
-    data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
-    data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
-    data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
-}
-
-/*!
- * @brief This internal API finds the bit position of 3.9mg according to given
- * range and resolution.
- */
-static int8_t get_bit_pos_3_9mg(uint8_t range)
-{
-    /* Variable to store the bit position of 3.9mg resolution */
-    int8_t bit_pos_3_9mg;
-
-    /* Variable to shift the bits according to the resolution  */
-    uint32_t divisor = 1;
-
-    /* Scaling factor to get the bit position of 3.9 mg resolution */
-    int16_t scale_factor = -1;
-
-    /* Variable to store temporary value */
-    uint16_t temp;
-
-    /* Shift left by the times of resolution */
-    divisor = divisor << 16;
-
-    /* Get the bit position to be shifted */
-    temp = (uint16_t)(divisor / (range * 256));
-
-    /* Get the scaling factor until bit position is shifted to last bit */
-    while (temp != 1)
-    {
-        scale_factor++;
-        temp = temp >> 1;
-    }
-
-    /* Scaling factor is the bit position of 3.9 mg resolution */
-    bit_pos_3_9mg = (int8_t) scale_factor;
-
-    return bit_pos_3_9mg;
-}
-
-/*!
- * @brief This internal API inverts the accelerometer offset data.
- */
-static void invert_accel_offset(struct bmi2_accel_offset *offset_data)
-{
-    /* Get the offset data */
-    offset_data->x = (uint8_t)((offset_data->x) * (-1));
-    offset_data->y = (uint8_t)((offset_data->y) * (-1));
-    offset_data->z = (uint8_t)((offset_data->z) * (-1));
-}
-
-/*!
- * @brief This internal API writes the offset data in the offset compensation
- * register.
- */
-static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to store the offset data */
-    uint8_t data_array[3] = { 0 };
-
-    data_array[0] = offset->x;
-    data_array[1] = offset->y;
-    data_array[2] = offset->z;
-
-    /* Offset values are written in the offset register */
-    rslt = bmi2_set_regs(BMI2_ACC_OFF_COMP_0_ADDR, data_array, 3, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API restores the configurations saved before performing
- * accelerometer FOC.
- */
-static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
-                                       uint8_t aps,
-                                       uint8_t acc_en,
-                                       struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to get the status from PWR_CTRL register */
-    uint8_t pwr_ctrl_data = 0;
-
-    /* Restore the saved accelerometer configurations */
-    rslt = set_accel_config(acc_cfg, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Restore the saved accelerometer enable status */
-        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_ACC_EN, acc_en);
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-
-            /* Restore the saved advance power save */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_set_adv_power_save(aps, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets accelerometer configurations like ODR,
- * bandwidth, performance mode and g-range.
- */
-static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    /* Array to store the default value of accelerometer configuration
-     * reserved registers
-     */
-    uint8_t data_array[2] = { 0 };
-
-    /* Validate bandwidth and performance mode */
-    rslt = validate_bw_perf_mode(&config->bwp, &config->filter_perf, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Validate ODR and range */
-        rslt = validate_odr_range(&config->odr, &config->range, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Set accelerometer performance mode */
-            reg_data = BMI2_SET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE, config->filter_perf);
-
-            /* Set accelerometer bandwidth */
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_BW_PARAM, config->bwp);
-
-            /* Set accelerometer ODR */
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ACC_ODR, config->odr);
-
-            /* Copy the register data to the array */
-            data_array[0] = reg_data;
-
-            /* Set accelerometer range */
-            reg_data = BMI2_SET_BIT_POS0(data_array[1], BMI2_ACC_RANGE, config->range);
-
-            /* Copy the register data to the array */
-            data_array[1] = reg_data;
-
-            /* Write accelerometer configuration to ACC_CONFand
-             * ACC_RANGE registers simultaneously as they lie in consecutive places
-             */
-            rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
-
-            /* Get error status to check for invalid configurations */
-            if (rslt == BMI2_OK)
-            {
-                rslt = cfg_error_status(dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets gyroscope configurations like ODR, bandwidth,
- * low power/high performance mode, performance mode and range. It also
- * maps/un-maps data interrupts to that of hardware interrupt line.
- */
-static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data;
-
-    /* Array to store the default value of gyroscope configuration reserved registers  */
-    uint8_t data_array[2] = { 0 };
-
-    /* Validate gyroscope configurations */
-    rslt = validate_gyro_config(config, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set gyroscope performance mode */
-        reg_data = BMI2_SET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE, config->filter_perf);
-
-        /* Set gyroscope noise performance mode */
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_NOISE_PERF_MODE, config->noise_perf);
-
-        /* Set gyroscope bandwidth */
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_BW_PARAM, config->bwp);
-
-        /* Set gyroscope ODR */
-        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_ODR, config->odr);
-
-        /* Copy the register data to the array */
-        data_array[0] = reg_data;
-
-        /* Set gyroscope OIS range */
-        reg_data = BMI2_SET_BITS(data_array[1], BMI2_GYR_OIS_RANGE, config->ois_range);
-
-        /* Set gyroscope range */
-        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_RANGE, config->range);
-
-        /* Copy the register data to the array */
-        data_array[1] = reg_data;
-
-        /* Write accelerometer configuration to GYR_CONF and GYR_RANGE
-         * registers simultaneously as they lie in consecutive places
-         */
-        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
-
-        /* Get error status to check for invalid configurations */
-        if (rslt == BMI2_OK)
-        {
-            rslt = cfg_error_status(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API saves the configurations before performing gyroscope
- * FOC.
- */
-static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to get the status from PWR_CTRL register */
-    uint8_t pwr_ctrl_data = 0;
-
-    /* Get gyroscope configurations to be saved */
-    rslt = get_gyro_config(gyr_cfg, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get gyroscope enable status to be saved */
-        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-        *gyr_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_GYR_EN);
-
-        /* Get advance power save mode to be saved */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_get_adv_power_save(aps, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal sets configurations for performing gyroscope FOC.
- */
-static int8_t set_gyro_foc_config(struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    /* Variable to select the sensor */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Array to set the gyroscope configuration value (ODR, Performance mode
-     * and bandwidth) and gyroscope range
-     */
-    uint8_t gyr_conf_data[2] = { BMI2_FOC_GYR_CONF_VAL, BMI2_GYR_RANGE_2000 };
-
-    /* Disabling gyroscope offset compensation */
-    rslt = bmi2_set_gyro_offset_comp(BMI2_DISABLE, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Set gyroscope configurations to 25Hz, continuous mode,
-         * CIC mode, and 2000 dps range
-         */
-        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, gyr_conf_data, 2, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Set gyroscope to normal mode by enabling it */
-            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Disable advance power save mode */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API inverts the gyroscope offset data.
- */
-static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data)
-{
-    /* Invert the values */
-    offset_data->x = (int16_t)((offset_data->x) * (-1));
-    offset_data->y = (int16_t)((offset_data->y) * (-1));
-    offset_data->z = (int16_t)((offset_data->z) * (-1));
-}
-
-/*!
- * @brief This internal API restores the gyroscope configurations saved
- * before performing FOC.
- */
-static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t pwr_ctrl_data = 0;
-
-    /* Restore the saved gyroscope configurations */
-    rslt = set_gyro_config(gyr_cfg, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Restore the saved gyroscope enable status */
-        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_GYR_EN, gyr_en);
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
-
-            /* Restore the saved advance power save */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_set_adv_power_save(aps, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API saturates the gyroscope data value before writing to
- * to 10 bit offset register.
- */
-static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off)
-{
-    if (gyr_off->x > 511)
-    {
-        gyr_off->x = 511;
-    }
-
-    if (gyr_off->x < -512)
-    {
-        gyr_off->x = -512;
-    }
-
-    if (gyr_off->y > 511)
-    {
-        gyr_off->y = 511;
-    }
-
-    if (gyr_off->y < -512)
-    {
-        gyr_off->y = -512;
-    }
-
-    if (gyr_off->z > 511)
-    {
-        gyr_off->z = 511;
-    }
-
-    if (gyr_off->z < -512)
-    {
-        gyr_off->z = -512;
-    }
-}
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is to get the status of st_status from gry_crt_conf register
- */
-static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data = 0;
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get the status of crt running */
-        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            (*st_status) = BMI2_GET_BITS(reg_data, BMI2_GYR_CRT_RUNNING);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables/disables the CRT running.
- */
-static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data = 0;
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_CRT_RUNNING, st_status);
-            rslt = bmi2_set_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the status of rdy for dl bit.
- */
-static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data = 0;
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Get the status of rdy_fo_dl */
-        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            (*rdy_for_dl) = BMI2_GET_BITS(reg_data, BMI2_GYR_RDY_FOR_DL);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API does the crt process if max burst length is not zero.
- */
-static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t rdy_for_dl = 0;
-    uint8_t cmd = BMI2_G_TRIGGER_CMD;
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        rslt = get_rdy_for_dl(&rdy_for_dl, dev);
-    }
-
-    /* Trigger next CRT command */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
-    }
-
-    if ((!last_byte_flag) && (rslt == BMI2_OK))
-    {
-        rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, rdy_for_dl, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API to write the 2kb size of crt configuration
- */
-static int8_t write_crt_config_file(uint16_t write_len,
-                                    uint16_t config_file_size,
-                                    uint16_t start_index,
-                                    struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-    uint16_t index = 0;
-    uint8_t last_byte_flag = 0;
-    uint8_t remain = (uint8_t)(config_file_size % write_len);
-    uint16_t balance_byte = 0;
-
-    if (!remain)
-    {
-
-        /* Write the configuration file */
-        for (index = start_index;
-             (index < (start_index + config_file_size)) && (rslt == BMI2_OK);
-             index += write_len)
-        {
-            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
-            if (index >= ((start_index + config_file_size) - (write_len)))
-            {
-                last_byte_flag = 1;
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                rslt = process_crt_download(last_byte_flag, dev);
-            }
-        }
-    }
-    else
-    {
-        /* Get the balance bytes */
-        balance_byte = (uint16_t)start_index + (uint16_t)config_file_size - (uint16_t)remain;
-
-        /* Write the configuration file for the balance bytes */
-        for (index = start_index; (index < balance_byte) && (rslt == BMI2_OK); index += write_len)
-        {
-            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
-            if (rslt == BMI2_OK)
-            {
-                rslt = process_crt_download(last_byte_flag, dev);
-            }
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Write the remaining bytes in 2 bytes length */
-            write_len = 2;
-            rslt = set_maxburst_len(write_len, dev);
-
-            /* Write the configuration file for the remaining bytes */
-            for (index = balance_byte;
-                 (index < (start_index + config_file_size)) && (rslt == BMI2_OK);
-                 index += write_len)
-            {
-                rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
-                if (index < ((start_index + config_file_size) - write_len))
-                {
-                    last_byte_flag = 1;
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    rslt = process_crt_download(last_byte_flag, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is to wait till the rdy for dl bit toggles after every pack of bytes.
- */
-static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-    uint8_t dl_ready = 0;
-    uint8_t st_status = 0;
-
-    while ((rslt == BMI2_OK) && (retry_complete--))
-    {
-        rslt = get_rdy_for_dl(&dl_ready, dev);
-        if (download_ready != dl_ready)
-        {
-            break;
-        }
-
-        dev->delay_us(BMI2_CRT_READY_FOR_DOWNLOAD_US, dev->intf_ptr);
-    }
-
-    if ((rslt == BMI2_OK) && (download_ready == dl_ready))
-    {
-        rslt = BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT;
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        rslt = get_st_running(&st_status, dev);
-        if ((rslt == BMI2_OK) && (st_status == 0))
-        {
-            rslt = BMI2_E_ST_ALREADY_RUNNING;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is to wait till crt status complete.
- */
-static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev)
-{
-    uint8_t st_status = 1;
-    int8_t rslt = BMI2_OK;
-
-    while (retry_complete--)
-    {
-        rslt = get_st_running(&st_status, dev);
-        if ((rslt == BMI2_OK) && (st_status == 0))
-        {
-            break;
-        }
-
-        dev->delay_us(BMI2_CRT_WAIT_RUNNING_US, dev->intf_ptr);
-    }
-
-    if ((rslt == BMI2_OK) && (st_status == 1))
-    {
-        rslt = BMI2_E_ST_ALREADY_RUNNING;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used to perform gyroscope self-test.
- */
-int8_t bmi2_do_gyro_st(struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    rslt = do_gtrigger_test(BMI2_SELECT_GYRO_SELF_TEST, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This API is to run the CRT process for both max burst length 0 and non zero condition.
- */
-int8_t bmi2_do_crt(struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    rslt = do_gtrigger_test(BMI2_SELECT_CRT, dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This API is to run the crt process for both max burst length 0 and non zero condition.
- */
-static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    int8_t rslt_crt = BMI2_OK;
-    uint8_t st_status = 0;
-    uint8_t max_burst_length = 0;
-    uint8_t download_ready = 0;
-    uint8_t cmd = BMI2_G_TRIGGER_CMD;
-    struct bmi2_gyro_self_test_status gyro_st_result = { 0 };
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Check if the variant supports this feature */
-        if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
-        {
-            /* Get status of advance power save mode */
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            /* Get max burst length */
-            if (rslt == BMI2_OK)
-            {
-                rslt = get_maxburst_len(&max_burst_length, dev);
-            }
-
-            /* Checking for CRT running status */
-            if (rslt == BMI2_OK)
-            {
-                rslt = get_st_running(&st_status, dev);
-            }
-
-            /* CRT is not running  and Max burst length is zero */
-            if (st_status == 0)
-            {
-                if (rslt == BMI2_OK)
-                {
-                    rslt = set_st_running(BMI2_ENABLE, dev);
-                }
-
-                /* Preparing the setup */
-                if (rslt == BMI2_OK)
-                {
-                    rslt = crt_prepare_setup(dev);
-                }
-
-                /* Enable the gyro self-test, CRT */
-                if (rslt == BMI2_OK)
-                {
-                    rslt = select_self_test(gyro_st_crt, dev);
-                }
-
-                /* Check if FIFO is unchanged by checking the max burst length */
-                if ((rslt == BMI2_OK) && (max_burst_length == 0))
-                {
-                    /* Trigger CRT */
-                    rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        /* Wait until st_status = 0 or time out is 2 seconds */
-                        rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
-
-                        /* CRT Running wait & check is successful */
-                        if (rslt == BMI2_OK)
-                        {
-                            rslt = crt_gyro_st_update_result(dev);
-                        }
-                    }
-                }
-                else
-                {
-                    /* FIFO may be used */
-                    if (rslt == BMI2_OK)
-                    {
-                        if (dev->read_write_len < 2)
-                        {
-                            dev->read_write_len = 2;
-                        }
-
-                        if (dev->read_write_len > (BMI2_CRT_MAX_BURST_WORD_LENGTH * 2))
-                        {
-                            dev->read_write_len = BMI2_CRT_MAX_BURST_WORD_LENGTH * 2;
-                        }
-
-                        /* Reset the max burst length to default value */
-                        rslt = set_maxburst_len(dev->read_write_len, dev);
-                    }
-
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = get_rdy_for_dl(&download_ready, dev);
-                    }
-
-                    /* Trigger CRT  */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
-                    }
-
-                    /* Wait till either ready for download toggle or crt running = 0 */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, download_ready, dev);
-                        if (rslt == BMI2_OK)
-                        {
-                            rslt = write_crt_config_file(dev->read_write_len, BMI2_CRT_CONFIG_FILE_SIZE, 0x1800, dev);
-                        }
-
-                        if (rslt == BMI2_OK)
-                        {
-                            rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
-                            rslt_crt = crt_gyro_st_update_result(dev);
-                            if (rslt == BMI2_OK)
-                            {
-                                rslt = rslt_crt;
-                            }
-                        }
-                    }
-                }
-            }
-            else
-            {
-                rslt = BMI2_E_ST_ALREADY_RUNNING;
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                if (gyro_st_crt == BMI2_SELECT_GYRO_SELF_TEST)
-                {
-                    rslt = gyro_self_test_completed(&gyro_st_result, dev);
-                }
-            }
-
-            /* Enable Advance power save if disabled while configuring and
-             * not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API to set up environment for processing the crt.
- */
-static int8_t crt_prepare_setup(struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    /* Variable to select the sensor */
-    uint8_t sens_list = BMI2_GYRO;
-
-    rslt = null_ptr_check(dev);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Disable gyroscope */
-        rslt = bmi2_sensor_disable(&sens_list, 1, dev);
-    }
-
-    /* Disable FIFO for all sensors */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        sens_list = BMI2_ACCEL;
-        rslt = bmi2_sensor_enable(&sens_list, 1, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Disable Abort after 1 msec */
-        dev->delay_us(1000, dev->intf_ptr);
-        rslt = abort_bmi2(BMI2_DISABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API is to update the CRT or gyro self-test final result.
- */
-static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    struct bmi2_gyr_user_gain_status user_gain_stat = { 0, 0, 0, 0 };
-
-    rslt = null_ptr_check(dev);
-
-    /* CRT status has to be read from the config register map */
-    if (rslt == BMI2_OK)
-    {
-        rslt = get_gyro_gain_update_status(&user_gain_stat, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        switch (user_gain_stat.g_trigger_status)
-        {
-            case BMI2_G_TRIGGER_NO_ERROR:
-
-                /* CRT is successful - Reset the Max Burst Length */
-                rslt = set_maxburst_len(0, dev);
-                break;
-
-            case BMI2_G_TRIGGER_DL_ERROR:
-
-                /* CRT is Download Error - Keep non zero value for Max Burst Length */
-                rslt = set_maxburst_len(dev->read_write_len, dev);
-                if (rslt == BMI2_OK)
-                {
-                    rslt = BMI2_E_DL_ERROR;
-                }
-
-                break;
-            case BMI2_G_TRIGGER_ABORT_ERROR:
-
-                /* Command is aborted either by host via the block bit or due to motion
-                 * detection. Keep non zero value for Max Burst Length
-                 */
-                rslt = set_maxburst_len(dev->read_write_len, dev);
-                if (rslt == BMI2_OK)
-                {
-                    rslt = BMI2_E_ABORT_ERROR;
-                }
-
-                break;
-
-            case BMI2_G_TRIGGER_PRECON_ERROR:
-
-                /* Pre-condition to start the feature was not completed. */
-                rslt = BMI2_E_PRECON_ERROR;
-                break;
-
-            default:
-                rslt = BMI2_E_INVALID_STATUS;
-
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the max burst length.
- */
-static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-    uint8_t idx = 0;
-    uint8_t feat_found = 0;
-    struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
-    uint8_t aps_stat;
-
-    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
-    {
-        *max_burst_len = 0;
-
-        return BMI2_OK;
-    }
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Search for max burst length */
-        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
-        if (feat_found)
-        {
-            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for max burst length */
-                idx = maxburst_length_bytes.start_addr;
-
-                /* Get the max burst length */
-                *max_burst_len = feat_config[idx];
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the max burst length.
- */
-static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-    uint8_t idx = 0;
-    uint8_t reg_addr = 0;
-    uint8_t max_burst_len = 0;
-    uint8_t feat_found = 0;
-    struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
-    uint8_t aps_stat;
-    uint16_t burst_len = write_len_byte / 2;
-
-    /* for variant that support crt outside fifo, do not modify the max burst len */
-    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
-    {
-        return BMI2_OK;
-    }
-
-    /* Max burst length is only 1 byte */
-    if (burst_len > BMI2_CRT_MAX_BURST_WORD_LENGTH)
-    {
-        max_burst_len = UINT8_C(0xFF);
-    }
-    else
-    {
-        max_burst_len = (uint8_t)burst_len;
-    }
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Search for axis-re-mapping and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
-        if (feat_found)
-        {
-            /* Get the configuration from the page where axis
-             * re-mapping feature resides
-             */
-            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes */
-                idx = maxburst_length_bytes.start_addr;
-
-                /* update Max burst length */
-                feat_config[idx] = max_burst_len;
-
-                /* Update the register address */
-                reg_addr = BMI2_FEATURES_REG_ADDR + maxburst_length_bytes.start_addr;
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(reg_addr, &feat_config[maxburst_length_bytes.start_addr], 2, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used to trigger the preparation for system for NVM programming.
- */
-static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-    uint8_t reg_addr = 0;
-
-    /* Initialize feature configuration for nvm preparation*/
-    struct bmi2_feature_config nvm_config = { 0, 0, 0 };
-
-    /* Search for bmi2 gyro self offset correction feature as nvm program preparation feature is
-     * present in the same Word and extract its configuration details
-     */
-    feat_found = bmi2_extract_input_feat_config(&nvm_config, BMI2_NVM_PROG_PREP, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where nvm preparation feature enable feature
-         * resides */
-        rslt = bmi2_get_feat_config(nvm_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for nvm preparation feature enable */
-            idx = nvm_config.start_addr;
-
-            /* update nvm_prog_prep  enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_NVM_PREP_FEATURE_EN, nvm_prep);
-
-            /* Update the register address */
-            reg_addr = BMI2_FEATURES_REG_ADDR + nvm_config.start_addr - 1;
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(reg_addr, &feat_config[nvm_config.start_addr - 1], 2, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used to enable the CRT.
- */
-static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    uint8_t idx = 0;
-
-    uint8_t feat_found;
-    uint8_t reg_addr = 0;
-
-    struct bmi2_feature_config gyro_self_test_crt_config = { 0, 0, 0 };
-
-    /* Search for bmi2 crt gyro self-test feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyro_self_test_crt_config, BMI2_CRT_GYRO_SELF_TEST, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where gyro self-test and crt enable feature
-         * resides */
-        rslt = bmi2_get_feat_config(gyro_self_test_crt_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = gyro_self_test_crt_config.start_addr;
-
-            /* update the gyro self-test crt enable bit */
-            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_GYRO_SELF_TEST_CRT_EN, gyro_st_crt);
-
-            /* Update the register address */
-            reg_addr = BMI2_FEATURES_REG_ADDR + (gyro_self_test_crt_config.start_addr - 1);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(reg_addr, &feat_config[gyro_self_test_crt_config.start_addr - 1], 2, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used to abort ongoing crt or gyro self-test.
- */
-int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-    uint8_t aps_stat;
-    uint8_t st_running = 0;
-    uint8_t cmd = BMI2_G_TRIGGER_CMD;
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    /* Checking for ST running status */
-    if (rslt == BMI2_OK)
-    {
-        rslt = get_st_running(&st_running, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* ST is not running  */
-            if (st_running == 0)
-            {
-                rslt = BMI2_E_ST_NOT_RUNING;
-            }
-        }
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        rslt = abort_bmi2(BMI2_ENABLE, dev);
-    }
-
-    /* send the g trigger command */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* wait until st_status = 0 or time out is 2 seconds */
-        rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
-    }
-
-    /* Check G trigger status for error */
-    if (rslt == BMI2_OK)
-    {
-        rslt = crt_gyro_st_update_result(dev);
-        if (rslt == BMI2_E_ABORT_ERROR)
-        {
-            rslt = BMI2_OK;
-        }
-        else
-        {
-            rslt = BMI2_E_ABORT_ERROR;
-        }
-    }
-
-    /* Enable Advance power save if disabled while configuring and
-     * not when already disabled
-     */
-    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used to enable/disable abort.
- */
-static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-    uint8_t reg_addr = 0;
-
-    /* Initialize feature configuration for blocking a feature */
-    struct bmi2_feature_config block_config = { 0, 0, 0 };
-
-    /* Search for bmi2 Abort feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&block_config, BMI2_ABORT_CRT_GYRO_SELF_TEST, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where abort(block) feature resides */
-        rslt = bmi2_get_feat_config(block_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = block_config.start_addr;
-
-            /* update the gyro self-test crt abort enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ABORT_FEATURE_EN, abort_enable);
-
-            /* Update the register address */
-            reg_addr = BMI2_FEATURES_REG_ADDR + (block_config.start_addr - 1);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(reg_addr, &feat_config[block_config.start_addr - 1], 2, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
- * self-test.
- */
-static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev)
-{
-    int8_t rslt;
-    uint8_t reg_data;
-
-    rslt = bmi2_get_regs(BMI2_GYR_SELF_TEST_AXES_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        gyro_st_result->gyr_st_axes_done = BMI2_GET_BIT_POS0(reg_data, BMI2_GYR_ST_AXES_DONE);
-        if (gyro_st_result->gyr_st_axes_done == 0x01)
-        {
-            gyro_st_result->gyr_axis_x_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_X_OK);
-            gyro_st_result->gyr_axis_y_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Y_OK);
-            gyro_st_result->gyr_axis_z_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Z_OK);
-        }
-        else
-        {
-            rslt = BMI2_E_SELF_TEST_NOT_DONE;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api validates accel foc position as per the range
- */
-static int8_t validate_foc_position(uint8_t sens_list,
-                                    const struct bmi2_accel_foc_g_value *accel_g_axis,
-                                    struct bmi2_sens_axes_data avg_foc_data,
-                                    struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_E_INVALID_INPUT;
-
-    if (sens_list == BMI2_ACCEL)
-    {
-        if (accel_g_axis->x == 1)
-        {
-            rslt = validate_foc_accel_axis(avg_foc_data.x, dev);
-        }
-        else if (accel_g_axis->y == 1)
-        {
-            rslt = validate_foc_accel_axis(avg_foc_data.y, dev);
-        }
-        else
-        {
-            rslt = validate_foc_accel_axis(avg_foc_data.z, dev);
-        }
-    }
-    else if (sens_list == BMI2_GYRO)
-    {
-        if (((avg_foc_data.x >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
-             (avg_foc_data.x <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
-            ((avg_foc_data.y >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
-             (avg_foc_data.y <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
-            ((avg_foc_data.z >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
-             (avg_foc_data.z <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)))
-        {
-            rslt = BMI2_OK;
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_FOC_POSITION;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api validates depends on accel foc access input
- */
-static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev)
-{
-    struct bmi2_sens_config sens_cfg = { 0 };
-    uint8_t range;
-    int8_t rslt;
-
-    sens_cfg.type = BMI2_ACCEL;
-    rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
-    range = sens_cfg.cfg.acc.range;
-
-    /* reference LSB value of 16G */
-    if ((range == BMI2_ACC_RANGE_2G) && (avg_foc_data > BMI2_ACC_2G_MIN_NOISE_LIMIT) &&
-        (avg_foc_data < BMI2_ACC_2G_MAX_NOISE_LIMIT))
-    {
-        rslt = BMI2_OK;
-    }
-    /* reference LSB value of 16G */
-    else if ((range == BMI2_ACC_RANGE_4G) && (avg_foc_data > BMI2_ACC_4G_MIN_NOISE_LIMIT) &&
-             (avg_foc_data < BMI2_ACC_4G_MAX_NOISE_LIMIT))
-    {
-        rslt = BMI2_OK;
-    }
-    /* reference LSB value of 16G */
-    else if ((range == BMI2_ACC_RANGE_8G) && (avg_foc_data > BMI2_ACC_8G_MIN_NOISE_LIMIT) &&
-             (avg_foc_data < BMI2_ACC_8G_MAX_NOISE_LIMIT))
-    {
-        rslt = BMI2_OK;
-    }
-    /* reference LSB value of 16G */
-    else if ((range == BMI2_ACC_RANGE_16G) && (avg_foc_data > BMI2_ACC_16G_MIN_NOISE_LIMIT) &&
-             (avg_foc_data < BMI2_ACC_16G_MAX_NOISE_LIMIT))
-    {
-        rslt = BMI2_OK;
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_FOC_POSITION;
-    }
-
-    return rslt;
-}
-
-/*! @brief This api is used for programming the non volatile memory(nvm) */
-int8_t bmi2_nvm_prog(struct bmi2_dev *dev)
-{
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-    uint8_t status;
-    uint8_t cmd_rdy;
-    uint8_t reg_data;
-    uint8_t write_timeout = 100;
-
-    /* Get status of advance power save mode */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    /* Check the Write status and proceed only if there is no ongoing write cycle */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_get_status(&status, dev);
-
-        cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
-        if (cmd_rdy)
-        {
-            rslt = set_nvm_prep_prog(BMI2_ENABLE, dev);
-            if (rslt == BMI2_OK)
-            {
-                dev->delay_us(40000, dev->intf_ptr);
-
-                /* Set the NVM_CONF.nvm_prog_en bit in order to enable the NVM
-                 * programming */
-                reg_data = BMI2_NVM_UNLOCK_ENABLE;
-                rslt = bmi2_set_regs(BMI2_NVM_CONF_ADDR, &reg_data, 1, dev);
-                if (rslt == BMI2_OK)
-                {
-                    /* Send NVM prog command to command register */
-                    reg_data = BMI2_NVM_PROG_CMD;
-                    rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &reg_data, 1, dev);
-                }
-
-                /* Wait till write operation is completed */
-                if (rslt == BMI2_OK)
-                {
-                    while (write_timeout--)
-                    {
-                        rslt = bmi2_get_status(&status, dev);
-                        if (rslt == BMI2_OK)
-                        {
-                            cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
-
-                            /* Nvm is complete once cmd_rdy is 1, break if 1 */
-                            if (cmd_rdy)
-                            {
-                                break;
-                            }
-
-                            /* Wait till cmd_rdy becomes 1 indicating
-                             * nvm process completes */
-                            dev->delay_us(20000, dev->intf_ptr);
-                        }
-                    }
-                }
-
-                if ((rslt == BMI2_OK) && (cmd_rdy != BMI2_TRUE))
-                {
-                    rslt = BMI2_E_WRITE_CYCLE_ONGOING;
-                }
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_WRITE_CYCLE_ONGOING;
-        }
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* perform soft reset */
-        rslt = bmi2_soft_reset(dev);
-    }
-
-    /* Enable Advance power save if disabled while configuring and not when already disabled */
-    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads and provides average for 128 samples of sensor data for foc operation
- * gyro.
- */
-static int8_t get_average_of_sensor_data(uint8_t sens_list,
-                                         struct bmi2_foc_temp_value *temp_foc_data,
-                                         struct bmi2_dev *dev)
-{
-    int8_t rslt = 0;
-    struct bmi2_sensor_data sensor_data = { 0 };
-    uint8_t sample_count = 0;
-    uint8_t datardy_try_cnt;
-    uint8_t drdy_status = 0;
-    uint8_t sensor_drdy = 0;
-
-    sensor_data.type = sens_list;
-    if (sens_list == BMI2_ACCEL)
-    {
-        sensor_drdy = BMI2_DRDY_ACC;
-    }
-    else
-    {
-        sensor_drdy = BMI2_DRDY_GYR;
-    }
-
-    /* Read sensor values before FOC */
-    while (sample_count < BMI2_FOC_SAMPLE_LIMIT)
-    {
-        datardy_try_cnt = 5;
-        do
-        {
-            dev->delay_us(20000, dev->intf_ptr);
-            rslt = bmi2_get_status(&drdy_status, dev);
-            datardy_try_cnt--;
-        } while ((rslt == BMI2_OK) && (!(drdy_status & sensor_drdy)) && (datardy_try_cnt));
-
-        if ((rslt != BMI2_OK) || (datardy_try_cnt == 0))
-        {
-            rslt = BMI2_E_DATA_RDY_INT_FAILED;
-            break;
-        }
-
-        rslt = bmi2_get_sensor_data(&sensor_data, 1, dev);
-
-        if (rslt == BMI2_OK)
-        {
-            if (sensor_data.type == BMI2_ACCEL)
-            {
-                temp_foc_data->x += sensor_data.sens_data.acc.x;
-                temp_foc_data->y += sensor_data.sens_data.acc.y;
-                temp_foc_data->z += sensor_data.sens_data.acc.z;
-            }
-            else if (sensor_data.type == BMI2_GYRO)
-            {
-                temp_foc_data->x += sensor_data.sens_data.gyr.x;
-                temp_foc_data->y += sensor_data.sens_data.gyr.y;
-                temp_foc_data->z += sensor_data.sens_data.gyr.z;
-            }
-        }
-        else
-        {
-            break;
-        }
-
-        sample_count++;
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        temp_foc_data->x = (temp_foc_data->x / BMI2_FOC_SAMPLE_LIMIT);
-        temp_foc_data->y = (temp_foc_data->y / BMI2_FOC_SAMPLE_LIMIT);
-        temp_foc_data->z = (temp_foc_data->z / BMI2_FOC_SAMPLE_LIMIT);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API extract the identification feature from the DMR page
- * and retrieve the config file major and minor version.
- */
-static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
-{
-    /* Variable to define the result */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define advance power save mode status */
-    uint8_t aps_stat;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Initialize feature configuration for config file identification */
-    struct bmi2_feature_config config_id = { 0, 0, 0 };
-
-    /* Check the power mode status */
-    aps_stat = dev->aps_status;
-    if (aps_stat == BMI2_ENABLE)
-    {
-        /* Disable advance power save if enabled */
-        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-    }
-
-    if (rslt == BMI2_OK)
-    {
-        /* Search for config file identification feature and extract its configuration
-         * details */
-        feat_found = bmi2_extract_input_feat_config(&config_id, BMI2_CONFIG_ID, dev);
-        if (feat_found)
-        {
-            /* Get the configuration from the page where config file identification
-             * feature resides */
-            rslt = bmi2_get_feat_config(config_id.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for config file identification */
-                idx = config_id.start_addr;
-
-                /* Get word to calculate config file identification */
-                lsb = (uint16_t) feat_config[idx++];
-                msb = ((uint16_t) feat_config[idx++] << 8);
-                lsb_msb = lsb | msb;
-
-                /* Get major and minor version */
-                *config_major = BMI2_GET_BITS(lsb_msb, BMI2_CONFIG_MAJOR);
-                *config_minor = BMI2_GET_BIT_POS0(lsb, BMI2_CONFIG_MINOR);
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- *@brief This internal API is used to map the interrupts to the sensor.
- */
-static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Search for the interrupts from the input configuration array */
-    while (loop < dev->sens_int_map)
-    {
-        if (dev->map_int[loop].type == type)
-        {
-            *map_int = dev->map_int[loop];
-            break;
-        }
-
-        loop++;
-    }
-}
-
-/*!
- * @brief This internal API gets the saturation status for the gyroscope user
- * gain update.
- */
-static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for gyroscope user gain status */
-    struct bmi2_feature_config user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for gyroscope user gain status output feature and extract its
-     * configuration details
-     */
-    feat_found = extract_output_feat_config(&user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for gyroscope user gain  status */
-        rslt = bmi2_get_feat_config(user_gain_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for gyroscope user gain status */
-            idx = user_gain_cfg.start_addr;
-
-            /* Get the saturation status for x-axis */
-            user_gain_stat->sat_x = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_X);
-
-            /* Get the saturation status for y-axis */
-            user_gain_stat->sat_y = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Y);
-
-            /* Get the saturation status for z-axis */
-            user_gain_stat->sat_z = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Z);
-
-            /* Get g trigger status */
-            user_gain_stat->g_trigger_status = BMI2_GET_BITS(feat_config[idx], BMI2_G_TRIGGER_STAT);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details from the look-up table.
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the output feature from the output configuration array */
-    while (loop < dev->out_sens)
-    {
-        if (dev->feat_output[loop].type == type)
-        {
-            *feat_output = dev->feat_output[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
-
-/*!
- * @brief This internal API gets the cross sensitivity coefficient between
- * gyroscope's X and Z axes.
- */
-static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    uint8_t corr_fact_zx;
-
-    /* Initialize feature output for gyroscope cross sensitivity */
-    struct bmi2_feature_config cross_sense_out_config = { 0, 0, 0 };
-
-    if (dev->variant_feature & BMI2_MAXIMUM_FIFO_VARIANT)
-    {
-        /* For maximum_fifo variant fetch the correction factor from GPIO0 */
-        rslt = bmi2_get_regs(BMI2_GYR_CAS_GPIO0_ADDR, &corr_fact_zx, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the gyroscope cross sensitivity coefficient */
-            if (corr_fact_zx & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
-            {
-                *cross_sense = (int16_t)(((int16_t)corr_fact_zx) - 128);
-            }
-            else
-            {
-                *cross_sense = (int16_t)(corr_fact_zx);
-            }
-        }
-    }
-    else
-    {
-        /* Search for gyroscope cross sensitivity feature and extract its configuration details */
-        feat_found = extract_output_feat_config(&cross_sense_out_config, BMI2_GYRO_CROSS_SENSE, dev);
-        if (feat_found)
-        {
-            /* Get the feature output configuration for gyroscope cross sensitivity
-             * feature */
-            rslt = bmi2_get_feat_config(cross_sense_out_config.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes for gyroscope cross sensitivity output */
-                idx = cross_sense_out_config.start_addr;
-
-                /* discard the MSB as GYR_CAS is of only 7 bit */
-                feat_config[idx] = feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_MASK;
-
-                /* Get the gyroscope cross sensitivity coefficient */
-                if (feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
-                {
-                    *cross_sense = (int16_t)(((int16_t)feat_config[idx]) - 128);
-                }
-                else
-                {
-                    *cross_sense = (int16_t)(feat_config[idx]);
-                }
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sensor/features to be enabled or
- * disabled.
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define loop */
-    uint8_t count;
-
-    for (count = 0; count < n_sens; count++)
-    {
-        switch (sens_list[count])
-        {
-            case BMI2_ACCEL:
-                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
-                break;
-            case BMI2_GYRO:
-                *sensor_sel |= BMI2_GYRO_SENS_SEL;
-                break;
-            case BMI2_AUX:
-                *sensor_sel |= BMI2_AUX_SENS_SEL;
-                break;
-            case BMI2_TEMP:
-                *sensor_sel |= BMI2_TEMP_SENS_SEL;
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
-        }
-
-        /* Enable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
-        }
-
-        /* Enable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
-        }
-
-        /* Enable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API disables the selected sensors/features.
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
-        }
-
-        /* Disable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
-        }
-
-        /* Disable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
-        }
-
-        /* Disable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*! @endcond */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h
deleted file mode 100644
index b1fe627d62..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.h
+++ /dev/null
@@ -1,1513 +0,0 @@
-/**
-* 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       bmi2.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/*!
- * @defgroup bmi2xy BMI2XY
- */
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi2 BMI2
- * @brief Sensor driver for BMI2 sensor
- */
-
-#ifndef BMI2_H_
-#define BMI2_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2_defs.h"
-
-/***************************************************************************/
-
-/*!     BMI2XY User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi2ApiInit
- * \page bmi2_api_bmi2_sec_init bmi2_sec_init
- * \code
- * int8_t bmi2_sec_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API is the entry point for bmi2 sensor. It selects between
- * I2C/SPI interface, based on user selection. It also reads the chip-id of
- * the sensor.
- *
- * @param[in,out] dev  : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_sec_init(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiRegs Registers
- * @brief Set / Get data from the given register address of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiRegs
- * \page bmi2_api_bmi2_get_regs bmi2_get_regs
- * \code
- * int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the data from the given register address of bmi2
- * sensor.
- *
- * @param[in] reg_addr  : Register address from which data is read.
- * @param[out] data     : Pointer to data buffer where read data is stored.
- * @param[in] len       : No. of bytes of data to be read.
- * @param[in] dev       : Structure instance of bmi2_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 - 0x26, 0x5E.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiRegs
- * \page bmi2_api_bmi2_set_regs bmi2_set_regs
- * \code
- * int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
- * \endcode
- * @details This API writes data to the given register address of bmi2 sensor.
- *
- * @param[in] reg_addr  : Register address to which the data is written.
- * @param[in] data      : Pointer to data buffer in which data to be written
- *            is stored.
- * @param[in] len       : No. of bytes of data to be written.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiSR Soft reset
- * @brief Set / Get data from the given register address of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiSR
- * \page bmi2_api_bmi2_soft_reset bmi2_soft_reset
- * \code
- * int8_t bmi2_soft_reset(struct bmi2_dev *dev);
- * \endcode
- * @details This API resets bmi2 sensor. All registers are overwritten with
- * their default values.
- *
- * @note If selected interface is SPI, an extra dummy byte is read to bring the
- * interface back to SPI from default, after the soft reset command.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_soft_reset(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiConfig Configuration
- * @brief Functions related to configuration of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiConfig
- * \page bmi2_api_bmi2_get_config_file_version bmi2_get_config_file_version
- * \code
- * int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
- * \endcode
- * @details This API is used to get the config file major and minor information.
- *
- * @param[in] dev   : Structure instance of bmi2_dev.
- * @param[out] config_major    : pointer to data buffer to store the config major.
- * @param[out] config_minor    : pointer to data buffer to store the config minor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiPowersave Advanced power save mode
- * @brief Set / Get Advanced power save mode of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiPowersave
- * \page bmi2_api_bmi2_set_adv_power_save bmi2_set_adv_power_save
- * \code
- * int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
- * \endcode
- * @details This API enables/disables the advance power save mode in the sensor.
- *
- * @param[in] enable         : To enable/disable advance power mode.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- *@verbatim
- *    Enable    |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables advance power save.
- * BMI2_ENABLE  | Enables advance power save.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiPowersave
- * \page bmi2_api_bmi2_get_adv_power_save bmi2_get_adv_power_save
- * \code
- * int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the status of advance power save mode in the sensor.
- *
- * @param[out] aps_status    : Pointer to get the status of APS mode.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  aps_status  |  Description
- * -------------|---------------
- * BMI2_DISABLE | Advance power save disabled.
- * BMI2_ENABLE  | Advance power save enabled.
- *@endverbatim
- *
- * @return Result of API execution status
- *
- * @retval BMI2_OK - Success.
- * @retval BMI2_E_NULL_PTR - Error: Null pointer error
- * @retval BMI2_E_COM_FAIL - Error: Communication fail
- * @retval BMI2_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
- */
-int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiConfig
- * \page bmi2_api_bmi2_write_config_file bmi2_write_config_file
- * \code
- * int8_t bmi2_write_config_file(struct bmi2_dev *dev);
- * \endcode
- * @details This API loads the configuration file to the bmi2 sensor.
- *
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_write_config_file(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiInt Interrupt
- * @brief Interrupt operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiInt
- * \page bmi2_api_bmi2_set_int_pin_config bmi2_set_int_pin_config
- * \code
- * int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets:
- *        1) The input output configuration of the selected interrupt pin:
- *           INT1 or INT2.
- *        2) The interrupt mode: permanently latched or non-latched.
- *
- * @param[in] int_cfg       : Structure instance of bmi2_int_pin_config.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiInt
- * \page bmi2_api_bmi2_get_int_pin_config bmi2_get_int_pin_config
- * \code
- * int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets:
- *        1) The input output configuration of the selected interrupt pin:
- *           INT1 or INT2.
- *        2) The interrupt mode: permanently latched or non-latched.
- *
- * @param[in,out] int_cfg  : Structure instance of bmi2_int_pin_config.
- * @param[in]     dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiInt
- * \page bmi2_api_bmi2_get_int_status bmi2_get_int_status
- * \code
- * int8_t bmi2_get_int_status(uint16_t *int_status, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the interrupt status of both feature and data
- * interrupts.
- *
- * @param[out] int_status    : Pointer to get the status of the interrupts.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- *@verbatim
- * int_status |  Status
- * -----------|------------
- * 0x00       |  BIT0
- * 0x01       |  BIT1
- * 0x02       |  BIT2
- * 0x03       |  BIT3
- * 0x04       |  BIT4
- * 0x05       |  BIT5
- * 0x06       |  BIT6
- * 0x07       |  BIT7
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiSensorC Sensor Configuration
- * @brief Enable / Disable feature configuration of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiSensorC
- * \page bmi2_api_bmi2_set_sensor_config bmi2_set_sensor_config
- * \code
- * int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be configured
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_GYRO_GAIN_UPDATE       |  9
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiSensorC
- * \page bmi2_api_bmi2_get_sensor_config bmi2_get_sensor_config
- * \code
- * int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose configurations can be read.
- *
- *@verbatim
- *  sens_list               |  Values
- * -------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_GYRO_GAIN_UPDATE       |  9
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiSensor Feature Set
- * @brief Enable / Disable features of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiSensor
- * \page bmi2_api_bmi2_sensor_enable bmi2_sensor_enable
- * \code
- * int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be enabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be enabled.
- *
- *@verbatim
- *    sens_list             |  Values
- * -------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_TEMP                   |  31
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiSensor
- * \page bmi2_api_bmi2_sensor_disable bmi2_sensor_disable
- * \code
- * int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be disabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be disabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_TEMP                   |  31
- *@endverbatim
- *
- * @note :
- * example   uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiSensorD Sensor Data
- * @brief Get sensor data
- */
-
-/*!
- * \ingroup bmi2ApiSensorD
- * \page bmi2_api_bmi2_get_sensor_data bmi2_get_sensor_data
- * \code
- * int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- *
- * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
- * @param[in]  n_sens        : Number of sensors selected.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose data can be read
- *
- *@verbatim
- *  sens_list           |  Values
- * ---------------------|-----------
- * BMI2_ACCEL           |  0
- * BMI2_GYRO            |  1
- * BMI2_AUX             |  2
- * BMI2_GYRO_GAIN_UPDATE|  12
- * BMI2_GYRO_CROSS_SENSE|  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiFIFO FIFO
- * @brief FIFO operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_set_fifo_config bmi2_set_fifo_config
- * \code
- * int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the FIFO configuration in the sensor.
- *
- * @param[in] config        : FIFO configurations to be enabled/disabled.
- * @param[in] enable        : Enable/Disable FIFO configurations.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  enable      |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables FIFO configuration.
- * BMI2_ENABLE  | Enables FIFO configuration.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_config bmi2_get_fifo_config
- * \code
- * int8_t bmi2_get_fifo_config(uint16_t *fifo_config, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the FIFO configuration from the sensor.
- *
- * @param[out] fifo_config   : Pointer variable to get FIFO configuration value.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_read_fifo_data bmi2_read_fifo_data
- * \code
- * int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads FIFO data.
- *
- * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
- * @param[in]      dev      : Structure instance of bmi2_dev.
- *
- * @note APS has to be disabled before calling this function.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_extract_accel bmi2_extract_accel
- * \code
- * int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
- *                          uint16_t *accel_length,
- *                          struct bmi2_fifo_frame *fifo,
- *                          const struct bmi2_dev *dev);
- * \endcode
- * @details This API parses and extracts the accelerometer frames from FIFO data read by
- * the "bmi2_read_fifo_data" API and stores it in the "accel_data" structure
- * instance.
- *
- * @param[out]    accel_data   : Structure instance of bmi2_sens_axes_data
- *                               where the parsed data bytes are stored.
- * @param[in,out] accel_length : Number of accelerometer frames.
- * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
-                          uint16_t *accel_length,
-                          struct bmi2_fifo_frame *fifo,
-                          const struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_extract_aux bmi2_extract_aux
- * \code
- * int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
- *                       uint16_t *aux_length,
- *                       struct bmi2_fifo_frame *fifo,
- *                       const struct bmi2_dev *dev);
- *
- * \endcode
- * @details This API parses and extracts the auxiliary frames from FIFO data
- * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
- *
- * @param[out]    aux          : Pointer to structure where the parsed auxiliary
- *                              data bytes are stored.
- * @param[in,out] aux_length   : Number of auxiliary frames.
- * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
-                        uint16_t *aux_length,
-                        struct bmi2_fifo_frame *fifo,
-                        const struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_extract_gyro bmi2_extract_gyro
- * \code
- * int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
- *                        uint16_t *gyro_length,
- *                        struct bmi2_fifo_frame *fifo,
- *                        const struct bmi2_dev *dev);
- * \endcode
- * @details This API parses and extracts the gyroscope frames from FIFO data read by the
- * "bmi2_read_fifo_data" API and stores it in the "gyro_data"
- * structure instance.
- *
- * @param[out]    gyro_data    : Structure instance of bmi2_sens_axes_data
- *                               where the parsed data bytes are stored.
- * @param[in,out] gyro_length  : Number of gyroscope frames.
- * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
- * @param[in]     dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
-                         uint16_t *gyro_length,
-                         struct bmi2_fifo_frame *fifo,
-                         const struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiCmd Command Register
- * @brief Write commands to the sensor
- */
-
-/*!
- * \ingroup bmi2ApiCmd
- * \page bmi2_api_bmi2_set_command_register bmi2_set_command_register
- * \code
- * int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
- * \endcode
- * @details This API writes the available sensor specific commands to the sensor.
- *
- * @param[in] command     : Commands to be given to the sensor.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- *@verbatim
- * Commands             |  Values
- * ---------------------|---------------------
- * BMI2_SOFT_RESET_CMD  |  0xB6
- * BMI2_FIFO_FLUSH_CMD  |  0xB0
- * BMI2_USR_GAIN_CMD    |  0x03
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_set_fifo_self_wake_up bmi2_set_fifo_self_wake_up
- * \code
- * int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the FIFO self wake up functionality in the sensor.
- *
- * @param[in] fifo_self_wake_up : Variable to set FIFO self wake-up.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  fifo_self_wake_up |  Description
- * -------------------|---------------
- * BMI2_DISABLE       | Disables self wake-up.
- * BMI2_ENABLE        | Enables self wake-up.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_self_wake_up bmi2_get_fifo_self_wake_up
- * \code
- * int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the FIFO self wake up functionality from the sensor.
- *
- * @param[out] fifo_self_wake_up : Pointer variable to get the status of FIFO
- *                                 self wake-up.
- * @param[in]  dev               : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  fifo_self_wake_up |  Description
- * -------------------|---------------
- * BMI2_DISABLE       | Self wake-up disabled
- * BMI2_ENABLE        | Self wake-up enabled.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_set_fifo_wm bmi2_set_fifo_wm
- * \code
- * int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the FIFO water mark level which is set in the sensor.
- *
- * @param[in] fifo_wm          : Variable to set FIFO water-mark level.
- * @param[in] dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_wm bmi2_get_fifo_wm
- * \code
- * int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the FIFO water mark level which is set in the sensor.
- *
- * @param[out] fifo_wm        : Pointer variable to store FIFO water-mark level.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_set_fifo_filter_data bmi2_set_fifo_filter_data
- * \code
- * int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets either filtered or un-filtered FIFO accelerometer or
- * gyroscope data.
- *
- * @param[in] sens_sel          : Selects either accelerometer or
- *                                gyroscope sensor.
- * @param[in] fifo_filter_data  : Variable to set the filter data.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  sens_sel        |  values
- * -----------------|----------
- * BMI2_ACCEL       |  0x01
- * BMI2_GYRO        |  0x02
- *@endverbatim
- *
- *@verbatim
- * Value    |  fifo_filter_data
- * ---------|---------------------
- * 0x00     |  Un-filtered data
- * 0x01     |  Filtered data
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_filter_data bmi2_get_fifo_filter_data
- * \code
- * int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the FIFO accelerometer or gyroscope filter data.
- *
- * @param[in] sens_sel           : Selects either accelerometer or
- *                                 gyroscope sensor.
- * @param[out] fifo_filter_data  : Pointer variable to get the filter data.
- * @param[in]  dev               : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  sens_sel        |  values
- * -----------------|----------
- * BMI2_ACCEL       |  0x01
- * BMI2_GYRO        |  0x02
- *@endverbatim
- *
- *@verbatim
- * Value    |  fifo_filter_data
- * ---------|---------------------
- * 0x00     |  Un-filtered data
- * 0x01     |  Filtered data
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_set_fifo_down_sample bmi2_set_fifo_down_sample
- * \code
- * int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the down sampling rate for FIFO accelerometer or
- * gyroscope FIFO data.
- *
- * @param[in] sens_sel       : Selects either either accelerometer or
- *                             gyroscope sensor.
- * @param[in] fifo_down_samp : Variable to set the down sampling rate.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- *@verbatim
- *     sens_sel    |  values
- * ----------------|----------
- * BMI2_ACCEL      |  0x01
- * BMI2_GYRO       |  0x02
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_down_sample bmi2_get_fifo_down_sample
- * \code
- * int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the down sampling rate, configured for FIFO
- * accelerometer or gyroscope data.
- *
- * @param[in] sens_sel        : Selects either either accelerometer or
- *                              gyroscope sensor.
- * @param[out] fifo_down_samp : Pointer variable to store the down sampling rate
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  sens_sel       |  values
- * ----------------|----------
- * BMI2_ACCEL      |  0x01
- * BMI2_GYRO       |  0x02
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFIFO
- * \page bmi2_api_bmi2_get_fifo_length bmi2_get_fifo_length
- * \code
- * int8_t bmi2_get_fifo_length(uint16_t *fifo_length, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the length of FIFO data available in the sensor in
- * bytes.
- *
- * @param[out] fifo_length  : Pointer variable to store the value of FIFO byte
- *                            counter.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @note The byte counter is updated each time a complete frame is read or
- * written.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiOIS OIS
- * @brief OIS operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiOIS
- * \page bmi2_api_bmi2_set_ois_interface bmi2_set_ois_interface
- * \code
- * int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
- * \endcode
- * @details This API enables/disables OIS interface.
- *
- * @param[in] enable   : To enable/disable OIS interface.
- * @param[in] dev      : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  Enable      |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables OIS interface.
- * BMI2_ENABLE  | Enables OIS interface.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiAux Auxiliary sensor
- * @brief Auxiliary sensor operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiAux
- * \page bmi2_api_bmi2_read_aux_man_mode bmi2_read_aux_man_mode
- * \code
- * int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the user-defined bytes of data from the given register
- * address of auxiliary sensor in manual mode.
- *
- * @param[in]  reg_addr     : Address from where data is read.
- * @param[out] aux_data     : Pointer to the stored buffer.
- * @param[in]  len          : Total length of data to be read.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiAux
- * \page bmi2_api_bmi2_write_aux_man_mode bmi2_write_aux_man_mode
- * \code
- * int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
- * \endcode
- * @details This API writes the user-defined bytes of data and the address of
- * auxiliary sensor where data is to be written in manual mode.
- *
- * @param[in]  reg_addr     : AUX address where data is to be written.
- * @param[in] aux_data      : Pointer to data to be written.
- * @param[in]  len          : Total length of data to be written.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiAux
- * \page bmi2_api_bmi2_write_aux_interleaved bmi2_write_aux_interleaved
- * \code
- * int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
- * \endcode
- * @details This API writes the user-defined bytes of data and the address of
- * auxiliary sensor where data is to be written, from an interleaved input,
- * in manual mode.
- *
- * @param[in]  reg_addr     : AUX address where data is to be written.
- * @param[in] aux_data      : Pointer to data to be written.
- * @param[in]  len          : Total length of data to be written.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiStatus Sensor Status
- * @brief Get sensor status
- */
-
-/*!
- * \ingroup bmi2ApiStatus
- * \page bmi2_api_bmi2_get_status bmi2_get_status
- * \code
- * int8_t bmi2_get_status(uint8_t *status, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the data ready status of accelerometer, gyroscope,
- * auxiliary, ready status of command decoder and busy status of auxiliary.
- *
- * @param[out] status     : Pointer variable to the status.
- * @param[in]  dev        : Structure instance of bmi2_dev.
- *
- *@verbatim
- * Value    |  Status
- * ---------|---------------------
- * 0x80     |  DRDY_ACC
- * 0x40     |  DRDY_GYR
- * 0x20     |  DRDY_AUX
- * 0x10     |  CMD_RDY
- * 0x04     |  AUX_BUSY
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiWSync Sync commands
- * @brief Write sync commands
- */
-
-/*!
- * \ingroup bmi2ApiWSync
- * \page bmi2_api_bmi2_write_sync_commands bmi2_write_sync_commands
- * \code
- * int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
- * \endcode
- * @details This API can be used to write sync commands like ODR, sync period,
- * frequency and phase, resolution ratio, sync time and delay time.
- *
- * @param[in] command     : Sync command to be written.
- * @param[in]  n_comm     : Length of the command.
- * @param[in]  dev        : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiASelftest Accel self test
- * @brief Perform accel self test
- */
-
-/*!
- * \ingroup bmi2ApiASelftest
- * \page bmi2_api_bmi2_perform_accel_self_test bmi2_perform_accel_self_test
- * \code
- * int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
- * \endcode
- * @details This API performs self-test to check the proper functionality of the
- * accelerometer sensor.
- *
- * @param[in]  dev       : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiInt
- * \page bmi2_api_bmi2_map_feat_int bmi2_map_feat_int
- * \code
- * int8_t bmi2_map_feat_int(const struct bmi2_sens_int_config *sens_int, struct bmi2_dev *dev);
- * \endcode
- * @details This API maps/unmaps feature interrupts to that of interrupt pins.
- *
- * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiInt
- * \page bmi2_api_bmi2_map_data_int bmi2_map_data_int
- * \code
- * int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
- * \endcode
- * @details This API maps/un-maps data interrupts to that of interrupt pins.
- *
- * @param[in] int_pin      : Interrupt pin selected.
- * @param[in] data_int     : Type of data interrupt to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- *@verbatim
- * data_int             |  Mask values
- * ---------------------|---------------------
- * BMI2_FFULL_INT       |  0x01
- * BMI2_FWM_INT         |  0x02
- * BMI2_DRDY_INT        |  0x04
- * BMI2_ERR_INT         |  0x08
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiRemap Remap Axes
- * @brief Set / Get remap axes values from the sensor
- */
-
-/*!
- * \ingroup bmi2ApiRemap
- * \page bmi2_api_bmi2_get_remap_axes bmi2_get_remap_axes
- * \code
- * int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the re-mapped x, y and z axes from the sensor and
- * updates the values in the device structure.
- *
- * @param[out] remapped_axis : Structure that stores re-mapped axes.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiRemap
- * \page bmi2_api_bmi2_set_remap_axes bmi2_set_remap_axes
- * \code
- * int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the re-mapped x, y and z axes to the sensor and
- * updates them in the device structure.
- *
- * @param[in] remapped_axis  : Structure that stores re-mapped axes.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiGyroOC Gyro Offset Compensation
- * @brief Gyro Offset Compensation operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiGyroOC
- * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_offset_comp
- * \code
- * int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
- * \endcode
- * @details This API enables/disables gyroscope offset compensation. It adds the
- * offsets defined in the offset register with gyroscope data.
- *
- * @param[in] enable          : Enables/Disables gyroscope offset compensation.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- *@verbatim
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enables gyroscope offset compensation.
- * BMI2_DISABLE | Disables gyroscope offset compensation.
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiGyroOC
- * \page bmi2_api_bmi2_read_gyro_offset_comp_axes bmi2_read_gyro_offset_comp_axes
- * \code
- * int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the gyroscope bias values for each axis which is used
- * for gyroscope offset compensation.
- *
- * @param[out] gyr_off_comp_axes: Structure to store gyroscope offset
- *                                compensated values.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiGyroOC
- * \page bmi2_api_bmi2_write_gyro_offset_comp_axes bmi2_write_gyro_offset_comp_axes
- * \code
- * int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
- * \endcode
- * @details This API writes the gyroscope bias values for each axis which is used
- * for gyroscope offset compensation.
- *
- * @param[in] gyr_off_comp_axes : Structure to store gyroscope offset
- *                              compensated values.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiGyroCS Gyro cross sensitivity
- * @brief Gyro Cross sensitivity operation
- */
-
-/*!
- * \ingroup bmi2ApiGyroCS
- * \page bmi2_api_bmi2_get_gyro_cross_sense bmi2_get_gyro_cross_sense
- * \code
- * int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
- * \endcode
- * @details This API updates the cross sensitivity coefficient between gyroscope's
- * X and Z axes.
- *
- * @param[in, out]  dev     : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiInts Internal Status
- * @brief Get Internal Status of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiInts
- * \page bmi2_api_bmi2_get_internal_status bmi2_get_internal_status
- * \code
- * int8_t bmi2_get_internal_status(uint8_t *int_stat, const struct bmi2_dev *dev);
- * \endcode
- * @details This API gets error bits and message indicating internal status.
- *
- * @param[in]  dev          : Structure instance of bmi2_dev.
- * @param[out] int_stat     : Pointer variable to store error bits and
- *                          message.
- *
- *@verbatim
- * Internal status      |  *int_stat
- * ---------------------|---------------------
- * BMI2_NOT_INIT        |  0x00
- * BMI2_INIT_OK         |  0x01
- * BMI2_INIT_ERR        |  0x02
- * BMI2_DRV_ERR         |  0x03
- * BMI2_SNS_STOP        |  0x04
- * BMI2_NVM_ERROR       |  0x05
- * BMI2_START_UP_ERROR  |  0x06
- * BMI2_COMPAT_ERROR    |  0x07
- * BMI2_VFM_SKIPPED     |  0x10
- * BMI2_AXES_MAP_ERROR  |  0x20
- * BMI2_ODR_50_HZ_ERROR |  0x40
- * BMI2_ODR_HIGH_ERROR  |  0x80
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiFOC FOC
- * @brief FOC operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiFOC
- * \page bmi2_api_bmi2_perform_accel_foc bmi2_perform_accel_foc
- * \code
- * int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
- * \endcode
- * @details This API performs Fast Offset Compensation for accelerometer.
- *
- * @param[in] accel_g_value : This parameter selects the accel foc
- * axis to be performed
- *
- * input format is {x, y, z, sign}. '1' to enable. '0' to disable
- *
- * eg to choose x axis  {1, 0, 0, 0}
- * eg to choose -x axis {1, 0, 0, 1}
- *
- *
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiFOC
- * \page bmi2_api_bmi2_perform_gyro_foc bmi2_perform_gyro_foc
- * \code
- * int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
- * \endcode
- * @details This API performs Fast Offset Compensation for gyroscope.
- *
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiCRT CRT
- * @brief CRT operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiCRT
- * \page bmi2_api_bmi2_do_crt bmi2_do_crt
- * \code
- * int8_t bmi2_do_crt(struct bmi2_dev *dev);
- * \endcode
- * @details API performs Component Re-Trim calibration (CRT).
- *
- *
- * @param[in]  dev  : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- *
- * @note CRT calibration takes approximately 500ms & maximum time out configured as 2 seconds
- */
-int8_t bmi2_do_crt(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiCRTSt CRT and self test
- * @brief Enable / Abort CRT and self test operations of gyroscope
- */
-
-/*!
- * \ingroup bmi2ApiCRTSt
- * \page bmi2_api_bmi2_set_gyro_self_test_crt bmi2_set_gyro_self_test_crt
- * \code
- * int8_t bmi2_set_gyro_self_test_crt
- * \endcode
- * @details This api is used to enable the gyro self-test and crt.
- *   *gyro_self_test_crt -> 0  then gyro self test enable
- *   *gyro_self_test_crt -> 1 then CRT enable
- *
- * @param[in] gyro_self_test_crt  : enable the gyro self test or crt.
- * @param[in] dev                 : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_set_gyro_self_test_crt(uint8_t *gyro_self_test_crt, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiCRTSt
- * \page bmi2_api_bmi2_abort_crt_gyro_st bmi2_abort_crt_gyro_st
- * \code
- * int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
- * \endcode
- * @details This api is used to abort ongoing crt or gyro self test.
- *
- * @param[in] dev        : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi2ApiASelftest
- * \page bmi2_api_bmi2_do_gyro_st bmi2_do_gyro_st
- * \code
- * int8_t bmi2_do_gyro_st
- * \endcode
- * @details this api is used to perform gyroscope self test.
- *
- * @param[in] dev   :   Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_do_gyro_st(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi2
- * \defgroup bmi2ApiNVM NVM
- * @brief NVM operations of the sensor
- */
-
-/*!
- * \ingroup bmi2ApiNVM
- * \page bmi2_api_bmi2_nvm_prog bmi2_nvm_prog
- * \code
- * int8_t bmi2_nvm_prog
- * \endcode
- * @details This api is used for programming the non volatile memory(nvm)
- *
- * @param[in] dev   :   Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_nvm_prog(struct bmi2_dev *dev);
-
-/*!
- * @brief This API extracts the input feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_config  : Structure that stores feature configurations.
- * @param[in] type          : Type of feature or sensor.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
-                                       const struct bmi2_dev *dev);
-
-/*!
- * @brief This API is used to get the feature configuration from the
- * selected page.
- *
- * @param[in]  sw_page       : Switches to the desired page.
- * @param[out] feat_config   : Pointer to the feature configuration.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI2_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c
deleted file mode 100644
index 124a984b8b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c
+++ /dev/null
@@ -1,4451 +0,0 @@
-/**
-* 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       bmi270.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi270.h"
-
-/***************************************************************************/
-
-/*!              Global Variable
- ****************************************************************************/
-
-/*! @name  Global array that stores the configuration file of BMI270 */
-const uint8_t bmi270_config_file[] = {
-    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc,
-    0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
-    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22,
-    0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05,
-    0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00,
-    0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
-    0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
-    0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
-    0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
-    0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde,
-    0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2,
-    0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd,
-    0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
-    0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
-    0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
-    0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
-    0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05,
-    0x37, 0xfa, 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce,
-    0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
-    0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2,
-    0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f,
-    0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87,
-    0x0f, 0x8a, 0x0f, 0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5,
-    0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x50, 0x98, 0x2e,
-    0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00,
-    0x2e, 0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0xee, 0x00,
-    0x00, 0xb2, 0x07, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x07,
-    0xcc, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e, 0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1,
-    0x03, 0x2e, 0xe9, 0x00, 0x40, 0xb2, 0xf0, 0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x00,
-    0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1, 0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50,
-    0x98, 0x2e, 0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xf9, 0xb4, 0x98, 0x2e, 0x54, 0xb2, 0x98,
-    0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2,
-    0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b,
-    0x2f, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2, 0x02, 0x2f,
-    0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00, 0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7,
-    0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7b, 0x00,
-    0x00, 0xb2, 0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98,
-    0x2e, 0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30,
-    0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01,
-    0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30,
-    0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98,
-    0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41,
-    0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56, 0x4a, 0x0f, 0x0c, 0x2f, 0xd1,
-    0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
-    0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21,
-    0x2e, 0x5a, 0xf5, 0x18, 0x2d, 0xe1, 0x7f, 0x50, 0x30, 0x98, 0x2e, 0xfa, 0x03, 0x0f, 0x52, 0x07, 0x50, 0x50, 0x42,
-    0x70, 0x30, 0x0d, 0x54, 0x42, 0x42, 0x7e, 0x82, 0xe2, 0x6f, 0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0xd4,
-    0x00, 0x10, 0x30, 0x98, 0x2e, 0xc3, 0xb7, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x01, 0x2e, 0xd4, 0x00,
-    0x06, 0x90, 0x18, 0x2f, 0x01, 0x2e, 0x76, 0x00, 0x0b, 0x54, 0x07, 0x52, 0xe0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xe1,
-    0x6f, 0x08, 0x1a, 0x40, 0x30, 0x08, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x20, 0x30, 0x98, 0x2e, 0xaf, 0xb7, 0x50, 0x32,
-    0x98, 0x2e, 0xfa, 0x03, 0x05, 0x2d, 0x98, 0x2e, 0x38, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x00, 0x30, 0x21,
-    0x2e, 0x7c, 0x00, 0x18, 0x2d, 0x01, 0x2e, 0xd4, 0x00, 0x03, 0xaa, 0x01, 0x2f, 0x98, 0x2e, 0x45, 0x0e, 0x01, 0x2e,
-    0xd4, 0x00, 0x3f, 0x80, 0x03, 0xa2, 0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x5b, 0x0e, 0x30, 0x30, 0x98,
-    0x2e, 0xce, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x01, 0x2e, 0x77, 0x00,
-    0x00, 0xb2, 0x24, 0x2f, 0x98, 0x2e, 0xf5, 0xcb, 0x03, 0x2e, 0xd5, 0x00, 0x11, 0x54, 0x01, 0x0a, 0xbc, 0x84, 0x83,
-    0x86, 0x21, 0x2e, 0xc9, 0x01, 0xe0, 0x40, 0x13, 0x52, 0xc4, 0x40, 0x82, 0x40, 0xa8, 0xb9, 0x52, 0x42, 0x43, 0xbe,
-    0x53, 0x42, 0x04, 0x0a, 0x50, 0x42, 0xe1, 0x7f, 0xf0, 0x31, 0x41, 0x40, 0xf2, 0x6f, 0x25, 0xbd, 0x08, 0x08, 0x02,
-    0x0a, 0xd0, 0x7f, 0x98, 0x2e, 0xa8, 0xcf, 0x06, 0xbc, 0xd1, 0x6f, 0xe2, 0x6f, 0x08, 0x0a, 0x80, 0x42, 0x98, 0x2e,
-    0x58, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xee, 0x00, 0x21, 0x2e, 0x77, 0x00, 0x21, 0x2e, 0xdd, 0x00, 0x80, 0x2e, 0xf4,
-    0x01, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0xec, 0x01, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0xf3, 0x03, 0x57, 0x50,
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-    0xdd, 0x52, 0xd3, 0x54, 0x42, 0x42, 0x4f, 0x84, 0x73, 0x30, 0xdb, 0x52, 0x83, 0x42, 0x1b, 0x30, 0x6b, 0x42, 0x23,
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-    0x08, 0xb6, 0x89, 0x16, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01,
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-    0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
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-    0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
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-    0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
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-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1
-};
-
-/*! @name  Global array that stores the feature input configuration of BMI270 */
-const struct bmi2_feature_config bmi270_feat_in[BMI270_MAX_FEAT_IN] = {
-    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_CONFIG_ID_STRT_ADDR },
-    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_MAX_BURST_LEN_STRT_ADDR },
-    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR },
-    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_ABORT_STRT_ADDR },
-    { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_AXIS_MAP_STRT_ADDR },
-    { .type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_SELF_OFF_STRT_ADDR },
-    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_NVM_PROG_PREP_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_GAIN_UPDATE_STRT_ADDR },
-    { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_ANY_MOT_STRT_ADDR },
-    { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_NO_MOT_STRT_ADDR },
-    { .type = BMI2_SIG_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_SIG_MOT_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_STEP_CNT_1_STRT_ADDR },
-    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_6, .start_addr = BMI270_WRIST_GEST_STRT_ADDR },
-    { .type = BMI2_WRIST_WEAR_WAKE_UP, .page = BMI2_PAGE_7, .start_addr = BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR },
-};
-
-/*! @name  Global array that stores the feature output configuration */
-const struct bmi2_feature_config bmi270_feat_out[BMI270_MAX_FEAT_OUT] = {
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_CNT_OUT_STRT_ADDR },
-    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_ACT_OUT_STRT_ADDR },
-    { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_0, .start_addr = BMI270_WRIST_GEST_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYR_USER_GAIN_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYRO_CROSS_SENSE_STRT_ADDR },
-    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR },
-    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR }
-};
-
-/*! @name  Global array that stores the feature interrupts of BMI270 */
-struct bmi2_map_int bmi270_map_int[BMI270_MAX_INT_MAP] = {
-    { .type = BMI2_SIG_MOTION, .sens_map_int = BMI270_INT_SIG_MOT_MASK },
-    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_INT_STEP_COUNTER_MASK },
-    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_INT_STEP_DETECTOR_MASK },
-    { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_INT_STEP_ACT_MASK },
-    { .type = BMI2_WRIST_GESTURE, .sens_map_int = BMI270_INT_WRIST_GEST_MASK },
-    { .type = BMI2_WRIST_WEAR_WAKE_UP, .sens_map_int = BMI270_INT_WRIST_WEAR_WAKEUP_MASK },
-    { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_INT_ANY_MOT_MASK },
-    { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_INT_NO_MOT_MASK },
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API disables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sensors/features to be enabled or
- * disabled.
- *
- * @param[in]  sens_list    : Pointer to select the sensor.
- * @param[in]  n_sens       : Number of sensors selected.
- * @param[out] sensor_sel   : Gets the selected sensor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
-
-/*!
- * @brief This internal API is used to enable/disable any-motion feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables any-motion.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables any-motion.
- * BMI2_ENABLE  | Enables any-motion.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable no-motion feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables no-motion.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables no-motion.
- * BMI2_ENABLE  | Enables no-motion.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable sig-motion feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables sig-motion.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables sig-motion.
- * BMI2_ENABLE  | Enables sig-motion.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step-detector.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step detector
- * BMI2_ENABLE  | Enables step detector
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step counter.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step counter
- * BMI2_ENABLE  | Enables step counter
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step activity detection.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step activity.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step activity
- * BMI2_ENABLE  | Enables step activity
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gives an option to enable offset correction
- * feature of gyroscope, either internally or by the host.
- *
- * @param[in] enable    : Enables/Disables self-offset correction.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | gyroscope offset correction values are set internally
- * BMI2_DISABLE | gyroscope offset correction values has to be set by host
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables gyroscope user gain.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables gyroscope user gain
- * BMI2_ENABLE  | Enables gyroscope user gain
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the wrist gesture feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables wrist gesture.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables wrist gesture
- * BMI2_ENABLE  | Enables wrist gesture
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the wrist wear wake up feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables wrist wear wake up.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables wrist wear wake up
- * BMI2_ENABLE  | Enables wrist wear wake up
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[in]      config      : Structure instance of bmi2_any_motion_config.
- * @param[in, out] dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_any_motion_config  |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[in]      config       : Structure instance of bmi2_no_motion_config.
- * @param[in, out] dev          : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_no_motion_config   |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets sig-motion configurations like block-size,
- * output-configuration and other parameters.
- *
- * @param[in]      config        : Structure instance of bmi2_sig_motion_config.
- * @param[in, out] dev           : Structure instance of bmi2_dev.
- *
- *----------------------------------------------------------------------------
- *  bmi2_sig_motion_config  |
- *  Structure parameters    |                   Description
- * -------------------------|---------------------------------------------------
- *                          | Defines the duration after which the significant
- *  block_size              | motion interrupt is triggered. It is expressed in
- *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
- *--------------------------|---------------------------------------------------
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter/detector/activity configurations.
- *
- * @param[in] config      : Structure instance of bmi2_step_config.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- *---------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets wrist gesture configurations like wearable-arm,
- * and output-configuration.
- *
- * @param[in]       config    : Structure instance of bmi2_wrist_gest_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *-----------------------------------------------------------------------------
- *  bmi2_wrist_gest_config  |
- *  Structure parameters    |               Description
- *--------------------------|--------------------------------------------------
- *                          | Device in left (0) or right (1) arm. By default,
- *  wear_arm                | the wearable device is assumed to be in left arm
- *                          | i.e. default value is 0.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets wrist wear wake-up configurations like
- * output-configuration.
- *
- * @param[in]       config    : Structure instance of
- *                              bmi2_wrist_wear_wake_up_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *-----------------------------------------------------------------------------
- * bmi2_wrist_wear_wake_up_config   |
- *  Structure parameters            |               Description
- *----------------------------------|-------------------------------------------
- *                                  | To set the wrist wear wake-up parameters like
- *                                  | min_angle_focus, min_angle_nonfocus,
- *  wrist_wear_wakeup_params            | angle_landscape_left, angle_landscape_right,
- *                                  | angle_potrait_up and down.
- * ---------------------------------|-------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[out] config        : Structure instance of bmi2_any_motion_config.
- * @param[in, out]  dev      : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_any_motion_config  |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[out]      config    : Structure instance of bmi2_no_motion_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_no_motion_config   |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets sig-motion configurations like block-size,
- * output-configuration and other parameters.
- *
- * @param[out]      config    : Structure instance of bmi2_sig_motion_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- *----------------------------------------------------------------------------
- *  bmi2_sig_motion_config  |
- *  Structure parameters    |                   Description
- * -------------------------|---------------------------------------------------
- *                          | Defines the duration after which the significant
- *  block_size              | motion interrupt is triggered. It is expressed in
- *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
- *--------------------------|---------------------------------------------------
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- *
- * @param[out] config      : Structure instance of bmi2_step_config.
- * @param[in]  dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets wrist gesture configurations like wearable-arm,
- * and output-configuration.
- *
- * @param[out]      config    : Structure instance of bmi2_wrist_gest_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *-----------------------------------------------------------------------------
- *  bmi2_wrist_gest_config  |
- *  Structure parameters    |               Description
- *--------------------------|--------------------------------------------------
- *                          | Device in left (0) or right (1) arm. By default,
- *  wear_arm                | the wearable device is assumed to be in left arm
- *                          | i.e. default value is 0.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets wrist wear wake-up configurations like
- * output-configuration.
- *
- * @param[out]      config    : Structure instance of
- *                              bmi2_wrist_wear_wake_up_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *------------------------------------|---------------------------------------
- * bmi2_wrist_wear_wake_up_wh_config  |
- *  Structure parameters              |               Description
- *------------------------------------|-------------------------------------------
- *                                    | To get the wrist wear wake-up parameters like
- *                                    | min_angle_focus, min_angle_nonfocus,
- *  wrist_wear_wake_params            | angle_landscape_left, angle_landscape_right,
- *                                    | angle_potrait_up and down.
- * -----------------------------------|-------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the output values of wrist gesture.
- *
- * @param[out] wrist_gest   : Pointer to the stored wrist gesture.
- * @param[in]  dev          : Structure instance of bmi2_dev.
- *
- * *wrist_gest  |  Output
- * -------------|------------
- * 0x00         |  UNKNOWN
- * 0x01         |  PUSH_ARM_DOWN
- * 0x02         |  PIVOT_UP
- * 0x03         |  WRIST_SHAKE_JIGGLE
- * 0x04         |  FLICK_IN
- * 0x05         |  FLICK_OUT
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the output values of step activity.
- *
- * @param[out] step_act         : Pointer to the stored step activity data.
- * @param[in]  dev      : Structure instance of bmi2_dev.
- *
- * *step_act  |  Output
- * -----------|------------
- * 0x00       |  STILL
- * 0x01       |  WALKING
- * 0x02       |  RUNNING
- * 0x03       |  UNKNOWN
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fails
- */
-static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the output values of step counter.
- *
- * @param[out] step_count       : Pointer to the stored step counter data.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- *
- * @param[out] nvm_err_stat     : Stores the NVM error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- *
- * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- *
- * @param[out] status         : Stores status of gyroscope user gain update.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- *
- * @param[in] enable    : Enables/Disables gain compensation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enable gain compensation.
- * BMI2_DISABLE | Disable gain compensation.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_output      : Structure that stores output feature
- *                              configurations.
- * @param[in] type              : Type of feature or sensor.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev);
-
-/***************************************************************************/
-
-/*!         User Interface Definitions
- ****************************************************************************/
-
-/*!
- *  @brief This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270 sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- */
-int8_t bmi270_init(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Assign chip id of BMI270 */
-        dev->chip_id = BMI270_CHIP_ID;
-
-        /* get the size of config array */
-        dev->config_size = sizeof(bmi270_config_file);
-
-        /* Enable the variant specific features if any */
-        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
-
-        /* An extra dummy byte is read during SPI read */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            dev->dummy_byte = 1;
-        }
-        else
-        {
-            dev->dummy_byte = 0;
-        }
-
-        /* If configuration file pointer is not assigned any address */
-        if (!dev->config_file_ptr)
-        {
-            /* Give the address of the configuration file array to
-             * the device pointer
-             */
-            dev->config_file_ptr = bmi270_config_file;
-        }
-
-        /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Assign the offsets of the feature input
-             * configuration to the device structure
-             */
-            dev->feat_config = bmi270_feat_in;
-
-            /* Assign the offsets of the feature output to
-             * the device structure
-             */
-            dev->feat_output = bmi270_feat_out;
-
-            /* Assign the maximum number of pages to the
-             * device structure
-             */
-            dev->page_max = BMI270_MAX_PAGE_NUM;
-
-            /* Assign maximum number of input sensors/
-             * features to device structure
-             */
-            dev->input_sens = BMI270_MAX_FEAT_IN;
-
-            /* Assign maximum number of output sensors/
-             * features to device structure
-             */
-            dev->out_sens = BMI270_MAX_FEAT_OUT;
-
-            /* Assign the offsets of the feature interrupt
-             * to the device structure
-             */
-            dev->map_int = bmi270_map_int;
-
-            /* Assign maximum number of feature interrupts
-             * to device structure
-             */
-            dev->sens_int_map = BMI270_MAX_INT_MAP;
-
-            /* Get the gyroscope cross axis sensitivity */
-            rslt = bmi2_get_gyro_cross_sense(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be enabled.
- */
-int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable the selected sensors */
-            rslt = sensor_enable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be disabled.
- */
-int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Disable the selected sensors */
-            rslt = sensor_disable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the sensor/feature configuration.
- */
-int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set any motion configuration */
-                        case BMI2_ANY_MOTION:
-                            rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
-                            break;
-
-                        /* Set no motion configuration */
-                        case BMI2_NO_MOTION:
-                            rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
-                            break;
-
-                        /* Set sig-motion configuration */
-                        case BMI2_SIG_MOTION:
-                            rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
-                            break;
-
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Set step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                        case BMI2_STEP_ACTIVITY:
-                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        /* Set the wrist gesture configuration */
-                        case BMI2_WRIST_GESTURE:
-                            rslt = set_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
-                            break;
-
-                        /* Set the wrist wear wake-up configuration */
-                        case BMI2_WRIST_WEAR_WAKE_UP:
-                            rslt = set_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the set configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature configuration.
- */
-int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
-                {
-
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Get sig-motion configuration */
-                        case BMI2_SIG_MOTION:
-                            rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
-                            break;
-
-                        /* Get any motion configuration */
-                        case BMI2_ANY_MOTION:
-                            rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
-                            break;
-
-                        /* Get no motion configuration */
-                        case BMI2_NO_MOTION:
-                            rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
-                            break;
-
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Get step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                        case BMI2_STEP_ACTIVITY:
-                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        /* Get the wrist gesture configuration */
-                        case BMI2_WRIST_GESTURE:
-                            rslt = get_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
-                            break;
-
-                        /* Get the wrist wear wake-up configuration */
-                        case BMI2_WRIST_WEAR_WAKE_UP:
-                            rslt = get_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the get configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- */
-int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sensor_data != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
-                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
-                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
-            {
-                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for feature
-                 * configurations
-                 */
-                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
-                {
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sensor_data[loop].type)
-                    {
-                        case BMI2_STEP_COUNTER:
-
-                            /* Get step counter output */
-                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
-                            break;
-                        case BMI2_STEP_ACTIVITY:
-
-                            /* Get step activity output */
-                            rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
-                            break;
-                        case BMI2_NVM_STATUS:
-
-                            /* Get NVM error status  */
-                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
-                            break;
-                        case BMI2_VFRM_STATUS:
-
-                            /* Get VFRM error status  */
-                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
-                            break;
-                        case BMI2_WRIST_GESTURE:
-
-                            /* Get wrist gesture status  */
-                            rslt = get_wrist_gest_status(&sensor_data[loop].sens_data.wrist_gesture_output, dev);
-                            break;
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-
-                    /* Return error if any of the get sensor data fails */
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API updates the gyroscope user-gain.
- */
-int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
-
-    /* Structure to define sensor configurations */
-    struct bmi2_sens_config sens_cfg;
-
-    /* Variable to store status of user-gain update module */
-    uint8_t status = 0;
-
-    /* Variable to define count */
-    uint8_t count = 100;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (user_gain != NULL))
-    {
-        /* Select type of feature */
-        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
-
-        /* Get the user gain configurations */
-        rslt = bmi270_get_sensor_config(&sens_cfg, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the user-defined ratio */
-            sens_cfg.cfg.gyro_gain_update = *user_gain;
-
-            /* Set rate ratio for all axes */
-            rslt = bmi270_set_sensor_config(&sens_cfg, 1, dev);
-        }
-
-        /* Disable gyroscope */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_sensor_disable(&sens_sel[0], 1, dev);
-        }
-
-        /* Enable gyroscope user-gain update module */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_sensor_enable(&sens_sel[1], 1, dev);
-        }
-
-        /* Set the command to trigger the computation */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Poll until enable bit of user-gain update is 0 */
-            while (count--)
-            {
-                rslt = get_user_gain_upd_status(&status, dev);
-                if ((rslt == BMI2_OK) && (status == 0))
-                {
-                    /* Enable compensation of gain defined
-                     * in the GAIN register
-                     */
-                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
-
-                    /* Enable gyroscope */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = bmi270_sensor_enable(&sens_sel[0], 1, dev);
-                    }
-
-                    break;
-                }
-
-                dev->delay_us(10000, dev->intf_ptr);
-            }
-
-            /* Return error if user-gain update is failed */
-            if ((rslt == BMI2_OK) && (status != 0))
-            {
-                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the compensated gyroscope user-gain values.
- */
-int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[3] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
-    {
-        /* Get the gyroscope compensated gain values */
-        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Gyroscope user gain correction X-axis */
-            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
-
-            /* Gyroscope user gain correction Y-axis */
-            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
-
-            /* Gyroscope user gain correction z-axis */
-            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
- */
-int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_int != NULL))
-    {
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            switch (sens_int[loop].type)
-            {
-                case BMI2_SIG_MOTION:
-                case BMI2_WRIST_GESTURE:
-                case BMI2_ANY_MOTION:
-                case BMI2_NO_MOTION:
-                case BMI2_STEP_COUNTER:
-                case BMI2_STEP_DETECTOR:
-                case BMI2_STEP_ACTIVITY:
-                case BMI2_WRIST_WEAR_WAKE_UP:
-
-                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
-                    break;
-                default:
-                    rslt = BMI2_E_INVALID_SENSOR;
-                    break;
-            }
-
-            /* Return error if interrupt mapping fails */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sensor/features to be enabled or
- * disabled.
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define loop */
-    uint8_t count;
-
-    for (count = 0; count < n_sens; count++)
-    {
-        switch (sens_list[count])
-        {
-            case BMI2_ACCEL:
-                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
-                break;
-            case BMI2_GYRO:
-                *sensor_sel |= BMI2_GYRO_SENS_SEL;
-                break;
-            case BMI2_AUX:
-                *sensor_sel |= BMI2_AUX_SENS_SEL;
-                break;
-            case BMI2_TEMP:
-                *sensor_sel |= BMI2_TEMP_SENS_SEL;
-                break;
-            case BMI2_SIG_MOTION:
-                *sensor_sel |= BMI2_SIG_MOTION_SEL;
-                break;
-            case BMI2_ANY_MOTION:
-                *sensor_sel |= BMI2_ANY_MOT_SEL;
-                break;
-            case BMI2_NO_MOTION:
-                *sensor_sel |= BMI2_NO_MOT_SEL;
-                break;
-            case BMI2_STEP_DETECTOR:
-                *sensor_sel |= BMI2_STEP_DETECT_SEL;
-                break;
-            case BMI2_STEP_COUNTER:
-                *sensor_sel |= BMI2_STEP_COUNT_SEL;
-                break;
-            case BMI2_STEP_ACTIVITY:
-                *sensor_sel |= BMI2_STEP_ACT_SEL;
-                break;
-            case BMI2_GYRO_GAIN_UPDATE:
-                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                break;
-            case BMI2_GYRO_SELF_OFF:
-                *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL;
-                break;
-            case BMI2_WRIST_GESTURE:
-                *sensor_sel |= BMI2_WRIST_GEST_SEL;
-                break;
-            case BMI2_WRIST_WEAR_WAKE_UP:
-                *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
-        }
-
-        /* Enable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
-        }
-
-        /* Enable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
-        }
-
-        /* Enable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Enable sig-motion feature */
-                if (sensor_sel & BMI2_SIG_MOTION_SEL)
-                {
-                    rslt = set_sig_motion(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_SIG_MOTION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable any motion feature */
-                if (sensor_sel & BMI2_ANY_MOT_SEL)
-                {
-                    rslt = set_any_motion(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable no motion feature */
-                if (sensor_sel & BMI2_NO_MOT_SEL)
-                {
-                    rslt = set_no_motion(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_NO_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step activity feature */
-                if (sensor_sel & BMI2_STEP_ACT_SEL)
-                {
-                    rslt = set_step_activity(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable gyroscope self-offset correction feature */
-                if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
-                {
-                    rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable wrist gesture feature for wearable variant */
-                if (sensor_sel & BMI2_WRIST_GEST_SEL)
-                {
-                    rslt = set_wrist_gesture(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_WRIST_GEST_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable wrist wear wake-up feature */
-                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
-                {
-                    rslt = set_wrist_wear_wake_up(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API disables the selected sensors/features.
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
-        }
-
-        /* Disable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
-        }
-
-        /* Disable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
-        }
-
-        /* Disable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
-        }
-
-        /* Disable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Disable sig-motion feature */
-                if (sensor_sel & BMI2_SIG_MOTION_SEL)
-                {
-                    rslt = set_sig_motion(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable any-motion feature */
-                if (sensor_sel & BMI2_ANY_MOT_SEL)
-                {
-                    rslt = set_any_motion(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable no-motion feature */
-                if (sensor_sel & BMI2_NO_MOT_SEL)
-                {
-                    rslt = set_no_motion(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step activity feature */
-                if (sensor_sel & BMI2_STEP_ACT_SEL)
-                {
-                    rslt = set_step_activity(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable gyroscope self-offset correction feature */
-                if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
-                {
-                    rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable wrist gesture feature for wearable variant*/
-                if (sensor_sel & BMI2_WRIST_GEST_SEL)
-                {
-                    rslt = set_wrist_gesture(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_WRIST_GEST_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable wrist wear wake-up feature */
-                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
-                {
-                    rslt = set_wrist_wear_wake_up(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable Advance power save if disabled while
-                 * configuring and not when already disabled
-                 */
-                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-                {
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable any motion feature.
- */
-static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any-motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Search for any-motion feature and extract its configurations details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of any-motion axes */
-            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable no-motion feature.
- */
-static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Search for no-motion feature and extract its configurations details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any/no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of no-motion axes */
-            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step detector */
-    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
-
-    /* Search for step detector feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step detector feature resides */
-        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step detector */
-            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-counter feature resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step counter */
-            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable sig-motion feature.
- */
-static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for sig-motion */
-    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
-
-    /* Search for sig-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where sig-motion feature resides */
-        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of sig-motion */
-            idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step activity detection.
- */
-static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step activity */
-    struct bmi2_feature_config step_act_config = { 0, 0, 0 };
-
-    /* Search for step activity feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-activity
-         * feature resides
-         */
-        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step activity */
-            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gives an option to enable self-offset correction
- * feature of gyroscope, either internally or by the host.
- */
-static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for self-offset correction */
-    struct bmi2_feature_config self_off_corr_cfg = { 0, 0, 0 };
-
-    /* Search for self-offset correction and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where self-offset
-         * correction feature resides
-         */
-        rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of self-offset correction */
-            idx = self_off_corr_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the wrist gesture feature.
- */
-static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist gesture */
-    struct bmi2_feature_config wrist_gest_cfg = { 0, 0, 0 };
-
-    /* Search for wrist gesture and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_gest_cfg, BMI2_WRIST_GESTURE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist gesture feature resides */
-        rslt = bmi2_get_feat_config(wrist_gest_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of wrist gesture */
-            idx = wrist_gest_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_GEST_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the wrist wear wake up feature.
- */
-static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake up */
-    struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
-
-    /* Search for wrist wear wake up and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake up
-         * feature resides
-         */
-        rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of wrist wear wake up */
-            idx = wrist_wake_up_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user gain feature resides */
-        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of user gain */
-            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define count */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for any-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for any-motion select */
-            idx = any_mot_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set duration */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
-
-            /* Set x-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
-
-            /* Set y-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
-
-            /* Set z-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
-
-            /* Increment offset by 1 word to set threshold and output configuration */
-            idx++;
-
-            /* Set threshold */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[any_mot_config.start_addr +
-                            index] = *((uint8_t *) data_p + any_mot_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define count */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for no-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for no-motion select */
-            idx = no_mot_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set duration */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
-
-            /* Set x-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
-
-            /* Set y-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
-
-            /* Set z-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
-
-            /* Increment offset by 1 word to set threshold and output configuration */
-            idx++;
-
-            /* Set threshold */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[no_mot_config.start_addr +
-                            index] = *((uint8_t *) data_p + no_mot_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets sig-motion configurations like block-size,
- * output-configuration and other parameters.
- */
-static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for sig-motion */
-    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for sig-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where sig-motion feature resides */
-        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for sig-motion select */
-            idx = sig_mot_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set parameter 1 */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size);
-
-            /* Increment offset by 1 word to set parameter 2 */
-            idx++;
-
-            /* Set parameter 2 */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_2, config->param_2);
-
-            /* Increment offset by 1 word to set parameter 3 */
-            idx++;
-
-            /* Set parameter 3 */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_3, config->param_3);
-
-            /* Increment offset by 1 word to set parameter 4 */
-            idx++;
-
-            /* Set parameter 4 */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_4, config->param_4);
-
-            /* Increment offset by 1 word to set parameter 5 */
-            idx++;
-
-            /* Set parameter 5 */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_5, config->param_5);
-
-            /* Increment offset by 1 word  to set output- configuration */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[sig_mot_config.start_addr +
-                            index] = *((uint8_t *) data_p + sig_mot_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter parameters */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
-    uint8_t max_len = 8;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of words to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = (remain_len / 2);
-                }
-
-                /* Get offset in words since all the features are set in words length */
-                page_byte_idx = start_addr / 2;
-                for (; page_byte_idx < max_len;)
-                {
-                    /* Set parameters 1 to 25 */
-                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
-                                                                  BMI2_STEP_COUNT_PARAMS,
-                                                                  step_count_params[param_idx]);
-
-                    /* Increment offset by 1 word to set to the next parameter */
-                    page_byte_idx++;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-
-                /* Get total length in bytes to copy from local pointer to the array */
-                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
-
-                /* Copy the bytes to be set back to the array */
-                for (index = 0; index < page_byte_idx; index++)
-                {
-                    feat_config[step_params_config.start_addr +
-                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
-                }
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/* @brief This internal API sets step counter configurations like water-mark
- * level, reset-counter and output-configuration step detector and activity.
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter 4 */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = step_count_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set water-mark level */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
-
-            /* Set reset-counter */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
-
-            /* Increment offset by 1 word  to set output
-             * configuration of step detector and step activity
-             */
-            idx++;
-
-            /* Set step buffer size */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[step_count_config.start_addr +
-                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets wrist gesture configurations like wearable-arm,
- * and output-configuration.
- */
-static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist gesture */
-    struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist gesture feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist gesture feature resides */
-        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for gesture select */
-            idx = wrist_gest_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set wearable arm */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_GEST_WEAR_ARM, config->wearable_arm);
-
-            /* Increment offset by 1 more word to set minimum tilt angle (min_flick_peak) */
-            idx++;
-            *(data_p + idx) = config->min_flick_peak;
-
-            /* Increment offset by 1 more word to set min_flick_samples */
-            idx++;
-            *(data_p + idx) = config->min_flick_samples;
-
-            /* Increment offset by 1 more word to set max time within gesture moment has to be completed */
-            idx++;
-            *(data_p + idx) = config->max_duration;
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - wrist_gest_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[wrist_gest_config.start_addr +
-                            index] = *((uint8_t *) data_p + wrist_gest_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets wrist wear wake-up configurations like
- * output-configuration.
- */
-static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake-up */
-    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist wear wake-up feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake-up feature resides */
-        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist wear wake-up select */
-            idx = wrist_wake_up_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            *(data_p + idx) = config->min_angle_focus;
-
-            /* Increment offset by 1 more word to set min_angle_nonfocus */
-            idx++;
-            *(data_p + idx) = config->min_angle_nonfocus;
-
-            /* Increment offset by 1 more word to set max_tilt_lr */
-            idx++;
-            *(data_p + idx) = config->max_tilt_lr;
-
-            /* Increment offset by 1 more word to set max_tilt_ll */
-            idx++;
-            *(data_p + idx) = config->max_tilt_ll;
-
-            /* Increment offset by 1 more word to set max_tilt_pd */
-            idx++;
-            *(data_p + idx) = config->max_tilt_pd;
-
-            /* Increment offset by 1 more word to set max_tilt_pu */
-            idx++;
-            *(data_p + idx) = config->max_tilt_pu;
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[wrist_wake_up_config.start_addr +
-                            index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb;
-
-    /* Variable to define MSB */
-    uint16_t msb;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any-motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Search for any-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for any-motion */
-            idx = any_mot_config.start_addr;
-
-            /* Get word to calculate duration, x, y and z select */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get duration */
-            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
-
-            /* Get x-select */
-            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
-
-            /* Get y-select */
-            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
-
-            /* Get z-select */
-            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
-
-            /* Get word to calculate threshold, output configuration from the same word */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get threshold */
-            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Search for no-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for no-motion */
-            idx = no_mot_config.start_addr;
-
-            /* Get word to calculate duration, x, y and z select */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get duration */
-            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
-
-            /* Get x-select */
-            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
-
-            /* Get y-select */
-            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
-
-            /* Get z-select */
-            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
-
-            /* Get word to calculate threshold, output configuration from the same word */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get threshold */
-            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets sig-motion configurations like block-size,
- * output-configuration and other parameters.
- */
-static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration sig-motion */
-    struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
-
-    /* Search for sig-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where sig-motion feature resides */
-        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for sig-motion */
-            idx = sig_mot_config.start_addr;
-
-            /* Get word to calculate parameter 1 */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get parameter 1  */
-            config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK;
-
-            /* Get word to calculate parameter 2 */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get parameter 2  */
-            config->param_2 = lsb_msb & BMI2_SIG_MOT_PARAM_2_MASK;
-
-            /* Get word to calculate parameter 3 */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get parameter 3  */
-            config->param_3 = lsb_msb & BMI2_SIG_MOT_PARAM_3_MASK;
-
-            /* Get word to calculate parameter 4 */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get parameter 4  */
-            config->param_4 = lsb_msb & BMI2_SIG_MOT_PARAM_4_MASK;
-
-            /* Get word to calculate parameter 5 */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get parameter 5  */
-            config->param_5 = lsb_msb & BMI2_SIG_MOT_PARAM_5_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Initialize feature configuration for step counter 1 */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words to be read in a page */
-    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of bytes to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = remain_len;
-                }
-
-                /* Get the offset */
-                page_byte_idx = start_addr;
-                while (page_byte_idx < max_len)
-                {
-                    /* Get word to calculate the parameter*/
-                    lsb = (uint16_t) feat_config[page_byte_idx++];
-                    if (page_byte_idx < max_len)
-                    {
-                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
-                    }
-
-                    lsb_msb = lsb | msb;
-
-                    /* Get parameters 1 to 25 */
-                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter 4 feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter 4 parameter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for step counter/detector/activity */
-            idx = step_count_config.start_addr;
-
-            /* Get word to calculate water-mark level and reset counter */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get water-mark level */
-            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
-
-            /* Get reset counter */
-            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
-
-            /* Get word to calculate output configuration of step detector and activity */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets wrist gesture configurations like wearable-arm,
- * and output-configuration.
- */
-static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist gesture */
-    struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist gesture feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist gesture feature  resides */
-        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist gesture select */
-            idx = wrist_gest_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Get wearable arm */
-            config->wearable_arm = (*(data_p + idx) & BMI2_WRIST_GEST_WEAR_ARM_MASK) >> BMI2_WRIST_GEST_WEAR_ARM_POS;
-
-            /* Increment the offset by 1 word to get min_flick_peak */
-            idx++;
-            config->min_flick_peak = *(data_p + idx);
-
-            /* Increment the offset by 1 word to get min_flick_samples */
-            idx++;
-            config->min_flick_samples = *(data_p + idx);
-
-            /* Increment the offset by 1 word to get max_duration */
-            idx++;
-            config->max_duration = *(data_p + idx);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets wrist wear wake-up configurations like
- * output-configuration.
- */
-static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake-up */
-    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist wear wake-up feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake-up feature  resides */
-        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist wear wake-up select */
-            idx = wrist_wake_up_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            config->min_angle_focus = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get min_angle_nonfocus */
-            idx++;
-            config->min_angle_nonfocus = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get max_tilt_lr */
-            idx++;
-            config->max_tilt_lr = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get max_tilt_ll */
-            idx++;
-            config->max_tilt_ll = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get max_tilt_pd */
-            idx++;
-            config->max_tilt_pd = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get max_tilt_pu */
-            idx++;
-            config->max_tilt_pu = *(data_p + idx);
-
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of the wrist gesture.
- */
-static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for wrist gesture */
-    struct bmi2_feature_config wrist_gest_out_config = { 0, 0, 0 };
-
-    /* Search for wrist gesture feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&wrist_gest_out_config, BMI2_WRIST_GESTURE, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for wrist gesture */
-        rslt = bmi2_get_feat_config(wrist_gest_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist gesture output */
-            idx = wrist_gest_out_config.start_addr;
-
-            /* Get the wrist gesture output */
-            *wrist_gest = feat_config[idx];
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step counter.
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step counter */
-    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
-
-    /* Search for step counter output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-counter */
-        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step counter output */
-            idx = step_cnt_out_config.start_addr;
-
-            /* Get the step counter output in 4 bytes */
-            *step_count = (uint32_t) feat_config[idx++];
-            *step_count |= ((uint32_t) feat_config[idx++] << 8);
-            *step_count |= ((uint32_t) feat_config[idx++] << 16);
-            *step_count |= ((uint32_t) feat_config[idx++] << 24);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for NVM error status */
-    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
-
-    /* Search for NVM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for NVM error status */
-        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for NVM error status */
-            idx = nvm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Error when NVM load action fails */
-            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
-
-            /* Error when NVM program action fails */
-            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
-
-            /* Error when NVM erase action fails */
-            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
-
-            /* Error when NVM program limit is exceeded */
-            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
-
-            /* Error when NVM privilege mode is not acquired */
-            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to check APS status */
-    uint8_t aps_stat = 0;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Disable advance power save */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get the configuration from the page where user gain feature resides */
-            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for enable/disable of user gain */
-                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-                /* Set the feature enable status */
-                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    /* Enable Advance power save if disabled while configuring and not when already disabled */
-    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step activity.
- */
-static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step activity */
-    struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
-
-    /* Search for step activity output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-activity */
-        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step activity output */
-            idx = step_act_out_config.start_addr;
-
-            /* Get the step activity output */
-            *step_act = feat_config[idx];
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for VFRM error status */
-    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
-
-    /* Search for VFRM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for VFRM error status */
-        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for VFRM error status */
-            idx = vfrm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Internal error while acquiring lock for FIFO */
-            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
-
-            /* Internal error while writing byte into FIFO */
-            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
-
-            /* Internal error while writing into FIFO */
-            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
-        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details from the look-up table.
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the output feature from the output configuration array */
-    while (loop < dev->out_sens)
-    {
-        if (dev->feat_output[loop].type == type)
-        {
-            *feat_output = dev->feat_output[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h
deleted file mode 100644
index f42676d65e..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h
+++ /dev/null
@@ -1,422 +0,0 @@
-/**
-* 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       bmi270.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi270 BMI270
- * @brief Sensor driver for BMI270 sensor
- */
-
-#ifndef BMI270_H_
-#define BMI270_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!               Macro definitions
- ****************************************************************************/
-
-/*! @name BMI270 Chip identifier */
-#define BMI270_CHIP_ID                       UINT8_C(0x24)
-
-/*! @name BMI270 feature input start addresses */
-#define BMI270_CONFIG_ID_STRT_ADDR           UINT8_C(0x00)
-#define BMI270_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x02)
-#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x03)
-#define BMI270_ABORT_STRT_ADDR               UINT8_C(0x03)
-#define BMI270_AXIS_MAP_STRT_ADDR            UINT8_C(0x04)
-#define BMI270_GYRO_SELF_OFF_STRT_ADDR       UINT8_C(0x05)
-#define BMI270_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x05)
-#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR    UINT8_C(0x06)
-#define BMI270_ANY_MOT_STRT_ADDR             UINT8_C(0x0C)
-#define BMI270_NO_MOT_STRT_ADDR              UINT8_C(0x00)
-#define BMI270_SIG_MOT_STRT_ADDR             UINT8_C(0x04)
-#define BMI270_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
-#define BMI270_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
-#define BMI270_WRIST_GEST_STRT_ADDR          UINT8_C(0x06)
-#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR  UINT8_C(0x00)
-
-/*! @name BMI270 feature output start addresses */
-#define BMI270_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
-#define BMI270_STEP_ACT_OUT_STRT_ADDR        UINT8_C(0x04)
-#define BMI270_WRIST_GEST_OUT_STRT_ADDR      UINT8_C(0x06)
-#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x08)
-#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
-#define BMI270_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
-
-/*! @name Defines maximum number of pages */
-#define BMI270_MAX_PAGE_NUM                  UINT8_C(8)
-
-/*! @name Defines maximum number of feature input configurations */
-#define BMI270_MAX_FEAT_IN                   UINT8_C(17)
-
-/*! @name Defines maximum number of feature outputs */
-#define BMI270_MAX_FEAT_OUT                  UINT8_C(7)
-
-/*! @name Mask definitions for feature interrupt status bits */
-#define BMI270_SIG_MOT_STATUS_MASK           UINT8_C(0x01)
-#define BMI270_STEP_CNT_STATUS_MASK          UINT8_C(0x02)
-#define BMI270_STEP_ACT_STATUS_MASK          UINT8_C(0x04)
-#define BMI270_WRIST_WAKE_UP_STATUS_MASK     UINT8_C(0x08)
-#define BMI270_WRIST_GEST_STATUS_MASK        UINT8_C(0x10)
-#define BMI270_NO_MOT_STATUS_MASK            UINT8_C(0x20)
-#define BMI270_ANY_MOT_STATUS_MASK           UINT8_C(0x40)
-
-/*! @name Mask definitions for feature interrupt mapping bits */
-#define BMI270_INT_SIG_MOT_MASK              UINT8_C(0x01)
-#define BMI270_INT_STEP_COUNTER_MASK         UINT8_C(0x02)
-#define BMI270_INT_STEP_DETECTOR_MASK        UINT8_C(0x02)
-#define BMI270_INT_STEP_ACT_MASK             UINT8_C(0x04)
-#define BMI270_INT_WRIST_WEAR_WAKEUP_MASK    UINT8_C(0x08)
-#define BMI270_INT_WRIST_GEST_MASK           UINT8_C(0x10)
-#define BMI270_INT_NO_MOT_MASK               UINT8_C(0x20)
-#define BMI270_INT_ANY_MOT_MASK              UINT8_C(0x40)
-
-/*! @name Defines maximum number of feature interrupts */
-#define BMI270_MAX_INT_MAP                   UINT8_C(8)
-
-/***************************************************************************/
-
-/*!     BMI270 User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi270
- * \defgroup bmi270ApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi270ApiInit
- * \page bmi270_api_bmi270_init bmi270_init
- * \code
- * int8_t bmi270_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270 sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- *
- * @param[in, out] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_init(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270
- * \defgroup bmi270ApiSensor Feature Set
- * @brief Enable / Disable features of the sensor
- */
-
-/*!
- * \ingroup bmi270ApiSensor
- * \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable
- * \code
- * int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be enabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be enabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_SIG_MOTION             |  3
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_WRIST_GESTURE          |  19
- * BMI2_WRIST_WEAR_WAKE_UP     |  20
- * BMI2_GYRO_SELF_OFF          |  33
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270ApiSensor
- * \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable
- * \code
- * int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be disabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be disabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_SIG_MOTION             |  3
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_WRIST_GESTURE          |  19
- * BMI2_WRIST_WEAR_WAKE_UP     |  20
- * BMI2_GYRO_SELF_OFF          |  33
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270
- * \defgroup bmi270ApiSensorC Sensor Configuration
- * @brief Enable / Disable feature configuration of the sensor
- */
-
-/*!
- * \ingroup bmi270ApiSensorC
- * \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config
- * \code
- * int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be configured
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_SIG_MOTION             |  3
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_WRIST_GESTURE          |  19
- * BMI2_WRIST_WEAR_WAKE_UP     |  20
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270ApiSensorC
- * \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config
- * \code
- * int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose configurations can be read.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_SIG_MOTION             |  3
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_WRIST_GESTURE          |  19
- * BMI2_WRIST_WEAR_WAKE_UP     |  20
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270
- * \defgroup bmi270ApiSensorD Sensor Data
- * @brief Get sensor data
- */
-
-/*!
- * \ingroup bmi270ApiSensorD
- * \page bmi270_api_bmi270_get_sensor_data bmi270_get_sensor_data
- * \code
- * int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- *
- * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
- * @param[in]  n_sens        : Number of sensors selected.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose data can be read
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_WRIST_GESTURE          |  19
- * BMI2_NVM_STATUS             |  38
- * BMI2_VFRM_STATUS            |  39
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270
- * \defgroup bmi270ApiGyroUG Gyro User Gain
- * @brief Set / Get Gyro User Gain of the sensor
- */
-
-/*!
- * \ingroup bmi270ApiGyroUG
- * \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain
- * \code
- * int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
- * \endcode
- * @details This API updates the gyroscope user-gain.
- *
- * @param[in] user_gain      : Structure that stores user-gain configurations.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270ApiGyroUG
- * \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain
- * \code
- * int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the compensated gyroscope user-gain values.
- *
- * @param[out] gyr_usr_gain   : Structure that stores gain values.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270ApiInt
- * \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int
- * \code
- * int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
- * \endcode
- * @details This API maps/unmaps feature interrupts to that of interrupt pins.
- *
- * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
- * @param[in] n_sens       : Number of interrupts to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*! @name       C++ Guard Macros                                      */
-/******************************************************************************/
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI270_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c
deleted file mode 100644
index 4f6e300351..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.c
+++ /dev/null
@@ -1,3122 +0,0 @@
-/**
-* 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       bmi270_context.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi270_context.h"
-
-/***************************************************************************/
-
-/*!              Global Variable
- ****************************************************************************/
-
-/*! @name  Global array that stores the configuration file of BMI270_CONTEXT */
-const uint8_t bmi270_context_config_file[] = {
-    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xc9,
-    0x01, 0x80, 0x2e, 0xe2, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x77, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
-    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xaf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x09, 0x01, 0x00, 0x22,
-    0x00, 0x76, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xcb, 0xa7, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x2c, 0x56, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x48, 0x02, 0x01, 0x2e, 0x49,
-    0xf1, 0x0b, 0xbc, 0x10, 0x50, 0x0f, 0xb8, 0x00, 0x90, 0xfb, 0x7f, 0x07, 0x2f, 0x03, 0x2e, 0x21, 0xf2, 0x02, 0x31,
-    0x4a, 0x0a, 0x23, 0x2e, 0x21, 0xf2, 0x09, 0x2c, 0x00, 0x30, 0x98, 0x2e, 0x0e, 0xc7, 0x03, 0x2e, 0x21, 0xf2, 0xf2,
-    0x3e, 0x4a, 0x08, 0x23, 0x2e, 0x21, 0xf2, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x13, 0x52, 0x00, 0x2e, 0x60, 0x40,
-    0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0x43, 0x86, 0x25, 0x40, 0x04, 0x40, 0xd8,
-    0xbe, 0x2c, 0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e, 0x20, 0x50, 0xe7, 0x7f,
-    0xf6, 0x7f, 0x46, 0x30, 0x0f, 0x2e, 0xa4, 0xf1, 0xbe, 0x09, 0x80, 0xb3, 0x06, 0x2f, 0x0d, 0x2e, 0x84, 0x00, 0x84,
-    0xaf, 0x02, 0x2f, 0x16, 0x30, 0x2d, 0x2e, 0x7b, 0x00, 0x86, 0x30, 0x2d, 0x2e, 0x60, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f,
-    0xe0, 0x5f, 0xc8, 0x2e, 0x80, 0x2e, 0xfb, 0x00, 0x00, 0x30, 0xc0, 0x2e, 0x21, 0x2e, 0x8d, 0x00, 0x44, 0x47, 0x99,
-    0x00, 0xff, 0x3f, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0x90, 0x00, 0x1e, 0xf2, 0xfd, 0xf5,
-    0x8e, 0x00, 0x96, 0x00, 0x96, 0x00, 0xe0, 0x00, 0x19, 0xf4, 0x66, 0xf5, 0x00, 0x18, 0x64, 0xf5, 0x9d, 0x00, 0x7f,
-    0x00, 0x81, 0x00, 0xae, 0x00, 0xff, 0xfb, 0x21, 0x02, 0x00, 0x10, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0xff, 0x7f,
-    0x54, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x4e, 0x0f, 0x42, 0x0f, 0x48, 0x0f, 0x80,
-    0x00, 0x67, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x6a, 0x0f, 0x86, 0x00, 0x59, 0x0f, 0x6c, 0x0f, 0xc6, 0xf1, 0x66, 0x0f,
-    0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x6e, 0x0f, 0x71, 0x0f, 0xff, 0x03, 0x00, 0xfc, 0xf0, 0x3f, 0xb9,
-    0x00, 0x2d, 0xf5, 0xca, 0xf5, 0x8a, 0x00, 0x00, 0x08, 0x71, 0x7d, 0xfe, 0xc0, 0x03, 0x3f, 0x05, 0x3e, 0x49, 0x01,
-    0x92, 0x02, 0xf5, 0xd6, 0xe8, 0x63, 0xd3, 0xf8, 0x2e, 0x07, 0x5c, 0xce, 0xa5, 0x67, 0x28, 0x02, 0x4e, 0x01, 0x00,
-    0xf0, 0x33, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15, 0x50, 0x10,
-    0x50, 0x17, 0x52, 0x05, 0x2e, 0x7d, 0x00, 0xfb, 0x7f, 0x00, 0x2e, 0x13, 0x40, 0x93, 0x42, 0x41, 0x0e, 0xfb, 0x2f,
-    0x98, 0x2e, 0x91, 0x03, 0x98, 0x2e, 0x87, 0xcf, 0x01, 0x2e, 0x89, 0x00, 0x00, 0xb2, 0x08, 0x2f, 0x01, 0x2e, 0x69,
-    0xf7, 0xb1, 0x3f, 0x01, 0x08, 0x01, 0x30, 0x23, 0x2e, 0x89, 0x00, 0x21, 0x2e, 0x69, 0xf7, 0xfb, 0x6f, 0xf0, 0x5f,
-    0xb8, 0x2e, 0xa0, 0x50, 0x80, 0x7f, 0xe7, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f, 0xf6,
-    0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x60, 0xf5, 0x60, 0x7f, 0x98, 0x2e, 0xce, 0x00, 0x62, 0x6f, 0x01, 0x32,
-    0x91, 0x08, 0x80, 0xb2, 0x11, 0x2f, 0x00, 0xb2, 0x03, 0x2f, 0x05, 0x2e, 0x18, 0x00, 0x80, 0x90, 0x09, 0x2f, 0x60,
-    0x7f, 0x98, 0x2e, 0xf9, 0x00, 0x23, 0x50, 0x01, 0x32, 0x01, 0x42, 0x02, 0x86, 0x60, 0x6f, 0x02, 0x30, 0xc2, 0x42,
-    0x23, 0x2e, 0x60, 0xf5, 0x00, 0x90, 0x00, 0x30, 0x01, 0x2f, 0x21, 0x2e, 0x7a, 0x00, 0xf6, 0x6f, 0x91, 0x6f, 0xa2,
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-    0x2e, 0xb1, 0x6f, 0x9b, 0xb8, 0x07, 0x2e, 0x1b, 0x00, 0x19, 0x1a, 0xb1, 0x7f, 0x71, 0x30, 0x04, 0x2f, 0x23, 0x2e,
-    0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e, 0x5d, 0xc0, 0x98, 0x2e, 0xdf,
-    0x03, 0x20, 0x26, 0xc1, 0x6f, 0x02, 0x31, 0x52, 0x42, 0xab, 0x30, 0x4b, 0x42, 0x20, 0x33, 0x77, 0x56, 0xf1, 0x37,
-    0xc4, 0x40, 0xa2, 0x0a, 0xc2, 0x42, 0xd8, 0x00, 0x01, 0x2e, 0x5e, 0xf7, 0x41, 0x08, 0x23, 0x2e, 0x94, 0x00, 0xe3,
-    0x7f, 0x98, 0x2e, 0xaa, 0x01, 0xe1, 0x6f, 0x83, 0x30, 0x43, 0x42, 0x03, 0x30, 0xfb, 0x6f, 0x73, 0x50, 0x02, 0x30,
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-    0xf2, 0xb8, 0x2e, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0, 0xff, 0xff, 0xff,
-    0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff,
-    0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0xfd, 0x2d
-};
-
-/*! @name  Global array that stores the feature input configuration of
- * BMI270_CONTEXT
- */
-const struct bmi2_feature_config bmi270_context_feat_in[BMI270_CONTEXT_MAX_FEAT_IN] = {
-    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_CONFIG_ID_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_1, .start_addr = BMI270_CONTEXT_STEP_CNT_1_STRT_ADDR },
-    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_NVM_PROG_PREP_STRT_ADDR },
-    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_MAX_BURST_LEN_STRT_ADDR },
-    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_CRT_GYRO_SELF_TEST_STRT_ADDR },
-    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_CONTEXT_ABORT_STRT_ADDR },
-    { .type = BMI2_ACTIVITY_RECOGNITION_SETTINGS, .page = BMI2_PAGE_5,
-      .start_addr = BMI270_CONTEXT_ACT_RGN_SETT_STRT_ADDR },
-    { .type = BMI2_ACTIVITY_RECOGNITION, .page = BMI2_PAGE_5, .start_addr = BMI270_CONTEXT_ACT_RGN_STRT_ADDR },
-};
-
-/*! @name  Global array that stores the feature output configuration */
-const struct bmi2_feature_config bmi270_context_feat_out[BMI270_CONTEXT_MAX_FEAT_OUT] = {
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_STEP_CNT_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_GYRO_CROSS_SENSE_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_GYR_USER_GAIN_OUT_STRT_ADDR },
-    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR },
-    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR }
-};
-
-/*! @name  Global array that stores the feature interrupts of BMI270_CONTEXT */
-struct bmi2_map_int bmi270_c_map_int[BMI270_C_MAX_INT_MAP] = {
-    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_C_INT_STEP_COUNTER_MASK },
-    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_C_INT_STEP_DETECTOR_MASK },
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API disables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sensors/features to be enabled or
- * disabled.
- *
- * @param[in]  sens_list    : Pointer to select the sensor.
- * @param[in]  n_sens       : Number of sensors selected.
- * @param[out] sensor_sel   : Gets the selected sensor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step-detector.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step detector
- * BMI2_ENABLE  | Enables step detector
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step counter.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step counter
- * BMI2_ENABLE  | Enables step counter
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables gyroscope user gain.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables gyroscope user gain
- * BMI2_ENABLE  | Enables gyroscope user gain
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables the activity recognition feature.
- *
- * @param[in] enable    : Enables/Disables activity recognition.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enables activity recognition.
- * BMI2_DISABLE | Disables activity recognition.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter/detector/activity configurations.
- *
- * @param[in] config      : Structure instance of bmi2_step_config.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- *---------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- *
- * @param[out] config      : Structure instance of bmi2_step_config.
- * @param[in]  dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse and store the activity recognition
- * output from the FIFO data.
- *
- * @param[out] act_recog        : Structure to retrieve output of activity
- *                                  recognition frame.
- * @param[in] data_index        : Index of the FIFO data which contains
- *                                  activity recognition frame.
- * @param[out] fifo             : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *data_index,
-                                      const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API gets the output values of step counter.
- *
- * @param[out] step_count       : Pointer to the stored step counter data.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- *
- * @param[out] nvm_err_stat     : Stores the NVM error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- *
- * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- *
- * @param[out] status         : Stores status of gyroscope user gain update.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API skips S4S frame in the FIFO data while getting
- * activity recognition output.
- *
- * @param[in, out] frame_header : FIFO frame header.
- * @param[in, out] data_index   : Index value of the FIFO data bytes
- *                                from which S4S frame header is to be
- *                                skipped.
- * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- *
- * @param[in] enable    : Enables/Disables gain compensation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enable gain compensation.
- * BMI2_DISABLE | Disable gain compensation.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_output      : Structure that stores output feature
- *                              configurations.
- * @param[in] type              : Type of feature or sensor.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal 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 the current frame.
- * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
-
-/***************************************************************************/
-
-/*!         User Interface Definitions
- ****************************************************************************/
-
-/*!
- *  @brief This API:
- *  1) Updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_CONTEXT sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- */
-int8_t bmi270_context_init(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Assign chip id of BMI270_CONTEXT */
-        dev->chip_id = BMI270_CONTEXT_CHIP_ID;
-
-        /* Get the size of config array */
-        dev->config_size = sizeof(bmi270_context_config_file);
-
-        /* Enable the variant specific features if any */
-        dev->variant_feature = BMI2_CRT_RTOSK_ENABLE | BMI2_GYRO_CROSS_SENS_ENABLE;
-
-        /* An extra dummy byte is read during SPI read */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            dev->dummy_byte = 1;
-        }
-        else
-        {
-            dev->dummy_byte = 0;
-        }
-
-        /* If configuration file pointer is not assigned any address */
-        if (!dev->config_file_ptr)
-        {
-            /* Give the address of the configuration file array to
-             * the device pointer
-             */
-            dev->config_file_ptr = bmi270_context_config_file;
-        }
-
-        /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Assign the offsets of the feature input
-             * configuration to the device structure
-             */
-            dev->feat_config = bmi270_context_feat_in;
-
-            /* Assign the offsets of the feature output to
-             * the device structure
-             */
-            dev->feat_output = bmi270_context_feat_out;
-
-            /* Assign the maximum number of pages to the
-             * device structure
-             */
-            dev->page_max = BMI270_CONTEXT_MAX_PAGE_NUM;
-
-            /* Assign maximum number of input sensors/
-             * features to device structure
-             */
-            dev->input_sens = BMI270_CONTEXT_MAX_FEAT_IN;
-
-            /* Assign maximum number of output sensors/
-             * features to device structure
-             */
-            dev->out_sens = BMI270_CONTEXT_MAX_FEAT_OUT;
-
-            /* Assign the offsets of the feature interrupt
-             * to the device structure
-             */
-            dev->map_int = bmi270_c_map_int;
-
-            /* Assign maximum number of feature interrupts
-             * to device structure
-             */
-            dev->sens_int_map = BMI270_C_MAX_INT_MAP;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be enabled.
- */
-int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable the selected sensors */
-            rslt = sensor_enable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be disabled.
- */
-int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Disable the selected sensors */
-            rslt = sensor_disable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the sensor/feature configuration.
- */
-int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Set step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the set configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature configuration.
- */
-int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
-                {
-
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Get step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the get configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- */
-int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sensor_data != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
-                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
-                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
-            {
-                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for feature
-                 * configurations
-                 */
-                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
-                {
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sensor_data[loop].type)
-                    {
-                        case BMI2_STEP_COUNTER:
-
-                            /* Get step counter output */
-                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
-                            break;
-                        case BMI2_NVM_STATUS:
-
-                            /* Get NVM error status  */
-                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
-                            break;
-                        case BMI2_VFRM_STATUS:
-
-                            /* Get VFRM error status  */
-                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
-                            break;
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-
-                    /* Return error if any of the get sensor data fails */
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used for retrieving the activity recognition settings currently set.
- */
-int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-    uint16_t msb_lsb;
-    uint8_t lsb;
-    uint8_t msb;
-
-    /* Initialize feature configuration for activity recognition  */
-    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-
-        /* Search for bmi2 Abort feature and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
-        if (feat_found)
-        {
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            /* Get the configuration from the page where activity recognition setting feature resides */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes */
-                idx = bmi2_act_recg_sett.start_addr;
-
-                /* get the status of enable/disable post processing */
-                sett->act_rec_1 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_POST_PROS_EN_DIS);
-
-                /* increment idx by 2 to point min gdi thres addres */
-                idx = idx + 2;
-                lsb = feat_config[idx];
-                idx++;
-                msb = feat_config[idx];
-                msb_lsb = (uint16_t)(lsb | msb << 8);
-                sett->act_rec_2 = msb_lsb;
-
-                /* increment idx by 1 to point max gdi thres addres */
-                idx++;
-                lsb = feat_config[idx];
-                idx++;
-                msb = feat_config[idx];
-                msb_lsb = (uint16_t)(lsb | msb << 8);
-                sett->act_rec_3 = msb_lsb;
-
-                /* increment idx by 1 to point buffer size */
-                idx++;
-                sett->act_rec_4 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_BUFF_SIZE);
-
-                /* increment idx by 2 to to point to min segment confidence */
-                idx = idx + 2;
-                sett->act_rec_5 = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_MIN_SEG_CONF);
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used for setting the activity recognition settings.
- */
-int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for activity recognition  */
-    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-
-        /* Search for bmi2 Abort feature and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
-        if (feat_found)
-        {
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            /* Get the configuration from the page where activity recognition setting feature resides */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes */
-                idx = bmi2_act_recg_sett.start_addr;
-                if ((sett->act_rec_4 > 10) || (sett->act_rec_5 > 10))
-                {
-                    rslt = BMI2_E_INVALID_INPUT;
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx],
-                                                         BMI2_ACT_RECG_POST_PROS_EN_DIS,
-                                                         sett->act_rec_1);
-
-                    /* Increment idx by 2 to point min gdi thres addres */
-                    idx = idx + 2;
-                    feat_config[idx] = BMI2_GET_LSB(sett->act_rec_2);
-                    idx++;
-                    feat_config[idx] = BMI2_GET_MSB(sett->act_rec_2);
-
-                    /* Increment idx by 1 to point max gdi thres addres */
-                    idx++;
-                    feat_config[idx] = BMI2_GET_LSB(sett->act_rec_3);
-                    idx++;
-                    feat_config[idx] = BMI2_GET_MSB(sett->act_rec_3);
-
-                    /* Increment idx by 1 to point buffer size */
-                    idx++;
-                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_BUFF_SIZE, sett->act_rec_4);
-
-                    /* Increment idx by 2 to to point to min segment confidence */
-                    idx = idx + 2;
-                    feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_MIN_SEG_CONF, sett->act_rec_5);
-
-                    rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse the activity output from the
- * FIFO in header mode.
- */
-int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                           uint16_t *act_frm_len,
-                                           struct bmi2_fifo_frame *fifo,
-                                           const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define header frame */
-    uint8_t frame_header = 0;
-
-    /* Variable to index the data bytes */
-    uint16_t data_index;
-
-    /* Variable to index activity frames */
-    uint16_t act_idx = 0;
-
-    /* Variable to indicate activity frames read */
-    uint16_t frame_to_read = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (act_recog != NULL) && (act_frm_len != NULL) && (fifo != NULL))
-    {
-
-        /* Store the number of frames to be read */
-        frame_to_read = *act_frm_len;
-        for (data_index = fifo->act_recog_byte_start_idx; data_index < fifo->length;)
-        {
-            /* Get frame header byte */
-            frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
-
-            /* Skip S4S frames if S4S is enabled */
-            rslt = move_if_s4s_frame(&frame_header, &data_index, fifo);
-
-            /* Break if FIFO is empty */
-            if (rslt == BMI2_W_FIFO_EMPTY)
-            {
-                break;
-            }
-
-            /* Index shifted to next byte where data starts */
-            data_index++;
-            switch (frame_header)
-            {
-                /* If header defines accelerometer frame */
-                case BMI2_FIFO_HEADER_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer and auxiliary frames */
-                case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer and gyroscope frames */
-                case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer, auxiliary and gyroscope frames */
-                case BMI2_FIFO_HEADER_ALL_FRM:
-                    rslt = move_next_frame(&data_index, fifo->all_frm_len, fifo);
-                    break;
-
-                /* If header defines only gyroscope frame */
-                case BMI2_FIFO_HEADER_GYR_FRM:
-                    rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines only auxiliary frame */
-                case BMI2_FIFO_HEADER_AUX_FRM:
-                    rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
-                    break;
-
-                /* If header defines auxiliary and gyroscope frame */
-                case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-                    rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines sensor time frame */
-                case BMI2_FIFO_HEADER_SENS_TIME_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_SENSOR_TIME_LENGTH, fifo);
-                    break;
-
-                /* If header defines skip frame */
-                case BMI2_FIFO_HEADER_SKIP_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_FIFO_SKIP_FRM_LENGTH, fifo);
-                    break;
-
-                /* If header defines Input configuration frame */
-                case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
-                    break;
-
-                /* If header defines invalid frame or end of valid data */
-                case BMI2_FIFO_HEAD_OVER_READ_MSB:
-
-                    /* Move the data index to the last byte to mark completion */
-                    data_index = fifo->length;
-
-                    /* FIFO is empty */
-                    rslt = BMI2_W_FIFO_EMPTY;
-                    break;
-
-                /* If header defines activity recognition frame */
-                case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
-
-                    /* Get the activity output */
-                    rslt = unpack_act_recog_output(&act_recog[(act_idx)], &data_index, fifo);
-
-                    /* Update activity frame index */
-                    (act_idx)++;
-                    break;
-                default:
-
-                    /* Move the data index to the last byte in case of invalid values */
-                    data_index = fifo->length;
-
-                    /* FIFO is empty */
-                    rslt = BMI2_W_FIFO_EMPTY;
-                    break;
-            }
-
-            /* Number of frames to be read is complete or FIFO is empty */
-            if ((frame_to_read == act_idx) || (rslt == BMI2_W_FIFO_EMPTY))
-            {
-                break;
-            }
-        }
-
-        /* Update the activity frame index */
-        (*act_frm_len) = act_idx;
-
-        /* Update the activity byte index */
-        fifo->act_recog_byte_start_idx = data_index;
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API updates the gyroscope user-gain.
- */
-int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
-
-    /* Structure to define sensor configurations */
-    struct bmi2_sens_config sens_cfg;
-
-    /* Variable to store status of user-gain update module */
-    uint8_t status = 0;
-
-    /* Variable to define count */
-    uint8_t count = 100;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (user_gain != NULL))
-    {
-        /* Select type of feature */
-        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
-
-        /* Get the user gain configurations */
-        rslt = bmi270_context_get_sensor_config(&sens_cfg, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the user-defined ratio */
-            sens_cfg.cfg.gyro_gain_update = *user_gain;
-
-            /* Set rate ratio for all axes */
-            rslt = bmi270_context_set_sensor_config(&sens_cfg, 1, dev);
-        }
-
-        /* Disable gyroscope */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_context_sensor_disable(&sens_sel[0], 1, dev);
-        }
-
-        /* Enable gyroscope user-gain update module */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_context_sensor_enable(&sens_sel[1], 1, dev);
-        }
-
-        /* Set the command to trigger the computation */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Poll until enable bit of user-gain update is 0 */
-            while (count--)
-            {
-                rslt = get_user_gain_upd_status(&status, dev);
-                if ((rslt == BMI2_OK) && (status == 0))
-                {
-                    /* Enable compensation of gain defined
-                     * in the GAIN register
-                     */
-                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
-
-                    /* Enable gyroscope */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = bmi270_context_sensor_enable(&sens_sel[0], 1, dev);
-                    }
-
-                    break;
-                }
-
-                dev->delay_us(10000, dev->intf_ptr);
-            }
-
-            /* Return error if user-gain update is failed */
-            if ((rslt == BMI2_OK) && (status != 0))
-            {
-                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the compensated gyroscope user-gain values.
- */
-int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[3] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
-    {
-        /* Get the gyroscope compensated gain values */
-        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Gyroscope user gain correction X-axis */
-            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
-
-            /* Gyroscope user gain correction Y-axis */
-            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
-
-            /* Gyroscope user gain correction z-axis */
-            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
- */
-int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_int != NULL))
-    {
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            switch (sens_int[loop].type)
-            {
-                case BMI2_STEP_COUNTER:
-                case BMI2_STEP_DETECTOR:
-
-                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
-                    break;
-                default:
-                    rslt = BMI2_E_INVALID_SENSOR;
-                    break;
-            }
-
-            /* Return error if interrupt mapping fails */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sensor/features to be enabled or
- * disabled.
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define loop */
-    uint8_t count;
-
-    for (count = 0; count < n_sens; count++)
-    {
-        switch (sens_list[count])
-        {
-            case BMI2_ACCEL:
-                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
-                break;
-            case BMI2_GYRO:
-                *sensor_sel |= BMI2_GYRO_SENS_SEL;
-                break;
-            case BMI2_AUX:
-                *sensor_sel |= BMI2_AUX_SENS_SEL;
-                break;
-            case BMI2_TEMP:
-                *sensor_sel |= BMI2_TEMP_SENS_SEL;
-                break;
-            case BMI2_STEP_DETECTOR:
-                *sensor_sel |= BMI2_STEP_DETECT_SEL;
-                break;
-            case BMI2_STEP_COUNTER:
-                *sensor_sel |= BMI2_STEP_COUNT_SEL;
-                break;
-            case BMI2_GYRO_GAIN_UPDATE:
-                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                break;
-            case BMI2_ACTIVITY_RECOGNITION:
-                *sensor_sel |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
-        }
-
-        /* Enable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
-        }
-
-        /* Enable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
-        }
-
-        /* Enable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Enable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable activity recognition feature */
-                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
-                {
-                    rslt = set_act_recog(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API disables the selected sensors/features.
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
-        }
-
-        /* Disable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
-        }
-
-        /* Disable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
-        }
-
-        /* Disable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
-        }
-
-        /* Disable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Disable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
-                {
-                    rslt = set_act_recog(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable Advance power save if disabled while
-                 * configuring and not when already disabled
-                 */
-                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-                {
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step detector */
-    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
-
-    /* Search for step detector feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step detector feature resides */
-        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step detector */
-            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-counter feature resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step counter */
-            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user gain feature resides */
-        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of user gain */
-            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables the activity recognition feature.
- */
-static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for activity recognition */
-    struct bmi2_feature_config act_recog_cfg = { 0, 0, 0 };
-
-    /* Search for activity recognition and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&act_recog_cfg, BMI2_ACTIVITY_RECOGNITION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where activity
-         * recognition feature resides
-         */
-        rslt = bmi2_get_feat_config(act_recog_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of activity recognition */
-            idx = act_recog_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACTIVITY_RECOG_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter parameters */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
-    uint8_t max_len = 8;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of words to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = (remain_len / 2);
-                }
-
-                /* Get offset in words since all the features are set in words length */
-                page_byte_idx = start_addr / 2;
-                for (; page_byte_idx < max_len;)
-                {
-                    /* Set parameters 1 to 25 */
-                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
-                                                                  BMI2_STEP_COUNT_PARAMS,
-                                                                  step_count_params[param_idx]);
-
-                    /* Increment offset by 1 word to set to the next parameter */
-                    page_byte_idx++;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-
-                /* Get total length in bytes to copy from local pointer to the array */
-                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
-
-                /* Copy the bytes to be set back to the array */
-                for (index = 0; index < page_byte_idx; index++)
-                {
-                    feat_config[step_params_config.start_addr +
-                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
-                }
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/* @brief This internal API sets step counter configurations like water-mark
- * level, reset-counter and output-configuration step detector and activity.
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter 4 */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = step_count_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set water-mark level */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
-
-            /* Set reset-counter */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
-
-            /* Increment offset by 1 word  to set output
-             * configuration of step detector and step activity
-             */
-            idx++;
-
-            /* Set step buffer size */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[step_count_config.start_addr +
-                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Initialize feature configuration for step counter 1 */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words to be read in a page */
-    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of bytes to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = remain_len;
-                }
-
-                /* Get the offset */
-                page_byte_idx = start_addr;
-                while (page_byte_idx < max_len)
-                {
-                    /* Get word to calculate the parameter*/
-                    lsb = (uint16_t) feat_config[page_byte_idx++];
-                    if (page_byte_idx < max_len)
-                    {
-                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
-                    }
-
-                    lsb_msb = lsb | msb;
-
-                    /* Get parameters 1 to 25 */
-                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter 4 feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter 4 parameter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for step counter/detector/activity */
-            idx = step_count_config.start_addr;
-
-            /* Get word to calculate water-mark level and reset counter */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get water-mark level */
-            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
-
-            /* Get reset counter */
-            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
-
-            /* Get word to calculate output configuration of step detector and activity */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step counter.
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step counter */
-    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
-
-    /* Search for step counter output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-counter */
-        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step counter output */
-            idx = step_cnt_out_config.start_addr;
-
-            /* Get the step counter output in 4 bytes */
-            *step_count = (uint32_t) feat_config[idx++];
-            *step_count |= ((uint32_t) feat_config[idx++] << 8);
-            *step_count |= ((uint32_t) feat_config[idx++] << 16);
-            *step_count |= ((uint32_t) feat_config[idx++] << 24);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for NVM error status */
-    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
-
-    /* Search for NVM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for NVM error status */
-        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for NVM error status */
-            idx = nvm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Error when NVM load action fails */
-            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
-
-            /* Error when NVM program action fails */
-            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
-
-            /* Error when NVM erase action fails */
-            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
-
-            /* Error when NVM program limit is exceeded */
-            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
-
-            /* Error when NVM privilege mode is not acquired */
-            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to check APS status */
-    uint8_t aps_stat = 0;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Disable advance power save */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get the configuration from the page where user gain feature resides */
-            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for enable/disable of user gain */
-                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-                /* Set the feature enable status */
-                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    /* Enable Advance power save if disabled while configuring and not when already disabled */
-    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse and store the activity recognition
- * output from the FIFO data.
- */
-static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *data_index,
-                                      const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variables to define 4 bytes of sensor time */
-    uint32_t time_stamp_byte4 = 0;
-    uint32_t time_stamp_byte3 = 0;
-    uint32_t time_stamp_byte2 = 0;
-    uint32_t time_stamp_byte1 = 0;
-
-    /* Validate data index */
-    if ((*data_index + BMI2_FIFO_VIRT_ACT_DATA_LENGTH) >= fifo->length)
-    {
-        /* Update the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Get time-stamp from the activity recognition frame */
-        time_stamp_byte4 = ((uint32_t)(fifo->data[(*data_index) + 3]) << 24);
-        time_stamp_byte3 = ((uint32_t)(fifo->data[(*data_index) + 2]) << 16);
-        time_stamp_byte2 = fifo->data[(*data_index) + 1] << 8;
-        time_stamp_byte1 = fifo->data[(*data_index)];
-
-        /* Update time-stamp from the virtual frame */
-        act_recog->time_stamp = (time_stamp_byte4 | time_stamp_byte3 | time_stamp_byte2 | time_stamp_byte1);
-
-        /* Move the data index by 4 bytes */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TIME_LENGTH;
-
-        /* Update the previous activity from the virtual frame */
-        act_recog->prev_act = fifo->data[(*data_index)];
-
-        /* Move the data index by 1 byte */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TYPE_LENGTH;
-
-        /* Update the current activity from the virtual frame */
-        act_recog->curr_act = fifo->data[(*data_index)];
-
-        /* Move the data index by 1 byte */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_STAT_LENGTH;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for VFRM error status */
-    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
-
-    /* Search for VFRM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for VFRM error status */
-        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for VFRM error status */
-            idx = vfrm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Internal error while acquiring lock for FIFO */
-            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
-
-            /* Internal error while writing byte into FIFO */
-            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
-
-            /* Internal error while writing into FIFO */
-            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API skips S4S frame in the FIFO data while getting
- * step activity output.
- */
-static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to extract virtual header byte */
-    uint8_t virtual_header_mode;
-
-    /* Variable to define pay-load in words */
-    uint8_t payload_word = 0;
-
-    /* Variable to define pay-load in bytes */
-    uint8_t payload_bytes = 0;
-
-    /* Extract virtual header mode from the frame header */
-    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
-
-    /* If the extracted header byte is a virtual header */
-    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
-    {
-        /* If frame header is not activity recognition header */
-        if (*frame_header != 0xC8)
-        {
-            /* Extract pay-load in words from the header byte */
-            payload_word = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_PAYLOAD) + 1;
-
-            /* Convert to bytes */
-            payload_bytes = (uint8_t)(payload_word * 2);
-
-            /* Move the data index by those pay-load bytes */
-            rslt = move_next_frame(data_index, payload_bytes, fifo);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
-        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details from the look-up table.
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the output feature from the output configuration array */
-    while (loop < dev->out_sens)
-    {
-        if (dev->feat_output[loop].type == type)
-        {
-            *feat_output = dev->feat_output[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
-
-/*!
- * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Validate data index */
-    if (((*data_index) + current_frame_length) > fifo->length)
-    {
-        /* Move the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Move the data index to next frame */
-        (*data_index) = (*data_index) + current_frame_length;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h
deleted file mode 100644
index 4708dc7db3..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_context.h
+++ /dev/null
@@ -1,493 +0,0 @@
-/**
-* 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       bmi270_context.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi270_context BMI270_CONTEXT
- * @brief Sensor driver for BMI270_CONTEXT sensor
- */
-
-#ifndef BMI270_CONTEXT_H_
-#define BMI270_CONTEXT_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!               Macro definitions
- ****************************************************************************/
-
-/*! @name BMI270_CONTEXT Chip identifier */
-#define BMI270_CONTEXT_CHIP_ID                       UINT8_C(0x24)
-
-/*! @name BMI270_CONTEXT feature input start addresses */
-#define BMI270_CONTEXT_CONFIG_ID_STRT_ADDR           UINT8_C(0x06)
-#define BMI270_CONTEXT_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
-#define BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
-#define BMI270_CONTEXT_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x08)
-#define BMI270_CONTEXT_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x09)
-#define BMI270_CONTEXT_ABORT_STRT_ADDR               UINT8_C(0x09)
-#define BMI270_CONTEXT_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x0A)
-#define BMI270_CONTEXT_ACT_RGN_SETT_STRT_ADDR        UINT8_C(0x00)
-#define BMI270_CONTEXT_ACT_RGN_STRT_ADDR             UINT8_C(0x0A)
-
-/*! @name BMI270_CONTEXT feature output start addresses */
-#define BMI270_CONTEXT_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
-#define BMI270_CONTEXT_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x04)
-#define BMI270_CONTEXT_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
-#define BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
-
-/*! @name Defines maximum number of pages */
-#define BMI270_CONTEXT_MAX_PAGE_NUM                  UINT8_C(8)
-
-/*! @name Defines maximum number of feature input configurations */
-#define BMI270_CONTEXT_MAX_FEAT_IN                   UINT8_C(10)
-
-/*! @name Defines maximum number of feature outputs */
-#define BMI270_CONTEXT_MAX_FEAT_OUT                  UINT8_C(5)
-
-/*! @name Mask definitions for feature interrupt status bits */
-#define BMI270_CONTEXT_STEP_CNT_STATUS_MASK          UINT8_C(0x01)
-
-/*! @name Mask definitions for feature interrupt mapping bits */
-#define BMI270_C_INT_STEP_COUNTER_MASK               UINT8_C(0x01)
-#define BMI270_C_INT_STEP_DETECTOR_MASK              UINT8_C(0x01)
-
-/*! @name Defines maximum number of feature interrupts */
-#define BMI270_C_MAX_INT_MAP                         UINT8_C(2)
-
-/***************************************************************************/
-
-/*!     BMI270_CONTEXT User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi270_context
- * \defgroup bmi270_contextApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi270_contextApiInit
- * \page bmi270_context_api_bmi270_context_init bmi270_context_init
- * \code
- * int8_t bmi270_context_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_CONTEXT sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- *
- * @param[in, out] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_init(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_context
- * \defgroup bmi270_contextApiSensor Feature Set
- * @brief Enable / Disable features of the sensor
- */
-
-/*!
- * \ingroup bmi270_contextApiSensor
- * \page bmi270_context_api_bmi270_context_sensor_enable bmi270_context_sensor_enable
- * \code
- * int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be enabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be enabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_ACTIVITY_RECOGNITION   |  34
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_contextApiSensor
- * \page bmi270_context_api_bmi270_context_sensor_disable bmi270_context_sensor_disable
- * \code
- * int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be disabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be disabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_ACTIVITY_RECOGNITION   |  34
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_context
- * \defgroup bmi270_contextApiSensorC Sensor Configuration
- * @brief Enable / Disable feature configuration of the sensor
- */
-
-/*!
- * \ingroup bmi270_contextApiSensorC
- * \page bmi270_context_api_bmi270_context_set_sensor_config bmi270_context_set_sensor_config
- * \code
- * int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be configured
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_contextApiSensorC
- * \page bmi270_context_api_bmi270_context_get_sensor_config bmi270_context_get_sensor_config
- * \code
- * int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose configurations can be read.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_context
- * \defgroup bmi270_contextApiSensorD Sensor Data
- * @brief Get sensor data
- */
-
-/*!
- * \ingroup bmi270_contextApiSensorD
- * \page bmi270_context_api_bmi270_context_get_sensor_data bmi270_context_get_sensor_data
- * \code
- * int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- *
- * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
- * @param[in]  n_sens        : Number of sensors selected.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose data can be read
- *
- *@verbatim
- *  sens_list           |  Values
- * ---------------------|-----------
- * BMI2_STEP_COUNTER    |   7
- * BMI2_NVM_STATUS      |  38
- * BMI2_VFRM_STATUS     |  39
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_context
- * \defgroup bmi270_contextApiARecog Activity recognition settings
- * @brief Set / Get activity recognition settings of the sensor
- */
-
-/*!
- * \ingroup bmi270_contextApiARecog
- * \page bmi270_context_api_bmi270_context_get_act_recg_sett bmi270_context_get_act_recg_sett
- * \code
- * int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
- * \endcode
- * @details This api is used for retrieving the following activity recognition settings currently set.
- * enable/disable post processing(0/1) by default -> 1(enable),
- * Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
- * max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
- * buffer size for post processing. range (1-0x0A) default -> (0x0A)
- * min segment confidence.  range (1-0x0A) default -> (0x0A)
- *
- * @param[in] sett  : Structure instance of bmi2_act_recg_sett.
- * @param[in] dev   : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_contextApiARecog
- * \page bmi270_context_api_bmi270_context_set_act_recg_sett bmi270_context_set_act_recg_sett
- * \code
- * int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
- * \endcode
- * @details This api is used for setting the following activity recognition settings
- * enable/disable post processing(0/1) by default -> 1(enable),
- * Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
- * max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
- * buffer size for post processing. range (1-0x0A) default -> (0x0A)
- * min segment confidence.  range (1-0x0A) default -> (0x0A)
- *
- * @param[in] sett  : Structure instance of bmi2_act_recg_sett.
- * @param[in] dev   : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_contex
- * \defgroup bmi270_contextApiactOut Activity Output
- * @brief Activity output operations of the sensor
- */
-
-/*!
- * \ingroup bmi270_contextApiactOut
- * \page bmi270_context_api_bmi270_context_get_act_recog_output bmi270_context_get_act_recog_output
- * \code
- * int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
- *                                uint16_t *act_frm_len,
- *                                struct bmi2_fifo_frame *fifo,
- *                                const struct bmi2_dev *dev);
- *
- * \endcode
- * @details This internal API is used to parse the activity output from the
- * FIFO in header mode.
- *
- * @param[out] act_recog    : Pointer to buffer where the parsed activity data
- *                           bytes are stored.
- * @param[in] act_frm_len   : Number of activity frames parsed.
- * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @verbatim
- * ----------------------------------------------------------------------------
- *  bmi2_act_rec_output     |
- *  Structure parameters    |               Description
- *--------------------------|--------------------------------------------------
- *      time_stamp          |  time-stamp (expressed in 50Hz ticks)
- * -------------------------|---------------------------------------------------
- *      type                |           Type of activity
- * -------------------------|---------------------------------------------------
- *      stat                |           Activity status
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- *@verbatim
- *  type    |  Activities
- *----------|---------------------
- *  0       |  UNKNOWN
- *  1       |  STILL
- *  2       |  WALK
- *  3       |  RUN
- *  4       |  BIKE
- *  5       | VEHICLE
- *  6       | TILTED
- *@endverbatim
- *
- *
- *@verbatim
- *  stat    |  Activity status
- *----------|---------------------
- *  1       |  START
- *  2       |  END
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                           uint16_t *act_frm_len,
-                                           struct bmi2_fifo_frame *fifo,
-                                           const struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_contex
- * \defgroup bmi270_contextApiGyroUG Gyro User Gain
- * @brief Set / Get Gyro User Gain of the sensor
- */
-
-/*!
- * \ingroup bmi270_contextApiGyroUG
- * \page bmi270_context_api_bmi270_context_update_gyro_user_gain bmi270_context_update_gyro_user_gain
- * \code
- * int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
- * \endcode
- * @details This API updates the gyroscope user-gain.
- *
- * @param[in] user_gain      : Structure that stores user-gain configurations.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_contextApiGyroUG
- * \page bmi270_context_api_bmi270_context_read_gyro_user_gain bmi270_context_read_gyro_user_gain
- * \code
- * int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the compensated gyroscope user-gain values.
- *
- * @param[out] gyr_usr_gain   : Structure that stores gain values.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_contextApiInt
- * \page bmi270_context_api_bmi270_context_map_feat_int bmi270_context_map_feat_int
- * \code
- * int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
- * \endcode
- * @details This API maps/unmaps feature interrupts to that of interrupt pins.
- *
- * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
- * @param[in] n_sens       : Number of interrupts to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*! @name       C++ Guard Macros                                      */
-/******************************************************************************/
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI270_CONTEXT_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c
deleted file mode 100644
index a7c9172dd4..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.c
+++ /dev/null
@@ -1,3165 +0,0 @@
-/**
-* 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       bmi270_hc.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi270_hc.h"
-
-/***************************************************************************/
-
-/*!              Global Variable
- ****************************************************************************/
-
-/*! @name  Global array that stores the configuration file of BMI270_huawei_context */
-const uint8_t bmi270_hc_config_file[] = {
-    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xa8,
-    0x03, 0x80, 0x2e, 0x91, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x7d, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
-    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xae, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x39, 0x01, 0x00, 0x22,
-    0x00, 0x76, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0x72, 0xb3, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xd0, 0x86, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
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-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
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-    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
-    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
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-    0xc1, 0xfd, 0x2d
-};
-
-/*! @name  Global array that stores the feature input configuration of
- * BMI270_HUAWEI_CONTEXT
- */
-const struct bmi2_feature_config bmi270_hc_feat_in[BMI270_HC_MAX_FEAT_IN] = {
-    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_CONFIG_ID_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_1, .start_addr = BMI270_HC_STEP_CNT_1_STRT_ADDR },
-    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_NVM_PROG_PREP_STRT_ADDR },
-    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_MAX_BURST_LEN_STRT_ADDR },
-    { .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_CRT_GYRO_SELF_TEST_STRT_ADDR },
-    { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_4, .start_addr = BMI270_HC_ABORT_STRT_ADDR },
-    { .type = BMI2_ACTIVITY_RECOGNITION_SETTINGS, .page = BMI2_PAGE_5, .start_addr = BMI270_HC_ACT_RGN_SETT_STRT_ADDR },
-    { .type = BMI2_ACTIVITY_RECOGNITION, .page = BMI2_PAGE_5, .start_addr = BMI270_HC_ACT_RGN_STRT_ADDR },
-};
-
-/*! @name  Global array that stores the feature output configuration */
-const struct bmi2_feature_config bmi270_hc_feat_out[BMI270_HC_MAX_FEAT_OUT] = {
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_STEP_CNT_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_GYRO_CROSS_SENSE_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_GYR_USER_GAIN_OUT_STRT_ADDR },
-    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_NVM_VFRM_OUT_STRT_ADDR },
-    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_HC_NVM_VFRM_OUT_STRT_ADDR }
-};
-
-/*! @name  Global array that stores the feature interrupts of BMI270_HUAWEI_CONTEXT */
-struct bmi2_map_int bmi270_hc_map_int[BMI270_HC_MAX_INT_MAP] = {
-    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_HC_INT_STEP_COUNTER_MASK },
-    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_HC_INT_STEP_DETECTOR_MASK },
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API disables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sensors/features to be enabled or
- * disabled.
- *
- * @param[in]  sens_list    : Pointer to select the sensor.
- * @param[in]  n_sens       : Number of sensors selected.
- * @param[out] sensor_sel   : Gets the selected sensor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step-detector.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step detector
- * BMI2_ENABLE  | Enables step detector
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step counter.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step counter
- * BMI2_ENABLE  | Enables step counter
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables the activity recognition feature.
- *
- * @param[in] enable    : Enables/Disables activity recognition.
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enables activity recognition.
- * BMI2_DISABLE | Disables activity recognition.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables gyroscope user gain.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables gyroscope user gain
- * BMI2_ENABLE  | Enables gyroscope user gain
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter/detector/activity configurations.
- *
- * @param[in] config      : Structure instance of bmi2_step_config.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- *---------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- *
- * @param[out] config      : Structure instance of bmi2_step_config.
- * @param[in]  dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to parse and store the activity recognition
- * output from the FIFO data.
- *
- * @param[out] act_recog        : Structure to retrieve output of activity
- *                                  recognition frame.
- * @param[in] data_index        : Index of the FIFO data which contains
- *                                  activity recognition frame.
- * @param[out] fifo             : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *data_index,
-                                      const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API gets the output values of step counter.
- *
- * @param[out] step_count       : Pointer to the stored step counter data.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- *
- * @param[out] nvm_err_stat     : Stores the NVM error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- *
- * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- *
- * @param[out] status         : Stores status of gyroscope user gain update.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API skips S4S frame in the FIFO data while getting
- * activity recognition output.
- *
- * @param[in, out] frame_header : FIFO frame header.
- * @param[in, out] data_index   : Index value of the FIFO data bytes
- *                                from which S4S frame header is to be
- *                                skipped.
- * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- *
- * @param[in] enable    : Enables/Disables gain compensation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enable gain compensation.
- * BMI2_DISABLE | Disable gain compensation.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_output      : Structure that stores output feature
- *                              configurations.
- * @param[in] type              : Type of feature or sensor.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal 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 the current frame.
- * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
-
-/***************************************************************************/
-
-/*!         User Interface Definitions
- ****************************************************************************/
-
-/*!
- *  @brief This API:
- *  1) Updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_HUAWEI_CONTEXT sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- */
-int8_t bmi270_hc_init(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Assign chip id of BMI270_HUAWEI_CONTEXT */
-        dev->chip_id = BMI270_HC_CHIP_ID;
-
-        /* Get the size of config array */
-        dev->config_size = sizeof(bmi270_hc_config_file);
-
-        /* Enable the variant specific features if any */
-        dev->variant_feature = BMI2_CRT_RTOSK_ENABLE | BMI2_GYRO_CROSS_SENS_ENABLE;
-
-        /* An extra dummy byte is read during SPI read */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            dev->dummy_byte = 1;
-        }
-        else
-        {
-            dev->dummy_byte = 0;
-        }
-
-        /* If configuration file pointer is not assigned any address */
-        if (!dev->config_file_ptr)
-        {
-            /* Give the address of the configuration file array to
-             * the device pointer
-             */
-            dev->config_file_ptr = bmi270_hc_config_file;
-        }
-
-        /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Assign the offsets of the feature input
-             * configuration to the device structure
-             */
-            dev->feat_config = bmi270_hc_feat_in;
-
-            /* Assign the offsets of the feature output to
-             * the device structure
-             */
-            dev->feat_output = bmi270_hc_feat_out;
-
-            /* Assign the maximum number of pages to the
-             * device structure
-             */
-            dev->page_max = BMI270_HC_MAX_PAGE_NUM;
-
-            /* Assign maximum number of input sensors/
-             * features to device structure
-             */
-            dev->input_sens = BMI270_HC_MAX_FEAT_IN;
-
-            /* Assign maximum number of output sensors/
-             * features to device structure
-             */
-            dev->out_sens = BMI270_HC_MAX_FEAT_OUT;
-
-            /* Assign the offsets of the feature interrupt
-             * to the device structure
-             */
-            dev->map_int = bmi270_hc_map_int;
-
-            /* Assign maximum number of feature interrupts
-             * to device structure
-             */
-            dev->sens_int_map = BMI270_HC_MAX_INT_MAP;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be enabled.
- */
-int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable the selected sensors */
-            rslt = sensor_enable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be disabled.
- */
-int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Disable the selected sensors */
-            rslt = sensor_disable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the sensor/feature configuration.
- */
-int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Set step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the set configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature configuration.
- */
-int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
-                {
-
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Get step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the get configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- */
-int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sensor_data != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
-                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
-                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
-            {
-                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for feature
-                 * configurations
-                 */
-                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
-                {
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sensor_data[loop].type)
-                    {
-                        case BMI2_STEP_COUNTER:
-
-                            /* Get step counter output */
-                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
-                            break;
-                        case BMI2_NVM_STATUS:
-
-                            /* Get NVM error status  */
-                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
-                            break;
-                        case BMI2_VFRM_STATUS:
-
-                            /* Get VFRM error status  */
-                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
-                            break;
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-
-                    /* Return error if any of the get sensor data fails */
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used for retrieving the activity recognition settings currently set for bmi270hc.
- */
-int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-    uint16_t msb_lsb;
-    uint8_t lsb;
-    uint8_t msb;
-
-    /* Initialize feature configuration for activity recognition  */
-    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Search for activity recognition feature and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
-        if (feat_found)
-        {
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            /* Get the configuration from the page where activity recognition setting feature resides */
-            if (rslt == BMI2_OK)
-            {
-                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset in bytes */
-                idx = bmi2_act_recg_sett.start_addr;
-
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-
-                sett->segment_size = msb_lsb & BMI2_HC_ACT_RECG_SEGMENT_SIZE_MASK;
-
-                /* Increment idx by 2 to point post processing enable/disable address */
-                idx = 4;
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-                sett->pp_en = msb_lsb & BMI2_HC_ACT_RECG_PP_EN_MASK;
-
-                /* Increment idx by 2 to point mix gdi thres addres */
-                idx = 6;
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-                sett->min_gdi_thres = msb_lsb & BMI2_HC_ACT_RECG_MIN_GDI_THRES_MASK;
-
-                /* Increment idx by 2 to point max gdi thres addres */
-                idx = 8;
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-                sett->max_gdi_thres = msb_lsb & BMI2_HC_ACT_RECG_MAX_GDI_THRES_MASK;
-
-                /* Increment idx by 2 to point to buffer size */
-                idx = 10;
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-                sett->buf_size = msb_lsb & BMI2_HC_ACT_RECG_BUF_SIZE_MASK;
-
-                /* Increment idx by 2 to to point to min segment confidence */
-                idx = 12;
-                lsb = feat_config[idx++];
-                msb = feat_config[idx++];
-                msb_lsb = ((uint16_t)msb << 8) | lsb;
-                sett->min_seg_conf = msb_lsb & BMI2_HC_ACT_RECG_MIN_SEG_CONF_MASK;
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This api is used for setting the activity recognition settings for bmi270hc.
- */
-int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Initialize feature configuration for activity recognition  */
-    struct bmi2_feature_config bmi2_act_recg_sett = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Search for activity recognition feature and extract its configuration details */
-        feat_found = bmi2_extract_input_feat_config(&bmi2_act_recg_sett, BMI2_ACTIVITY_RECOGNITION_SETTINGS, dev);
-        if (feat_found)
-        {
-            aps_stat = dev->aps_status;
-            if (aps_stat == BMI2_ENABLE)
-            {
-                /* Disable advance power save if enabled */
-                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-            }
-
-            if (rslt == BMI2_OK)
-            {
-                /* Get the configuration from the page where activity recognition setting feature resides */
-                rslt = bmi2_get_feat_config(bmi2_act_recg_sett.page, feat_config, dev);
-                if (rslt == BMI2_OK)
-                {
-                    /* Define the offset in bytes */
-                    idx = bmi2_act_recg_sett.start_addr;
-
-                    /* Get offset in words since all the features are set in words length */
-                    idx = idx / 2;
-
-                    /* Set segment size */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
-                                                        BMI2_HC_ACT_RECG_SEGMENT_SIZE,
-                                                        sett->segment_size);
-
-                    /* Starting address of post processing represented in word length */
-                    idx = 2;
-
-                    /* Set post processing */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HC_ACT_RECG_PP_EN, sett->pp_en);
-
-                    /* Starting address of min_gdi_thres represented in word length */
-                    idx = 3;
-
-                    /* Set minimum gdi threshold */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
-                                                        BMI2_HC_ACT_RECG_MIN_GDI_THRES,
-                                                        sett->min_gdi_thres);
-
-                    /* Starting address of max_gdi_thres represented in word length */
-                    idx = 4;
-
-                    /* Set maximum gdi threshold */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
-                                                        BMI2_HC_ACT_RECG_MAX_GDI_THRES,
-                                                        sett->max_gdi_thres);
-
-                    /* Starting address of buffer size represented in word length */
-                    idx = 5;
-
-                    /* Set buffer size */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HC_ACT_RECG_BUF_SIZE, sett->buf_size);
-
-                    /* Starting address of min_seg_conf represented in word length */
-                    idx = 6;
-
-                    /* Set min segment confidence */
-                    *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx),
-                                                        BMI2_HC_ACT_RECG_MIN_SEG_CONF,
-                                                        sett->min_seg_conf);
-
-                    /* Increment offset by 1 more word to get the total length in words */
-                    idx++;
-
-                    /* Get total length in bytes to copy from local pointer to the array */
-                    idx = (uint8_t)(idx * 2) - bmi2_act_recg_sett.start_addr;
-
-                    /* Copy the bytes to be set back to the array */
-                    for (index = 0; index <= idx; index++)
-                    {
-                        feat_config[bmi2_act_recg_sett.start_addr +
-                                    index] = *((uint8_t *) data_p + bmi2_act_recg_sett.start_addr + index);
-                    }
-
-                    rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-        else
-        {
-            rslt = BMI2_E_INVALID_SENSOR;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse the activity output from the
- * FIFO in header mode.
- */
-int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *act_frm_len,
-                                      struct bmi2_fifo_frame *fifo,
-                                      const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define header frame */
-    uint8_t frame_header = 0;
-
-    /* Variable to index the data bytes */
-    uint16_t data_index;
-
-    /* Variable to index activity frames */
-    uint16_t act_idx = 0;
-
-    /* Variable to indicate activity frames read */
-    uint16_t frame_to_read = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (act_recog != NULL) && (act_frm_len != NULL) && (fifo != NULL))
-    {
-
-        /* Store the number of frames to be read */
-        frame_to_read = *act_frm_len;
-        for (data_index = fifo->act_recog_byte_start_idx; data_index < fifo->length;)
-        {
-            /* Get frame header byte */
-            frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
-
-            /* Skip S4S frames if S4S is enabled */
-            rslt = move_if_s4s_frame(&frame_header, &data_index, fifo);
-
-            /* Break if FIFO is empty */
-            if (rslt == BMI2_W_FIFO_EMPTY)
-            {
-                break;
-            }
-
-            /* Index shifted to next byte where data starts */
-            data_index++;
-            switch (frame_header)
-            {
-                /* If header defines accelerometer frame */
-                case BMI2_FIFO_HEADER_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer and auxiliary frames */
-                case BMI2_FIFO_HEADER_AUX_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer and gyroscope frames */
-                case BMI2_FIFO_HEADER_GYR_ACC_FRM:
-                    rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines accelerometer, auxiliary and gyroscope frames */
-                case BMI2_FIFO_HEADER_ALL_FRM:
-                    rslt = move_next_frame(&data_index, fifo->all_frm_len, fifo);
-                    break;
-
-                /* If header defines only gyroscope frame */
-                case BMI2_FIFO_HEADER_GYR_FRM:
-                    rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines only auxiliary frame */
-                case BMI2_FIFO_HEADER_AUX_FRM:
-                    rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
-                    break;
-
-                /* If header defines auxiliary and gyroscope frame */
-                case BMI2_FIFO_HEADER_AUX_GYR_FRM:
-                    rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
-                    break;
-
-                /* If header defines sensor time frame */
-                case BMI2_FIFO_HEADER_SENS_TIME_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_SENSOR_TIME_LENGTH, fifo);
-                    break;
-
-                /* If header defines skip frame */
-                case BMI2_FIFO_HEADER_SKIP_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_FIFO_SKIP_FRM_LENGTH, fifo);
-                    break;
-
-                /* If header defines Input configuration frame */
-                case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
-                    rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
-                    break;
-
-                /* If header defines invalid frame or end of valid data */
-                case BMI2_FIFO_HEAD_OVER_READ_MSB:
-
-                    /* Move the data index to the last byte to mark completion */
-                    data_index = fifo->length;
-
-                    /* FIFO is empty */
-                    rslt = BMI2_W_FIFO_EMPTY;
-                    break;
-
-                /* If header defines activity recognition frame */
-                case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
-
-                    /* Get the activity output */
-                    rslt = unpack_act_recog_output(&act_recog[(act_idx)], &data_index, fifo);
-
-                    /* Update activity frame index */
-                    (act_idx)++;
-                    break;
-                default:
-
-                    /* Move the data index to the last byte in case of invalid values */
-                    data_index = fifo->length;
-
-                    /* FIFO is empty */
-                    rslt = BMI2_W_FIFO_EMPTY;
-                    break;
-            }
-
-            /* Number of frames to be read is complete or FIFO is empty */
-            if ((frame_to_read == act_idx) || (rslt == BMI2_W_FIFO_EMPTY))
-            {
-                break;
-            }
-        }
-
-        /* Update the activity frame index */
-        (*act_frm_len) = act_idx;
-
-        /* Update the activity byte index */
-        fifo->act_recog_byte_start_idx = data_index;
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API updates the gyroscope user-gain.
- */
-int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
-
-    /* Structure to define sensor configurations */
-    struct bmi2_sens_config sens_cfg;
-
-    /* Variable to store status of user-gain update module */
-    uint8_t status = 0;
-
-    /* Variable to define count */
-    uint8_t count = 100;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (user_gain != NULL))
-    {
-        /* Select type of feature */
-        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
-
-        /* Get the user gain configurations */
-        rslt = bmi270_hc_get_sensor_config(&sens_cfg, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the user-defined ratio */
-            sens_cfg.cfg.gyro_gain_update = *user_gain;
-
-            /* Set rate ratio for all axes */
-            rslt = bmi270_hc_set_sensor_config(&sens_cfg, 1, dev);
-        }
-
-        /* Disable gyroscope */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_hc_sensor_disable(&sens_sel[0], 1, dev);
-        }
-
-        /* Enable gyroscope user-gain update module */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_hc_sensor_enable(&sens_sel[1], 1, dev);
-        }
-
-        /* Set the command to trigger the computation */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Poll until enable bit of user-gain update is 0 */
-            while (count--)
-            {
-                rslt = get_user_gain_upd_status(&status, dev);
-                if ((rslt == BMI2_OK) && (status == 0))
-                {
-                    /* Enable compensation of gain defined
-                     * in the GAIN register
-                     */
-                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
-
-                    /* Enable gyroscope */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = bmi270_hc_sensor_enable(&sens_sel[0], 1, dev);
-                    }
-
-                    break;
-                }
-
-                dev->delay_us(10000, dev->intf_ptr);
-            }
-
-            /* Return error if user-gain update is failed */
-            if ((rslt == BMI2_OK) && (status != 0))
-            {
-                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the compensated gyroscope user-gain values.
- */
-int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[3] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
-    {
-        /* Get the gyroscope compensated gain values */
-        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Gyroscope user gain correction X-axis */
-            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
-
-            /* Gyroscope user gain correction Y-axis */
-            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
-
-            /* Gyroscope user gain correction z-axis */
-            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
- */
-int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_int != NULL))
-    {
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            switch (sens_int[loop].type)
-            {
-                case BMI2_STEP_COUNTER:
-                case BMI2_STEP_DETECTOR:
-
-                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
-                    break;
-                default:
-                    rslt = BMI2_E_INVALID_SENSOR;
-                    break;
-            }
-
-            /* Return error if interrupt mapping fails */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sensor/features to be enabled or
- * disabled.
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define loop */
-    uint8_t count;
-
-    for (count = 0; count < n_sens; count++)
-    {
-        switch (sens_list[count])
-        {
-            case BMI2_ACCEL:
-                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
-                break;
-            case BMI2_GYRO:
-                *sensor_sel |= BMI2_GYRO_SENS_SEL;
-                break;
-            case BMI2_AUX:
-                *sensor_sel |= BMI2_AUX_SENS_SEL;
-                break;
-            case BMI2_TEMP:
-                *sensor_sel |= BMI2_TEMP_SENS_SEL;
-                break;
-            case BMI2_STEP_DETECTOR:
-                *sensor_sel |= BMI2_STEP_DETECT_SEL;
-                break;
-            case BMI2_STEP_COUNTER:
-                *sensor_sel |= BMI2_STEP_COUNT_SEL;
-                break;
-            case BMI2_GYRO_GAIN_UPDATE:
-                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                break;
-            case BMI2_ACTIVITY_RECOGNITION:
-                *sensor_sel |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
-        }
-
-        /* Enable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
-        }
-
-        /* Enable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
-        }
-
-        /* Enable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Enable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable activity recognition feature */
-                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
-                {
-                    rslt = set_act_recog(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API disables the selected sensors/features.
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
-        }
-
-        /* Disable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
-        }
-
-        /* Disable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
-        }
-
-        /* Disable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
-        }
-
-        /* Disable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Disable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable activity recognition feature */
-                if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
-                {
-                    rslt = set_act_recog(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ACTIVITY_RECOGNITION_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable Advance power save if disabled while
-                 * configuring and not when already disabled
-                 */
-                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-                {
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step detector */
-    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
-
-    /* Search for step detector feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step detector feature resides */
-        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step detector */
-            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-counter feature resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step counter */
-            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
-* @brief This internal API enables/disables the activity recognition feature.
-*/
-static int8_t set_act_recog(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for activity recognition */
-    struct bmi2_feature_config act_recog_cfg = { 0, 0, 0 };
-
-    /* Search for activity recognition and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&act_recog_cfg, BMI2_ACTIVITY_RECOGNITION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where activity
-         * recognition feature resides
-         */
-        rslt = bmi2_get_feat_config(act_recog_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of activity recognition */
-            idx = act_recog_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACTIVITY_RECOG_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user gain feature resides */
-        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of user gain */
-            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter parameters */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
-    uint8_t max_len = 8;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of words to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = (remain_len / 2);
-                }
-
-                /* Get offset in words since all the features are set in words length */
-                page_byte_idx = start_addr / 2;
-                for (; page_byte_idx < max_len;)
-                {
-                    /* Set parameters 1 to 25 */
-                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
-                                                                  BMI2_STEP_COUNT_PARAMS,
-                                                                  step_count_params[param_idx]);
-
-                    /* Increment offset by 1 word to set to the next parameter */
-                    page_byte_idx++;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-
-                /* Get total length in bytes to copy from local pointer to the array */
-                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
-
-                /* Copy the bytes to be set back to the array */
-                for (index = 0; index < page_byte_idx; index++)
-                {
-                    feat_config[step_params_config.start_addr +
-                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
-                }
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/* @brief This internal API sets step counter configurations like water-mark
- * level, reset-counter and output-configuration step detector and activity.
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter 4 */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = step_count_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set water-mark level */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
-
-            /* Set reset-counter */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
-
-            /* Increment offset by 1 word  to set output
-             * configuration of step detector and step activity
-             */
-            idx++;
-
-            /* Set step buffer size */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[step_count_config.start_addr +
-                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Initialize feature configuration for step counter 1 */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words to be read in a page */
-    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of bytes to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = remain_len;
-                }
-
-                /* Get the offset */
-                page_byte_idx = start_addr;
-                while (page_byte_idx < max_len)
-                {
-                    /* Get word to calculate the parameter*/
-                    lsb = (uint16_t) feat_config[page_byte_idx++];
-                    if (page_byte_idx < max_len)
-                    {
-                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
-                    }
-
-                    lsb_msb = lsb | msb;
-
-                    /* Get parameters 1 to 25 */
-                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter 4 feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter 4 parameter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for step counter/detector/activity */
-            idx = step_count_config.start_addr;
-
-            /* Get word to calculate water-mark level and reset counter */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get water-mark level */
-            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
-
-            /* Get reset counter */
-            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
-
-            /* Get word to calculate output configuration of step detector and activity */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step counter.
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step counter */
-    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
-
-    /* Search for step counter output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-counter */
-        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step counter output */
-            idx = step_cnt_out_config.start_addr;
-
-            /* Get the step counter output in 4 bytes */
-            *step_count = (uint32_t) feat_config[idx++];
-            *step_count |= ((uint32_t) feat_config[idx++] << 8);
-            *step_count |= ((uint32_t) feat_config[idx++] << 16);
-            *step_count |= ((uint32_t) feat_config[idx++] << 24);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for NVM error status */
-    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
-
-    /* Search for NVM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for NVM error status */
-        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for NVM error status */
-            idx = nvm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Error when NVM load action fails */
-            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
-
-            /* Error when NVM program action fails */
-            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
-
-            /* Error when NVM erase action fails */
-            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
-
-            /* Error when NVM program limit is exceeded */
-            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
-
-            /* Error when NVM privilege mode is not acquired */
-            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to check APS status */
-    uint8_t aps_stat = 0;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Disable advance power save */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get the configuration from the page where user gain feature resides */
-            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for enable/disable of user gain */
-                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-                /* Set the feature enable status */
-                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    /* Enable Advance power save if disabled while configuring and not when already disabled */
-    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to parse and store the activity recognition
- * output from the FIFO data.
- */
-static int8_t unpack_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *data_index,
-                                      const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variables to define 4 bytes of sensor time */
-    uint32_t time_stamp_byte4 = 0;
-    uint32_t time_stamp_byte3 = 0;
-    uint32_t time_stamp_byte2 = 0;
-    uint32_t time_stamp_byte1 = 0;
-
-    /* Validate data index */
-    if ((*data_index + BMI2_FIFO_VIRT_ACT_DATA_LENGTH) >= fifo->length)
-    {
-        /* Update the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Get time-stamp from the activity recognition frame */
-        time_stamp_byte4 = ((uint32_t)(fifo->data[(*data_index) + 3]) << 24);
-        time_stamp_byte3 = ((uint32_t)(fifo->data[(*data_index) + 2]) << 16);
-        time_stamp_byte2 = fifo->data[(*data_index) + 1] << 8;
-        time_stamp_byte1 = fifo->data[(*data_index)];
-
-        /* Update time-stamp from the virtual frame */
-        act_recog->time_stamp = (time_stamp_byte4 | time_stamp_byte3 | time_stamp_byte2 | time_stamp_byte1);
-
-        /* Move the data index by 4 bytes */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TIME_LENGTH;
-
-        /* Update the previous activity from the virtual frame */
-        act_recog->prev_act = fifo->data[(*data_index)];
-
-        /* Move the data index by 1 byte */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_TYPE_LENGTH;
-
-        /* Update the current activity from the virtual frame */
-        act_recog->curr_act = fifo->data[(*data_index)];
-
-        /* Move the data index by 1 byte */
-        (*data_index) = (*data_index) + BMI2_FIFO_VIRT_ACT_STAT_LENGTH;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for VFRM error status */
-    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
-
-    /* Search for VFRM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for VFRM error status */
-        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for VFRM error status */
-            idx = vfrm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Internal error while acquiring lock for FIFO */
-            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
-
-            /* Internal error while writing byte into FIFO */
-            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
-
-            /* Internal error while writing into FIFO */
-            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API skips S4S frame in the FIFO data while getting
- * step activity output.
- */
-static int8_t move_if_s4s_frame(const uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to extract virtual header byte */
-    uint8_t virtual_header_mode;
-
-    /* Variable to define pay-load in words */
-    uint8_t payload_word = 0;
-
-    /* Variable to define pay-load in bytes */
-    uint8_t payload_bytes = 0;
-
-    /* Extract virtual header mode from the frame header */
-    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
-
-    /* If the extracted header byte is a virtual header */
-    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
-    {
-        /* If frame header is not activity recognition header */
-        if (*frame_header != 0xC8)
-        {
-            /* Extract pay-load in words from the header byte */
-            payload_word = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_PAYLOAD) + 1;
-
-            /* Convert to bytes */
-            payload_bytes = (uint8_t)(payload_word * 2);
-
-            /* Move the data index by those pay-load bytes */
-            rslt = move_next_frame(data_index, payload_bytes, fifo);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
-        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details from the look-up table.
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the output feature from the output configuration array */
-    while (loop < dev->out_sens)
-    {
-        if (dev->feat_output[loop].type == type)
-        {
-            *feat_output = dev->feat_output[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
-
-/*!
- * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
-{
-    /* Variables to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Validate data index */
-    if (((*data_index) + current_frame_length) > fifo->length)
-    {
-        /* Move the data index to the last byte */
-        (*data_index) = fifo->length;
-
-        /* FIFO is empty */
-        rslt = BMI2_W_FIFO_EMPTY;
-    }
-    else
-    {
-        /* Move the data index to next frame */
-        (*data_index) = (*data_index) + current_frame_length;
-
-        /* More frames could be read */
-        rslt = BMI2_W_PARTIAL_READ;
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h
deleted file mode 100644
index 2a1b5bc07b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_hc.h
+++ /dev/null
@@ -1,483 +0,0 @@
-/**
-* 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       bmi270_hc.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi270_hc BMI270_HC
- * @brief Sensor driver for BMI270_HC sensor
- */
-
-#ifndef BMI270_HC_H_
-#define BMI270_HC_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!               Macro definitions
- ****************************************************************************/
-
-/*! @name BMI270_HC Chip identifier */
-#define BMI270_HC_CHIP_ID                       UINT8_C(0x24)
-
-/*! @name BMI270_HC feature input start addresses */
-#define BMI270_HC_CONFIG_ID_STRT_ADDR           UINT8_C(0x06)
-#define BMI270_HC_STEP_CNT_1_STRT_ADDR          UINT8_C(0x00)
-#define BMI270_HC_STEP_CNT_4_STRT_ADDR          UINT8_C(0x02)
-#define BMI270_HC_MAX_BURST_LEN_STRT_ADDR       UINT8_C(0x08)
-#define BMI270_HC_CRT_GYRO_SELF_TEST_STRT_ADDR  UINT8_C(0x09)
-#define BMI270_HC_ABORT_STRT_ADDR               UINT8_C(0x09)
-#define BMI270_HC_NVM_PROG_PREP_STRT_ADDR       UINT8_C(0x0A)
-#define BMI270_HC_ACT_RGN_SETT_STRT_ADDR        UINT8_C(0x02)
-#define BMI270_HC_ACT_RGN_STRT_ADDR             UINT8_C(0x00)
-
-/*! @name BMI270_HC feature output start addresses */
-#define BMI270_HC_STEP_CNT_OUT_STRT_ADDR        UINT8_C(0x00)
-#define BMI270_HC_GYR_USER_GAIN_OUT_STRT_ADDR   UINT8_C(0x04)
-#define BMI270_HC_GYRO_CROSS_SENSE_STRT_ADDR    UINT8_C(0x0C)
-#define BMI270_HC_NVM_VFRM_OUT_STRT_ADDR        UINT8_C(0x0E)
-
-/*! @name Defines maximum number of pages */
-#define BMI270_HC_MAX_PAGE_NUM                  UINT8_C(8)
-
-/*! @name Defines maximum number of feature input configurations */
-#define BMI270_HC_MAX_FEAT_IN                   UINT8_C(10)
-
-/*! @name Defines maximum number of feature outputs */
-#define BMI270_HC_MAX_FEAT_OUT                  UINT8_C(5)
-
-/*! @name Mask definitions for feature interrupt status bits */
-#define BMI270_HC_STEP_CNT_STATUS_MASK          UINT8_C(0x01)
-
-/*! @name Mask definitions for feature interrupt mapping bits */
-#define BMI270_HC_INT_STEP_COUNTER_MASK         UINT8_C(0x01)
-#define BMI270_HC_INT_STEP_DETECTOR_MASK        UINT8_C(0x01)
-
-/*! @name Defines maximum number of feature interrupts */
-#define BMI270_HC_MAX_INT_MAP                   UINT8_C(2)
-
-/***************************************************************************/
-
-/*!     BMI270_HC User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi270_hcApiInit
- * \page bmi270_hc_api_bmi270_hc_init bmi270_hc_init
- * \code
- * int8_t bmi270_hc_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_HC sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- *
- * @param[in, out] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_init(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiSensor Feature Set
- * @brief Enable / Disable features of the sensor
- */
-
-/*!
- * \ingroup bmi270_hcApiSensor
- * \page bmi270_hc_api_bmi270_hc_sensor_enable bmi270_hc_sensor_enable
- * \code
- * int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be enabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be enabled.
- *
- *@verbatim
-  *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_ACTIVITY_RECOGNITION   |  34
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_hcApiSensor
- * \page bmi270_hc_api_bmi270_hc_sensor_disable bmi270_hc_sensor_disable
- * \code
- * int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be disabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be disabled.
- *
- *@verbatim
-  *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_ACTIVITY_RECOGNITION   |  34
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiSensorC Sensor Configuration
- * @brief Enable / Disable feature configuration of the sensor
- */
-
-/*!
- * \ingroup bmi270_hcApiSensorC
- * \page bmi270_hc_api_bmi270_hc_set_sensor_config bmi270_hc_set_sensor_config
- * \code
- * int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be configured
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_hcApiSensorC
- * \page bmi270_hc_api_bmi270_hc_get_sensor_config bmi270_hc_get_sensor_config
- * \code
- * int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose configurations can be read.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiSensorD Sensor Data
- * @brief Get sensor data
- */
-
-/*!
- * \ingroup bmi270_hcApiSensorD
- * \page bmi270_hc_api_bmi270_hc_get_sensor_data bmi270_hc_get_sensor_data
- * \code
- * int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- *
- * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
- * @param[in]  n_sens        : Number of sensors selected.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose data can be read
- *
- *@verbatim
- *  sens_list           |  Values
- * ---------------------|-----------
- * BMI2_STEP_COUNTER    |   7
- * BMI2_NVM_STATUS      |  38
- * BMI2_VFRM_STATUS     |  39
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiARecoghc Activity recognition settings
- * @brief Set / Get activity recognition settings of bmi270hc sensor
- */
-
-/*!
- * \ingroup bmi270_hcApiARecoghc
- * \page bmi270_hc_api_bmi270_hc_get_act_recg_sett bmi270_hc_get_act_recg_sett
- * \code
- * int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
- * \endcode
- * @details This api is used for retrieving the following activity recognition settings currently set.
- *
- * @param[in] sett  : Structure instance of bmi2_hc_act_recg_sett.
- * @param[in] dev   : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_hcApiARecoghc
- * \page bmi270_hc_api_bmi270_hc_set_act_recg_sett bmi270_hc_set_act_recg_sett
- * \code
- * int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
- * \endcode
- * @details This api is used for setting the following activity recognition settings
- *
- * @param[in] sett  : Structure instance of bmi2_hc_act_recg_sett.
- * @param[in] dev   : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiactOut Activity Output
- * @brief Activity output operations of the sensor
- */
-
-/*!
- * \ingroup bmi270_hcApiactOut
- * \page bmi270_hc_api_bmi270_hc_get_act_recog_output bmi270_hc_get_act_recog_output
- * \code
- * int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
- *                                uint16_t *act_frm_len,
- *                                struct bmi2_fifo_frame *fifo,
- *                                const struct bmi2_dev *dev);
- *
- * \endcode
- * @details This internal API is used to parse the activity output from the
- * FIFO in header mode.
- *
- * @param[out] act_recog    : Pointer to buffer where the parsed activity data
- *                           bytes are stored.
- * @param[in] act_frm_len   : Number of activity frames parsed.
- * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
- * @param[in] dev           : Structure instance of bmi2_dev.
- *
- * @verbatim
- * ----------------------------------------------------------------------------
- *  bmi2_act_rec_output     |
- *  Structure parameters    |               Description
- *--------------------------|--------------------------------------------------
- *      time_stamp          |  time-stamp (expressed in 50Hz ticks)
- * -------------------------|---------------------------------------------------
- *      type                |           Type of activity
- * -------------------------|---------------------------------------------------
- *      stat                |           Activity status
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- *@verbatim
- *  type    |  Activities
- *----------|---------------------
- *  0       |  UNKNOWN
- *  1       |  STILL
- *  2       |  WALK
- *  3       |  RUN
- *  4       |  BIKE
- *  5       | VEHICLE
- *  6       | TILTED
- *@endverbatim
- *
- *
- *@verbatim
- *  stat    |  Activity status
- *----------|---------------------
- *  1       |  START
- *  2       |  END
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
-                                      uint16_t *act_frm_len,
-                                      struct bmi2_fifo_frame *fifo,
-                                      const struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_hc
- * \defgroup bmi270_hcApiGyroUG Gyro User Gain
- * @brief Set / Get Gyro User Gain of the sensor
- */
-
-/*!
- * \ingroup bmi270_hcApiGyroUG
- * \page bmi270_hc_api_bmi270_hc_update_gyro_user_gain bmi270_hc_update_gyro_user_gain
- * \code
- * int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
- * \endcode
- * @details This API updates the gyroscope user-gain.
- *
- * @param[in] user_gain      : Structure that stores user-gain configurations.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_hcApiGyroUG
- * \page bmi270_hc_api_bmi270_hc_read_gyro_user_gain bmi270_hc_read_gyro_user_gain
- * \code
- * int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the compensated gyroscope user-gain values.
- *
- * @param[out] gyr_usr_gain   : Structure that stores gain values.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_hcApiInt
- * \page bmi270_hc_api_bmi270_hc_map_feat_int bmi270_hc_map_feat_int
- * \code
- * int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
- * \endcode
- * @details This API maps/unmaps feature interrupts to that of interrupt pins.
- *
- * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
- * @param[in] n_sens       : Number of interrupts to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*! @name       C++ Guard Macros                                      */
-/******************************************************************************/
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI270_HC_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c
deleted file mode 100644
index c97e4bdd8b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c
+++ /dev/null
@@ -1,212 +0,0 @@
-/**
-* 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       bmi270_maximum_fifo.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi270_maximum_fifo.h"
-
-/***************************************************************************/
-
-/*!              Global Variable
- ****************************************************************************/
-
-/*! @name  Global array that stores the configuration file of BMI270 */
-const uint8_t bmi270_maximum_fifo_config_file[] = {
-    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
-    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
-    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
-    0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
-    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
-    0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
-    0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
-    0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
-    0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
-    0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
-    0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
-    0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
-    0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
-    0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
-    0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
-    0xf5, 0xeb, 0x2c, 0xe1, 0x6f
-};
-
-// The rest of this is not needed, avoid compiler errors due to pedantic settings
-#if false
-
-/*! @name  Global array that stores the feature input configuration of BMI270 */
-const struct bmi2_feature_config bmi270_maximum_fifo_feat_in[BMI270_MAXIMUM_FIFO_MAX_FEAT_IN] = {
-
-};
-
-/*! @name  Global array that stores the feature output configuration */
-const struct bmi2_feature_config bmi270_maximum_fifo_feat_out[BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT] = {
-
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/***************************************************************************/
-
-/*!         User Interface Definitions
- ****************************************************************************/
-
-/*!
- *  @brief This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270 sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- */
-int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Assign chip id of BMI270 */
-        dev->chip_id = BMI270_MAXIMUM_FIFO_CHIP_ID;
-
-        dev->config_size = sizeof(bmi270_maximum_fifo_config_file);
-
-        /* Enable the variant specific features if any */
-        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_MAXIMUM_FIFO_VARIANT;
-
-        /* An extra dummy byte is read during SPI read */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            dev->dummy_byte = 1;
-        }
-        else
-        {
-            dev->dummy_byte = 0;
-        }
-
-        /* If configuration file pointer is not assigned any address */
-        if (!dev->config_file_ptr)
-        {
-            /* Give the address of the configuration file array to
-             * the device pointer
-             */
-            dev->config_file_ptr = bmi270_maximum_fifo_config_file;
-        }
-
-        /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Assign the offsets of the feature input
-             * configuration to the device structure
-             */
-            dev->feat_config = bmi270_maximum_fifo_feat_in;
-
-            /* Assign the offsets of the feature output to
-             * the device structure
-             */
-            dev->feat_output = bmi270_maximum_fifo_feat_out;
-
-            /* Assign the maximum number of pages to the
-             * device structure
-             */
-            dev->page_max = BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM;
-
-            /* Assign maximum number of input sensors/
-             * features to device structure
-             */
-            dev->input_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_IN;
-
-            /* Assign maximum number of output sensors/
-             * features to device structure
-             */
-            dev->out_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT;
-
-            /* Get the gyroscope cross axis sensitivity */
-            rslt = bmi2_get_gyro_cross_sense(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    /* Variable to define result */
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-#endif
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h
deleted file mode 100644
index e912a96a63..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**
-* 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       bmi270_maximum_fifo.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi270_maximum_fifo BMI270_MAXIMUM_FIFO
- * @brief Sensor driver for BMI270_MAXIMUM_FIFO sensor
- */
-
-#ifndef BMI270_MAXIMUM_FIFO_H_
-#define BMI270_MAXIMUM_FIFO_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!               Macro definitions
- ****************************************************************************/
-
-/*! @name BMI270 Chip identifier */
-#define BMI270_MAXIMUM_FIFO_CHIP_ID       UINT8_C(0x24)
-
-/*! @name Defines maximum number of pages */
-#define BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM  UINT8_C(0)
-
-/*! @name Defines maximum number of feature input configurations */
-#define BMI270_MAXIMUM_FIFO_MAX_FEAT_IN   UINT8_C(0)
-
-/*! @name Defines maximum number of feature outputs */
-#define BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT  UINT8_C(0)
-
-/*! @name Mask definitions for feature interrupt status bits */
-
-/***************************************************************************/
-
-/*!     BMI270 User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi270_maximum_fifo
- * \defgroup bmi270_maximum_fifoApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi270_maximum_fifoApiInit
- * \page bmi270_maximum_fifo_api_bmi270_maximum_fifo_init bmi270_maximum_fifo_init
- * \code
- * int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270 sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- *
- * @param[in, out] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*! @name       C++ Guard Macros                                      */
-/******************************************************************************/
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI270_MAXIMUM_FIFO_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c
deleted file mode 100644
index eda23cc022..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c
+++ /dev/null
@@ -1,3431 +0,0 @@
-/**
-* 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       bmi270_wh.c
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi270_wh.h"
-
-/***************************************************************************/
-
-/*!              Global Variable
- ****************************************************************************/
-
-/*! @name  Global array that stores the configuration file of BMI270_WH */
-const uint8_t bmi270_wh_config_file[] = {
-    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xf8, 0x02, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xe1, 0x00, 0x80, 0x2e, 0xc0,
-    0x02, 0x80, 0x2e, 0xe2, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x2c, 0x02, 0x80, 0x2e, 0xe4, 0x07, 0x59, 0xf5,
-    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xdd, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x31, 0x01, 0x00, 0x22,
-    0x00, 0x80, 0x00, 0xfa, 0x07, 0xff, 0x0f, 0xd1, 0x00, 0x65, 0x9d, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
-    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
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-};
-
-/*! @name  Global array that stores the feature input configuration of BMI270_WH */
-const struct bmi2_feature_config bmi270_wh_feat_in[BMI270_WH_MAX_FEAT_IN] = {
-    { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_CONFIG_ID_STRT_ADDR },
-    { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_MAX_BURST_LEN_STRT_ADDR },
-    { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_AXIS_MAP_STRT_ADDR },
-    { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_NVM_PROG_PREP_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR },
-    { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_ANY_MOT_STRT_ADDR },
-    { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_NO_MOT_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_WH_STEP_CNT_1_STRT_ADDR },
-    { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
-    { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR },
-};
-
-/*! @name  Global array that stores the feature output configuration */
-const struct bmi2_feature_config bmi270_wh_feat_out[BMI270_WH_MAX_FEAT_OUT] = {
-    { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_CNT_OUT_STRT_ADDR },
-    { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_ACT_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR },
-    { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR },
-    { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR },
-    { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR }
-};
-
-/*! @name  Global array that stores the feature interrupts of BMI270_WH */
-struct bmi2_map_int bmi270wh_map_int[BMI270_WH_MAX_INT_MAP] = {
-    { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_WH_INT_STEP_COUNTER_MASK },
-    { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_WH_INT_STEP_DETECTOR_MASK },
-    { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_WH_INT_STEP_ACT_MASK },
-    { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .sens_map_int = BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK },
-    { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_WH_INT_ANY_MOT_MASK },
-    { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_WH_INT_NO_MOT_MASK },
-};
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device pointer for
- * null conditions.
- *
- * @param[in] dev : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API disables the selected sensor/features.
- *
- * @param[in]       sensor_sel    : Selects the desired sensor.
- * @param[in, out]  dev           : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API selects the sensors/features to be enabled or
- * disabled.
- *
- * @param[in]  sens_list    : Pointer to select the sensor.
- * @param[in]  n_sens       : Number of sensors selected.
- * @param[out] sensor_sel   : Gets the selected sensor.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
-
-/*!
- * @brief This internal API is used to enable/disable any-motion feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables any-motion.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables any-motion.
- * BMI2_ENABLE  | Enables any-motion.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable no-motion feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables no-motion.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables no-motion.
- * BMI2_ENABLE  | Enables no-motion.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step-detector.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step detector
- * BMI2_ENABLE  | Enables step detector
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step counter.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step counter
- * BMI2_ENABLE  | Enables step counter
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable step activity detection.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables step activity.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables step activity
- * BMI2_ENABLE  | Enables step activity
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables gyroscope user gain.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables gyroscope user gain
- * BMI2_ENABLE  | Enables gyroscope user gain
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables the wrist wear wake up feature for wearable variant.
- *
- * @param[in] dev            : Structure instance of bmi2_dev.
- * @param[in] enable         : Enables/Disables wrist wear wake up.
- *
- * Enable       |  Description
- * -------------|---------------
- * BMI2_DISABLE | Disables wrist wear wake up
- * BMI2_ENABLE  | Enables wrist wear wake up
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[in]      config      : Structure instance of bmi2_any_motion_config.
- * @param[in, out] dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_any_motion_config  |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[in]      config       : Structure instance of bmi2_no_motion_config.
- * @param[in, out] dev          : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_no_motion_config   |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets step counter/detector/activity configurations.
- *
- * @param[in] config      : Structure instance of bmi2_step_config.
- * @param[in] dev         : Structure instance of bmi2_dev.
- *
- *---------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API sets wrist wear wake-up configurations like
- * output-configuration for wearable variant.
- *
- * @param[in]       config    : Structure instance of
- *                              bmi2_wrist_wear_wake_up_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *-------------------------------------|----------------------------------------
- * bmi2_wrist_wear_wake_up_wh_config   |
- *  Structure parameters               |               Description
- *-------------------------------------|-------------------------------------------
- *                                     | To set the wrist wear wake-up parameters like
- *                                     | min_angle_focus, min_angle_nonfocus,
- *  wrist_wear_wake_wh_params              | angle_landscape_left, angle_landscape_right,
- *                                     | angle_potrait_up and down.
- * ------------------------------------|-------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
-                                               struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[out] config        : Structure instance of bmi2_any_motion_config.
- * @param[in, out]  dev      : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_any_motion_config  |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- *
- * @param[out]      config    : Structure instance of bmi2_no_motion_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *  bmi2_no_motion_config   |
- *  Structure parameters    |                   Description
- *--------------------------|--------------------------------------------------
- *                          | Defines the number of  consecutive data points for
- *                          | which the threshold condition must be respected,
- *                          | for interrupt assertion. It is expressed in  50 Hz
- *  duration                | samples (20 msec).
- *                          | Range is 0 to 163sec.
- *                          | Default value is 5 = 100ms.
- * -------------------------|---------------------------------------------------
- *                          | Slope threshold value for in 5.11g format.
- *  threshold               | Range is 0 to 1g.
- *                          | Default value is 0xAA = 83mg.
- * -------------------------|---------------------------------------------------
- *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- *
- * @param[in] step_count_params : Array that stores parameters 1 to 25.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- *
- * @param[out] config      : Structure instance of bmi2_step_config.
- * @param[in]  dev         : Structure instance of bmi2_dev.
- *
- * @verbatim
- *----------------------------------------------------------------------------
- *    bmi2_step_config      |
- *  Structure parameters    |                 Description
- *--------------------------|--------------------------------------------------
- *                          | The Step-counter will trigger output every time
- *                          | the number of steps are counted. Holds implicitly
- *  water-mark level        | a 20x factor, so the range is 0 to 10230,
- *                          | with resolution of 20 steps.
- * -------------------------|---------------------------------------------------
- *  reset counter           | Flag to reset the counted steps.
- * -------------------------|---------------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets wrist wear wake-up configurations like
- * output-configuration for wearable variant.
- *
- * @param[out]      config    : Structure instance of
- *                              bmi2_wrist_wear_wake_up_config.
- * @param[in, out]  dev       : Structure instance of bmi2_dev.
- *
- * @verbatim
- *-----------------------------------------------------------------------------
- * bmi2_wrist_wear_wake_up_config   |
- *  Structure parameters            |               Description
- *----------------------------------|-------------------------------------------
- *                                  | To get the wrist wear wake-up parameters like
- *                                  | min_angle_focus, min_angle_nonfocus,
- *  wrist_wear_wake_params          | angle_landscape_left, angle_landscape_right,
- *                                  | angle_potrait_up and down.
- * ---------------------------------|-------------------------------------------
- * @endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the output values of step activity.
- *
- * @param[out] step_act         : Pointer to the stored step activity data.
- * @param[in]  dev      : Structure instance of bmi2_dev.
- *
- * *step_act  |  Output
- * -----------|------------
- * 0x00       |  STILL
- * 0x01       |  WALKING
- * 0x02       |  RUNNING
- * 0x03       |  UNKNOWN
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the output values of step counter.
- *
- * @param[out] step_count       : Pointer to the stored step counter data.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- *
- * @param[out] nvm_err_stat     : Stores the NVM error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- *
- * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
- * @param[in]  dev              : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- *
- * @param[out] status         : Stores status of gyroscope user gain update.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- *
- * @param[in] enable    : Enables/Disables gain compensation
- * @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  enable      |  Description
- * -------------|---------------
- * BMI2_ENABLE  | Enable gain compensation.
- * BMI2_DISABLE | Disable gain compensation.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details like page and start address from the look-up table.
- *
- * @param[out] feat_output      : Structure that stores output feature
- *                              configurations.
- * @param[in] type              : Type of feature or sensor.
- * @param[in] dev               : Structure instance of bmi2_dev.
- *
- * @return Returns the feature found flag.
- *
- * @retval  BMI2_FALSE : Feature not found
- *          BMI2_TRUE  : Feature found
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev);
-
-/***************************************************************************/
-
-/*!         User Interface Definitions
- ****************************************************************************/
-
-/*!
- *  @brief This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_WH sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- */
-int8_t bmi270_wh_init(struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Assign chip id of BMI270_WH */
-        dev->chip_id = BMI270_WH_CHIP_ID;
-
-        /* get the size of config array */
-        dev->config_size = sizeof(bmi270_wh_config_file);
-
-        /* Enable the variant specific features if any */
-        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
-
-        /* An extra dummy byte is read during SPI read */
-        if (dev->intf == BMI2_SPI_INTF)
-        {
-            dev->dummy_byte = 1;
-        }
-        else
-        {
-            dev->dummy_byte = 0;
-        }
-
-        /* If configuration file pointer is not assigned any address */
-        if (!dev->config_file_ptr)
-        {
-            /* Give the address of the configuration file array to
-             * the device pointer
-             */
-            dev->config_file_ptr = bmi270_wh_config_file;
-        }
-
-        /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Assign the offsets of the feature input
-             * configuration to the device structure
-             */
-            dev->feat_config = bmi270_wh_feat_in;
-
-            /* Assign the offsets of the feature output to
-             * the device structure
-             */
-            dev->feat_output = bmi270_wh_feat_out;
-
-            /* Assign the maximum number of pages to the
-             * device structure
-             */
-            dev->page_max = BMI270_WH_MAX_PAGE_NUM;
-
-            /* Assign maximum number of input sensors/
-             * features to device structure
-             */
-            dev->input_sens = BMI270_WH_MAX_FEAT_IN;
-
-            /* Assign maximum number of output sensors/
-             * features to device structure
-             */
-            dev->out_sens = BMI270_WH_MAX_FEAT_OUT;
-
-            /* Assign the offsets of the feature interrupt
-             * to the device structure
-             */
-            dev->map_int = bmi270wh_map_int;
-
-            /* Assign maximum number of feature interrupts
-             * to device structure
-             */
-            dev->sens_int_map = BMI270_WH_MAX_INT_MAP;
-
-            /* Get the gyroscope cross axis sensitivity */
-            rslt = bmi2_get_gyro_cross_sense(dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be enabled.
- */
-int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Enable the selected sensors */
-            rslt = sensor_enable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API selects the sensors/features to be disabled.
- */
-int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint64_t sensor_sel = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_list != NULL))
-    {
-        /* Get the selected sensors */
-        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
-        if (rslt == BMI2_OK)
-        {
-            /* Disable the selected sensors */
-            rslt = sensor_disable(sensor_sel, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API sets the sensor/feature configuration.
- */
-int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if (aps_stat == BMI2_ENABLE)
-                {
-                    /* Disable advance power save if
-                     * enabled
-                     */
-                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Set any motion configuration */
-                        case BMI2_ANY_MOTION:
-                            rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
-                            break;
-
-                        /* Set no motion configuration */
-                        case BMI2_NO_MOTION:
-                            rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
-                            break;
-
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Set step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                        case BMI2_STEP_ACTIVITY:
-                            rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        /* Set the wrist wear wake-up configuration for wearable variant */
-                        case BMI2_WRIST_WEAR_WAKE_UP_WH:
-                            rslt = set_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the set configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature configuration.
- */
-int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
-                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
-            {
-                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for auxiliary
-                 * and feature configurations
-                 */
-                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
-                {
-
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sens_cfg[loop].type)
-                    {
-                        /* Get any motion configuration */
-                        case BMI2_ANY_MOTION:
-                            rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
-                            break;
-
-                        /* Get no motion configuration */
-                        case BMI2_NO_MOTION:
-                            rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
-                            break;
-
-                        /* Set the step counter parameters */
-                        case BMI2_STEP_COUNTER_PARAMS:
-                            rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
-                            break;
-
-                        /* Get step counter/detector/activity configuration */
-                        case BMI2_STEP_DETECTOR:
-                        case BMI2_STEP_COUNTER:
-                        case BMI2_STEP_ACTIVITY:
-                            rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
-                            break;
-
-                        /* Get the wrist wear wake-up configuration for wearable variant */
-                        case BMI2_WRIST_WEAR_WAKE_UP_WH:
-                            rslt = get_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
-                            break;
-
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-                }
-
-                /* Return error if any of the get configurations fail */
-                if (rslt != BMI2_OK)
-                {
-                    break;
-                }
-            }
-        }
-
-        /* Enable Advance power save if disabled while configuring and
-         * not when already disabled
-         */
-        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- */
-int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sensor_data != NULL))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
-                (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
-                (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
-            {
-                rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
-            }
-            else
-            {
-                /* Disable Advance power save if enabled for feature
-                 * configurations
-                 */
-                if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
-                {
-                    if (aps_stat == BMI2_ENABLE)
-                    {
-                        /* Disable advance power save if
-                         * enabled
-                         */
-                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-                    }
-                }
-
-                if (rslt == BMI2_OK)
-                {
-                    switch (sensor_data[loop].type)
-                    {
-                        case BMI2_STEP_COUNTER:
-
-                            /* Get step counter output */
-                            rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
-                            break;
-                        case BMI2_STEP_ACTIVITY:
-
-                            /* Get step activity output */
-                            rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
-                            break;
-                        case BMI2_NVM_STATUS:
-
-                            /* Get NVM error status  */
-                            rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
-                            break;
-                        case BMI2_VFRM_STATUS:
-
-                            /* Get VFRM error status  */
-                            rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
-                            break;
-                        default:
-                            rslt = BMI2_E_INVALID_SENSOR;
-                            break;
-                    }
-
-                    /* Return error if any of the get sensor data fails */
-                    if (rslt != BMI2_OK)
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API updates the gyroscope user-gain.
- */
-int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to select sensor */
-    uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
-
-    /* Structure to define sensor configurations */
-    struct bmi2_sens_config sens_cfg;
-
-    /* Variable to store status of user-gain update module */
-    uint8_t status = 0;
-
-    /* Variable to define count */
-    uint8_t count = 100;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (user_gain != NULL))
-    {
-        /* Select type of feature */
-        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
-
-        /* Get the user gain configurations */
-        rslt = bmi270_wh_get_sensor_config(&sens_cfg, 1, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Get the user-defined ratio */
-            sens_cfg.cfg.gyro_gain_update = *user_gain;
-
-            /* Set rate ratio for all axes */
-            rslt = bmi270_wh_set_sensor_config(&sens_cfg, 1, dev);
-        }
-
-        /* Disable gyroscope */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_wh_sensor_disable(&sens_sel[0], 1, dev);
-        }
-
-        /* Enable gyroscope user-gain update module */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi270_wh_sensor_enable(&sens_sel[1], 1, dev);
-        }
-
-        /* Set the command to trigger the computation */
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Poll until enable bit of user-gain update is 0 */
-            while (count--)
-            {
-                rslt = get_user_gain_upd_status(&status, dev);
-                if ((rslt == BMI2_OK) && (status == 0))
-                {
-                    /* Enable compensation of gain defined
-                     * in the GAIN register
-                     */
-                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
-
-                    /* Enable gyroscope */
-                    if (rslt == BMI2_OK)
-                    {
-                        rslt = bmi270_wh_sensor_enable(&sens_sel[0], 1, dev);
-                    }
-
-                    break;
-                }
-
-                dev->delay_us(10000, dev->intf_ptr);
-            }
-
-            /* Return error if user-gain update is failed */
-            if ((rslt == BMI2_OK) && (status != 0))
-            {
-                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads the compensated gyroscope user-gain values.
- */
-int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data[3] = { 0 };
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
-    {
-        /* Get the gyroscope compensated gain values */
-        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Gyroscope user gain correction X-axis */
-            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
-
-            /* Gyroscope user gain correction Y-axis */
-            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
-
-            /* Gyroscope user gain correction z-axis */
-            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
- */
-int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(dev);
-    if ((rslt == BMI2_OK) && (sens_int != NULL))
-    {
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            switch (sens_int[loop].type)
-            {
-                case BMI2_ANY_MOTION:
-                case BMI2_NO_MOTION:
-                case BMI2_STEP_COUNTER:
-                case BMI2_STEP_DETECTOR:
-                case BMI2_STEP_ACTIVITY:
-                case BMI2_WRIST_WEAR_WAKE_UP_WH:
-
-                    rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
-                    break;
-                default:
-                    rslt = BMI2_E_INVALID_SENSOR;
-                    break;
-            }
-
-            /* Return error if interrupt mapping fails */
-            if (rslt != BMI2_OK)
-            {
-                break;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*!
- * @brief This internal API is used to validate the device structure pointer for
- * null conditions.
- */
-static int8_t null_ptr_check(const struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
-    {
-        /* Device structure pointer is not valid */
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API selects the sensor/features to be enabled or
- * disabled.
- */
-static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Variable to define loop */
-    uint8_t count;
-
-    for (count = 0; count < n_sens; count++)
-    {
-        switch (sens_list[count])
-        {
-            case BMI2_ACCEL:
-                *sensor_sel |= BMI2_ACCEL_SENS_SEL;
-                break;
-            case BMI2_GYRO:
-                *sensor_sel |= BMI2_GYRO_SENS_SEL;
-                break;
-            case BMI2_AUX:
-                *sensor_sel |= BMI2_AUX_SENS_SEL;
-                break;
-            case BMI2_TEMP:
-                *sensor_sel |= BMI2_TEMP_SENS_SEL;
-                break;
-            case BMI2_ANY_MOTION:
-                *sensor_sel |= BMI2_ANY_MOT_SEL;
-                break;
-            case BMI2_NO_MOTION:
-                *sensor_sel |= BMI2_NO_MOT_SEL;
-                break;
-            case BMI2_STEP_DETECTOR:
-                *sensor_sel |= BMI2_STEP_DETECT_SEL;
-                break;
-            case BMI2_STEP_COUNTER:
-                *sensor_sel |= BMI2_STEP_COUNT_SEL;
-                break;
-            case BMI2_STEP_ACTIVITY:
-                *sensor_sel |= BMI2_STEP_ACT_SEL;
-                break;
-            case BMI2_GYRO_GAIN_UPDATE:
-                *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                break;
-            case BMI2_WRIST_WEAR_WAKE_UP_WH:
-                *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
-                break;
-            default:
-                rslt = BMI2_E_INVALID_SENSOR;
-                break;
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the selected sensor/features.
- */
-static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Enable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
-        }
-
-        /* Enable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
-        }
-
-        /* Enable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
-        }
-
-        /* Enable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
-        }
-
-        /* Enable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Enable any motion feature */
-                if (sensor_sel & BMI2_ANY_MOT_SEL)
-                {
-                    rslt = set_any_motion(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable no motion feature */
-                if (sensor_sel & BMI2_NO_MOT_SEL)
-                {
-                    rslt = set_no_motion(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_NO_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable step activity feature */
-                if (sensor_sel & BMI2_STEP_ACT_SEL)
-                {
-                    rslt = set_step_activity(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable wrist wear wake-up feature for wearable variant */
-                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
-                {
-                    rslt = set_wrist_wear_wake_up_wh(BMI2_ENABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-            }
-
-            /* Enable Advance power save if disabled while
-             * configuring and not when already disabled
-             */
-            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-            {
-                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API disables the selected sensors/features.
- */
-static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store register values */
-    uint8_t reg_data = 0;
-
-    /* Variable to define loop */
-    uint8_t loop = 1;
-
-    /* Variable to get the status of advance power save */
-    uint8_t aps_stat = 0;
-
-    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        /* Disable accelerometer */
-        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
-        }
-
-        /* Disable gyroscope */
-        if (sensor_sel & BMI2_GYRO_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
-        }
-
-        /* Disable auxiliary sensor */
-        if (sensor_sel & BMI2_AUX_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
-        }
-
-        /* Disable temperature sensor */
-        if (sensor_sel & BMI2_TEMP_SENS_SEL)
-        {
-            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
-        }
-
-        /* Disable the sensors that are set in the power control register */
-        if (sensor_sel & BMI2_MAIN_SENSORS)
-        {
-            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
-        }
-    }
-
-    if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
-    {
-        /* Get status of advance power save mode */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            /* Disable advance power save if enabled */
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            while (loop--)
-            {
-                /* Disable any-motion feature */
-                if (sensor_sel & BMI2_ANY_MOT_SEL)
-                {
-                    rslt = set_any_motion(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable no-motion feature */
-                if (sensor_sel & BMI2_NO_MOT_SEL)
-                {
-                    rslt = set_no_motion(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step detector feature */
-                if (sensor_sel & BMI2_STEP_DETECT_SEL)
-                {
-                    rslt = set_step_detector(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step counter feature */
-                if (sensor_sel & BMI2_STEP_COUNT_SEL)
-                {
-                    rslt = set_step_counter(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable step activity feature */
-                if (sensor_sel & BMI2_STEP_ACT_SEL)
-                {
-                    rslt = set_step_activity(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable gyroscope user gain */
-                if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
-                {
-                    rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Disable wrist wear wake-up feature for wearable variant */
-                if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
-                {
-                    rslt = set_wrist_wear_wake_up_wh(BMI2_DISABLE, dev);
-                    if (rslt == BMI2_OK)
-                    {
-                        dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
-                    }
-                    else
-                    {
-                        break;
-                    }
-                }
-
-                /* Enable Advance power save if disabled while
-                 * configuring and not when already disabled
-                 */
-                if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
-                {
-                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-                }
-            }
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable any motion feature.
- */
-static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any-motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Search for any-motion feature and extract its configurations details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of any-motion axes */
-            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable no-motion feature.
- */
-static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Search for no-motion feature and extract its configurations details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any/no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of no-motion axes */
-            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step detector feature.
- */
-static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step detector */
-    struct bmi2_feature_config step_det_config = { 0, 0, 0 };
-
-    /* Search for step detector feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step detector feature resides */
-        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step detector */
-            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step counter feature.
- */
-static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-counter feature resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step counter */
-            idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable step activity detection.
- */
-static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step activity */
-    struct bmi2_feature_config step_act_config = { 0, 0, 0 };
-
-    /* Search for step activity feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step-activity
-         * feature resides
-         */
-        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of step activity */
-            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables the wrist wear wake up feature.
- */
-static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake up */
-    struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
-
-    /* Search for wrist wear wake up and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake up
-         * feature resides
-         */
-        rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of wrist wear wake up */
-            idx = wrist_wake_up_cfg.start_addr;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to enable/disable gyroscope user gain
- * feature.
- */
-static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where user gain feature resides */
-        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for enable/disable of user gain */
-            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-            /* Set the feature enable bit */
-            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define count */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for any-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for any-motion select */
-            idx = any_mot_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set duration */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
-
-            /* Set x-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
-
-            /* Set y-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
-
-            /* Set z-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
-
-            /* Increment offset by 1 word to set threshold and output configuration */
-            idx++;
-
-            /* Set threshold */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[any_mot_config.start_addr +
-                            index] = *((uint8_t *) data_p + any_mot_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define count */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for no-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for no-motion select */
-            idx = no_mot_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set duration */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
-
-            /* Set x-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
-
-            /* Set y-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
-
-            /* Set z-select */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
-
-            /* Increment offset by 1 word to set threshold and output configuration */
-            idx++;
-
-            /* Set threshold */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[no_mot_config.start_addr +
-                            index] = *((uint8_t *) data_p + no_mot_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets step counter parameter configurations.
- */
-static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter parameters */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
-    uint8_t max_len = 8;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of words to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = (remain_len / 2);
-                }
-
-                /* Get offset in words since all the features are set in words length */
-                page_byte_idx = start_addr / 2;
-                for (; page_byte_idx < max_len;)
-                {
-                    /* Set parameters 1 to 25 */
-                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
-                                                                  BMI2_STEP_COUNT_PARAMS,
-                                                                  step_count_params[param_idx]);
-
-                    /* Increment offset by 1 word to set to the next parameter */
-                    page_byte_idx++;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-
-                /* Get total length in bytes to copy from local pointer to the array */
-                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
-
-                /* Copy the bytes to be set back to the array */
-                for (index = 0; index < page_byte_idx; index++)
-                {
-                    feat_config[step_params_config.start_addr +
-                                index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
-                }
-
-                /* Set the configuration back to the page */
-                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/* @brief This internal API sets step counter configurations like water-mark
- * level, reset-counter and output-configuration step detector and activity.
- */
-static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter 4 */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for step counter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes */
-            idx = step_count_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            /* Set water-mark level */
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
-
-            /* Set reset-counter */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
-
-            /* Increment offset by 1 word  to set output
-             * configuration of step detector and step activity
-             */
-            idx++;
-
-            /* Set step buffer size */
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[step_count_config.start_addr +
-                            index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets wrist wear wake-up configurations like
- * output-configuration for wearable variant.
- */
-static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
-                                               struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define index */
-    uint8_t index = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake-up */
-    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist wear wake-up feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake-up feature resides */
-        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist wear wake-up select */
-            idx = wrist_wake_up_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            *(data_p + idx) = config->min_angle_focus;
-
-            /* Increment offset by 1 more word to set min_angle_nonfocus */
-            idx++;
-            *(data_p + idx) = config->min_angle_nonfocus;
-
-            /* Increment offset by 1 more word to set angle landscape right and angle landscape left */
-            idx++;
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR, config->angle_lr);
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL, config->angle_ll);
-
-            /* Increment offset by 1 more word to set angle portrait down and angle portrait left */
-            idx++;
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD, config->angle_pd);
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU, config->angle_pu);
-
-            /* Increment offset by 1 more word to set min duration moved and min duration quite */
-            idx++;
-            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED, config->min_dur_mov);
-            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE, config->min_dur_quite);
-
-            /* Increment offset by 1 more word to get the total length in words */
-            idx++;
-
-            /* Get total length in bytes to copy from local pointer to the array */
-            idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
-
-            /* Copy the bytes to be set back to the array */
-            for (index = 0; index < idx; index++)
-            {
-                feat_config[wrist_wake_up_config.start_addr +
-                            index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index);
-            }
-
-            /* Set the configuration back to the page */
-            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets any-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb;
-
-    /* Variable to define MSB */
-    uint16_t msb;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for any-motion */
-    struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
-
-    /* Search for any-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where any-motion feature resides */
-        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for any-motion */
-            idx = any_mot_config.start_addr;
-
-            /* Get word to calculate duration, x, y and z select */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get duration */
-            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
-
-            /* Get x-select */
-            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
-
-            /* Get y-select */
-            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
-
-            /* Get z-select */
-            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
-
-            /* Get word to calculate threshold, output configuration from the same word */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get threshold */
-            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets no-motion configurations like axes select,
- * duration, threshold and output-configuration.
- */
-static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for no-motion */
-    struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
-
-    /* Search for no-motion feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where no-motion feature resides */
-        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for no-motion */
-            idx = no_mot_config.start_addr;
-
-            /* Get word to calculate duration, x, y and z select */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get duration */
-            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
-
-            /* Get x-select */
-            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
-
-            /* Get y-select */
-            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
-
-            /* Get z-select */
-            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
-
-            /* Get word to calculate threshold, output configuration from the same word */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get threshold */
-            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter parameter configurations.
- */
-static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Initialize feature configuration for step counter 1 */
-    struct bmi2_feature_config step_params_config = { 0, 0, 0 };
-
-    /* Variable to index the page number */
-    uint8_t page_idx;
-
-    /* Variable to define the start page */
-    uint8_t start_page;
-
-    /* Variable to define start address of the parameters */
-    uint8_t start_addr;
-
-    /* Variable to define number of bytes */
-    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
-
-    /* Variable to store number of pages */
-    uint8_t n_pages = (n_bytes / 16);
-
-    /* Variable to define the end page */
-    uint8_t end_page;
-
-    /* Variable to define the remaining bytes to be read */
-    uint8_t remain_len;
-
-    /* Variable to define the maximum words to be read in a page */
-    uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
-
-    /* Variable index bytes in a page */
-    uint8_t page_byte_idx;
-
-    /* Variable to index the parameters */
-    uint8_t param_idx = 0;
-
-    /* Search for step counter parameter feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
-    if (feat_found)
-    {
-        /* Get the start page for the step counter parameters */
-        start_page = step_params_config.page;
-
-        /* Get the end page for the step counter parameters */
-        end_page = start_page + n_pages;
-
-        /* Get the start address for the step counter parameters */
-        start_addr = step_params_config.start_addr;
-
-        /* Get the remaining length of bytes to be read */
-        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
-        for (page_idx = start_page; page_idx <= end_page; page_idx++)
-        {
-            /* Get the configuration from the respective page */
-            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Start from address 0x00 when switched to next page */
-                if (page_idx > start_page)
-                {
-                    start_addr = 0;
-                }
-
-                /* Remaining number of bytes to be read in the page  */
-                if (page_idx == end_page)
-                {
-                    max_len = remain_len;
-                }
-
-                /* Get the offset */
-                page_byte_idx = start_addr;
-                while (page_byte_idx < max_len)
-                {
-                    /* Get word to calculate the parameter*/
-                    lsb = (uint16_t) feat_config[page_byte_idx++];
-                    if (page_byte_idx < max_len)
-                    {
-                        msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
-                    }
-
-                    lsb_msb = lsb | msb;
-
-                    /* Get parameters 1 to 25 */
-                    step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
-
-                    /* Increment to next parameter */
-                    param_idx++;
-                }
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets step counter/detector/activity configurations.
- */
-static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to define LSB */
-    uint16_t lsb = 0;
-
-    /* Variable to define MSB */
-    uint16_t msb = 0;
-
-    /* Variable to define a word */
-    uint16_t lsb_msb = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for step counter */
-    struct bmi2_feature_config step_count_config = { 0, 0, 0 };
-
-    /* Search for step counter 4 feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where step counter 4 parameter resides */
-        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset for feature enable for step counter/detector/activity */
-            idx = step_count_config.start_addr;
-
-            /* Get word to calculate water-mark level and reset counter */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            /* Get water-mark level */
-            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
-
-            /* Get reset counter */
-            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
-
-            /* Get word to calculate output configuration of step detector and activity */
-            lsb = (uint16_t) feat_config[idx++];
-            msb = ((uint16_t) feat_config[idx++] << 8);
-            lsb_msb = lsb | msb;
-
-            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets wrist wear wake-up configurations like min_angle_focus,
- * min_angle_nonfocus for wearable variant.
- */
-static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature configuration for wrist wear wake-up */
-    struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
-
-    /* Copy the feature configuration address to a local pointer */
-    uint16_t *data_p = (uint16_t *) (void *)feat_config;
-
-    /* Search for wrist wear wake-up feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
-    if (feat_found)
-    {
-        /* Get the configuration from the page where wrist wear wake-up feature  resides */
-        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for wrist wear wake-up select */
-            idx = wrist_wake_up_config.start_addr;
-
-            /* Get offset in words since all the features are set in words length */
-            idx = idx / 2;
-
-            config->min_angle_focus = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get min_angle_nonfocus */
-            idx++;
-            config->min_angle_nonfocus = *(data_p + idx);
-
-            /* Increment the offset value by 1 word to get angle landscape right and angle landscape left */
-            idx++;
-            config->angle_lr = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR);
-            config->angle_ll = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL);
-
-            /* Increment the offset value by 1 word to get angle portrait down and angle portrait up */
-            idx++;
-            config->angle_pd = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD);
-            config->angle_pu = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU);
-
-            /* Increment the offset value by 1 word to get min duration quite and min duration moved */
-            idx++;
-            config->min_dur_mov = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED);
-            config->min_dur_quite = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE);
-
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step counter.
- */
-static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step counter */
-    struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
-
-    /* Search for step counter output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-counter */
-        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step counter output */
-            idx = step_cnt_out_config.start_addr;
-
-            /* Get the step counter output in 4 bytes */
-            *step_count = (uint32_t) feat_config[idx++];
-            *step_count |= ((uint32_t) feat_config[idx++] << 8);
-            *step_count |= ((uint32_t) feat_config[idx++] << 16);
-            *step_count |= ((uint32_t) feat_config[idx++] << 24);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to NVM.
- */
-static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for NVM error status */
-    struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
-
-    /* Search for NVM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for NVM error status */
-        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for NVM error status */
-            idx = nvm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Error when NVM load action fails */
-            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
-
-            /* Error when NVM program action fails */
-            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
-
-            /* Error when NVM erase action fails */
-            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
-
-            /* Error when NVM program limit is exceeded */
-            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
-
-            /* Error when NVM privilege mode is not acquired */
-            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to get enable status of gyroscope user gain
- * update.
- */
-static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OK;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variable to define the array offset */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Variable to check APS status */
-    uint8_t aps_stat = 0;
-
-    /* Initialize feature configuration for gyroscope user gain */
-    struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
-
-    /* Search for user gain feature and extract its configuration details */
-    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
-    if (feat_found)
-    {
-        /* Disable advance power save */
-        aps_stat = dev->aps_status;
-        if (aps_stat == BMI2_ENABLE)
-        {
-            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
-        }
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get the configuration from the page where user gain feature resides */
-            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
-            if (rslt == BMI2_OK)
-            {
-                /* Define the offset for enable/disable of user gain */
-                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
-
-                /* Set the feature enable status */
-                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    /* Enable Advance power save if disabled while configuring and not when already disabled */
-    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
-    {
-        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the output values of step activity.
- */
-static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for step activity */
-    struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
-
-    /* Search for step activity output feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for step-activity */
-        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for step activity output */
-            idx = step_act_out_config.start_addr;
-
-            /* Get the step activity output */
-            *step_act = feat_config[idx];
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API gets the error status related to virtual frames.
- */
-static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Array to define the feature configuration */
-    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
-
-    /* Variables to define index */
-    uint8_t idx = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found;
-
-    /* Initialize feature output for VFRM error status */
-    struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
-
-    /* Search for VFRM error status feature and extract its configuration details */
-    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
-    if (feat_found)
-    {
-        /* Get the feature output configuration for VFRM error status */
-        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
-        if (rslt == BMI2_OK)
-        {
-            /* Define the offset in bytes for VFRM error status */
-            idx = vfrm_err_cfg.start_addr;
-
-            /* Increment index to get the error status */
-            idx++;
-
-            /* Internal error while acquiring lock for FIFO */
-            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
-
-            /* Internal error while writing byte into FIFO */
-            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
-
-            /* Internal error while writing into FIFO */
-            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
-        }
-    }
-    else
-    {
-        rslt = BMI2_E_INVALID_SENSOR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API enables/disables compensation of the gain defined
- * in the GAIN register.
- */
-static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define register data */
-    uint8_t reg_data = 0;
-
-    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    if (rslt == BMI2_OK)
-    {
-        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
-        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to extract the output feature configuration
- * details from the look-up table.
- */
-static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
-                                          uint8_t type,
-                                          const struct bmi2_dev *dev)
-{
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to set flag */
-    uint8_t feat_found = BMI2_FALSE;
-
-    /* Search for the output feature from the output configuration array */
-    while (loop < dev->out_sens)
-    {
-        if (dev->feat_output[loop].type == type)
-        {
-            *feat_output = dev->feat_output[loop];
-            feat_found = BMI2_TRUE;
-            break;
-        }
-
-        loop++;
-    }
-
-    /* Return flag */
-    return feat_found;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h
deleted file mode 100644
index d46251bbd1..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h
+++ /dev/null
@@ -1,402 +0,0 @@
-/**
-* 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       bmi270_wh.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi270_wh BMI270_WH
- * @brief Sensor driver for BMI270_WH sensor
- */
-
-#ifndef BMI270_WH_H_
-#define BMI270_WH_H_
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#include "bmi2.h"
-
-/***************************************************************************/
-
-/*!               Macro definitions
- ****************************************************************************/
-
-/*! @name BMI270_WH Chip identifier */
-#define BMI270_WH_CHIP_ID                           UINT8_C(0x24)
-
-/*! @name BMI270_WH feature input start addresses */
-#define BMI270_WH_CONFIG_ID_STRT_ADDR               UINT8_C(0x00)
-#define BMI270_WH_MAX_BURST_LEN_STRT_ADDR           UINT8_C(0x02)
-#define BMI270_WH_AXIS_MAP_STRT_ADDR                UINT8_C(0x04)
-#define BMI270_WH_NVM_PROG_PREP_STRT_ADDR           UINT8_C(0x05)
-#define BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR        UINT8_C(0x06)
-#define BMI270_WH_ANY_MOT_STRT_ADDR                 UINT8_C(0x0C)
-#define BMI270_WH_NO_MOT_STRT_ADDR                  UINT8_C(0x00)
-#define BMI270_WH_STEP_CNT_1_STRT_ADDR              UINT8_C(0x00)
-#define BMI270_WH_STEP_CNT_4_STRT_ADDR              UINT8_C(0x02)
-#define BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR      UINT8_C(0x04)
-
-/*! @name BMI270_WH feature output start addresses */
-#define BMI270_WH_STEP_CNT_OUT_STRT_ADDR            UINT8_C(0x00)
-#define BMI270_WH_STEP_ACT_OUT_STRT_ADDR            UINT8_C(0x04)
-#define BMI270_WH_WRIST_GEST_OUT_STRT_ADDR          UINT8_C(0x06)
-#define BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR       UINT8_C(0x08)
-#define BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR        UINT8_C(0x0C)
-#define BMI270_WH_NVM_VFRM_OUT_STRT_ADDR            UINT8_C(0x0E)
-
-/*! @name Defines maximum number of pages */
-#define BMI270_WH_MAX_PAGE_NUM                      UINT8_C(8)
-
-/*! @name Defines maximum number of feature input configurations */
-#define BMI270_WH_MAX_FEAT_IN                       UINT8_C(12)
-
-/*! @name Defines maximum number of feature outputs */
-#define BMI270_WH_MAX_FEAT_OUT                      UINT8_C(6)
-
-/*! @name Mask definitions for feature interrupt status bits */
-#define BMI270_WH_STEP_CNT_STATUS_MASK              UINT8_C(0x02)
-#define BMI270_WH_STEP_ACT_STATUS_MASK              UINT8_C(0x04)
-#define BMI270_WH_WRIST_WEAR_WAKEUP_WH_STATUS_MASK  UINT8_C(0x08)
-#define BMI270_WH_NO_MOT_STATUS_MASK                UINT8_C(0x20)
-#define BMI270_WH_ANY_MOT_STATUS_MASK               UINT8_C(0x40)
-
-/*! @name Mask definitions for feature interrupt mapping bits */
-#define BMI270_WH_INT_STEP_COUNTER_MASK             UINT8_C(0x02)
-#define BMI270_WH_INT_STEP_DETECTOR_MASK            UINT8_C(0x02)
-#define BMI270_WH_INT_STEP_ACT_MASK                 UINT8_C(0x04)
-#define BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK     UINT8_C(0x08)
-#define BMI270_WH_INT_NO_MOT_MASK                   UINT8_C(0x20)
-#define BMI270_WH_INT_ANY_MOT_MASK                  UINT8_C(0x40)
-
-/*! @name Defines maximum number of feature interrupts */
-#define BMI270_WH_MAX_INT_MAP                       UINT8_C(6)
-
-/***************************************************************************/
-
-/*!     BMI270_WH User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi270_wh
- * \defgroup bmi270_whApiInit Initialization
- * @brief Initialize the sensor and device structure
- */
-
-/*!
- * \ingroup bmi270_whApiInit
- * \page bmi270_wh_api_bmi270_wh_init bmi270_wh_init
- * \code
- * int8_t bmi270_wh_init(struct bmi2_dev *dev);
- * \endcode
- * @details This API:
- *  1) updates the device structure with address of the configuration file.
- *  2) Initializes BMI270_WH sensor.
- *  3) Writes the configuration file.
- *  4) Updates the feature offset parameters in the device structure.
- *  5) Updates the maximum number of pages, in the device structure.
- *
- * @param[in, out] dev      : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_init(struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_wh
- * \defgroup bmi270_whApiSensor Feature Set
- * @brief Enable / Disable features of the sensor
- */
-
-/*!
- * \ingroup bmi270_whApiSensor
- * \page bmi270_wh_api_bmi270_wh_sensor_enable bmi270_wh_sensor_enable
- * \code
- * int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be enabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be enabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_whApiSensor
- * \page bmi270_wh_api_bmi270_wh_sensor_disable bmi270_wh_sensor_disable
- * \code
- * int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API selects the sensors/features to be disabled.
- *
- * @param[in]       sens_list   : Pointer to select the sensor/feature.
- * @param[in]       n_sens      : Number of sensors selected.
- * @param[in, out]  dev         : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be disabled.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ACCEL                  |  0
- * BMI2_GYRO                   |  1
- * BMI2_AUX                    |  2
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_GYRO_GAIN_UPDATE       |  9
- * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
- *@endverbatim
- *
- * @note :
- * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
- *           uint8_t n_sens        = 2;
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_wh
- * \defgroup bmi270_whApiSensorC Sensor Configuration
- * @brief Enable / Disable feature configuration of the sensor
- */
-
-/*!
- * \ingroup bmi270_whApiSensorC
- * \page bmi270_wh_api_bmi270_wh_set_sensor_config bmi270_wh_set_sensor_config
- * \code
- * int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API sets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features that can be configured
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_whApiSensorC
- * \page bmi270_wh_api_bmi270_wh_get_sensor_config bmi270_wh_get_sensor_config
- * \code
- * int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature configuration.
- *
- * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
- * @param[in]       n_sens       : Number of sensors selected.
- * @param[in, out]  dev          : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose configurations can be read.
- *
- *@verbatim
- *    sens_list                |  Values
- * ----------------------------|-----------
- * BMI2_ANY_MOTION             |  4
- * BMI2_NO_MOTION              |  5
- * BMI2_STEP_DETECTOR          |  6
- * BMI2_STEP_COUNTER           |  7
- * BMI2_STEP_ACTIVITY          |  8
- * BMI2_WRIST_WEAR_WAKE_UP_WH  |  21
- * BMI2_STEP_COUNTER_PARAMS    |  28
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_wh
- * \defgroup bmi270_whApiSensorD Sensor Data
- * @brief Get sensor data
- */
-
-/*!
- * \ingroup bmi270_whApiSensorD
- * \page bmi270_wh_api_bmi270_wh_get_sensor_data bmi270_wh_get_sensor_data
- * \code
- * int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
- * \endcode
- * @details This API gets the sensor/feature data for accelerometer, gyroscope,
- * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
- * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
- *
- * @param[out] sensor_data   : Structure instance of bmi2_sensor_data.
- * @param[in]  n_sens        : Number of sensors selected.
- * @param[in]  dev           : Structure instance of bmi2_dev.
- *
- * @note Sensors/features whose data can be read
- *
- *@verbatim
- *  sens_list           |  Values
- * ---------------------|-----------
- * BMI2_STEP_COUNTER    |   7
- * BMI2_STEP_ACTIVITY   |   8
- * BMI2_NVM_STATUS      |  38
- * BMI2_VFRM_STATUS     |  39
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
-
-/**
- * \ingroup bmi270_wh
- * \defgroup bmi270_whApiGyroUG Gyro User Gain
- * @brief Set / Get Gyro User Gain of the sensor
- */
-
-/*!
- * \ingroup bmi270_whApiGyroUG
- * \page bmi270_wh_api_bmi270_wh_update_gyro_user_gain bmi270_wh_update_gyro_user_gain
- * \code
- * int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
- * \endcode
- * @details This API updates the gyroscope user-gain.
- *
- * @param[in] user_gain      : Structure that stores user-gain configurations.
- * @param[in] dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_whApiGyroUG
- * \page bmi270_wh_api_bmi270_wh_read_gyro_user_gain bmi270_wh_read_gyro_user_gain
- * \code
- * int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
- * \endcode
- * @details This API reads the compensated gyroscope user-gain values.
- *
- * @param[out] gyr_usr_gain   : Structure that stores gain values.
- * @param[in]  dev            : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
-
-/*!
- * \ingroup bmi270_whApiInt
- * \page bmi270_wh_api_bmi270_wh_map_feat_int bmi270_wh_map_feat_int
- * \code
- * int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
- * \endcode
- * @details This API maps/unmaps feature interrupts to that of interrupt pins.
- *
- * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
- * @param[in] n_sens       : Number of interrupts to be mapped.
- * @param[in] dev          : Structure instance of bmi2_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*! @name       C++ Guard Macros                                      */
-/******************************************************************************/
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* BMI270_WH_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h
deleted file mode 100644
index 889bf82564..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h
+++ /dev/null
@@ -1,2475 +0,0 @@
-/**
-* 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       bmi2_defs.h
-* @date       2020-11-04
-* @version    v2.63.1
-*
-*/
-
-#ifndef BMI2_DEFS_H_
-#define BMI2_DEFS_H_
-
-/******************************************************************************/
-/*! @name       Header includes                           */
-/******************************************************************************/
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/kernel.h>
-#else
-#include <stdint.h>
-#include <stddef.h>
-#endif
-
-/******************************************************************************/
-/*! @name       Common macros                         */
-/******************************************************************************/
-#ifdef __KERNEL__
-#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
-#endif
-
-/*! @name C standard macros */
-#ifndef NULL
-#ifdef __cplusplus
-#define NULL         0
-#else
-#define NULL         ((void *) 0)
-#endif
-#endif
-
-/******************************************************************************/
-/*! @name        General Macro Definitions                */
-/******************************************************************************/
-/*! @name  Utility macros */
-#define BMI2_SET_BITS(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MASK)) | \
-     ((data << bitname##_POS) & bitname##_MASK))
-
-#define BMI2_GET_BITS(reg_data, bitname) \
-    ((reg_data & (bitname##_MASK)) >> \
-     (bitname##_POS))
-
-#define BMI2_SET_BIT_POS0(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MASK)) | \
-     (data & bitname##_MASK))
-
-#define BMI2_GET_BIT_POS0(reg_data, bitname)      (reg_data & (bitname##_MASK))
-#define BMI2_SET_BIT_VAL0(reg_data, bitname)      (reg_data & ~(bitname##_MASK))
-
-/*! @name For getting LSB and MSB */
-#define BMI2_GET_LSB(var)                         (uint8_t)(var & BMI2_SET_LOW_BYTE)
-#define BMI2_GET_MSB(var)                         (uint8_t)((var & BMI2_SET_HIGH_BYTE) >> 8)
-
-#ifndef BMI2_INTF_RETURN_TYPE
-#define BMI2_INTF_RETURN_TYPE                     int8_t
-#endif
-
-/*! @name For defining absolute values */
-#define BMI2_ABS(a)                               ((a) > 0 ? (a) : -(a))
-
-/*! @name LSB and MSB mask definitions */
-#define BMI2_SET_LOW_BYTE                         UINT16_C(0x00FF)
-#define BMI2_SET_HIGH_BYTE                        UINT16_C(0xFF00)
-#define BMI2_SET_LOW_NIBBLE                       UINT8_C(0x0F)
-
-/*! @name For enable and disable */
-#define BMI2_ENABLE                               UINT8_C(1)
-#define BMI2_DISABLE                              UINT8_C(0)
-
-/*! @name To define TRUE or FALSE */
-#define BMI2_TRUE                                 UINT8_C(1)
-#define BMI2_FALSE                                UINT8_C(0)
-
-/*! @name To define sensor interface success code */
-#define BMI2_INTF_RET_SUCCESS                     INT8_C(0)
-
-/*! @name To define success code */
-#define BMI2_OK                                   INT8_C(0)
-
-/*! @name To define error codes */
-#define BMI2_E_NULL_PTR                           INT8_C(-1)
-#define BMI2_E_COM_FAIL                           INT8_C(-2)
-#define BMI2_E_DEV_NOT_FOUND                      INT8_C(-3)
-#define BMI2_E_OUT_OF_RANGE                       INT8_C(-4)
-#define BMI2_E_ACC_INVALID_CFG                    INT8_C(-5)
-#define BMI2_E_GYRO_INVALID_CFG                   INT8_C(-6)
-#define BMI2_E_ACC_GYR_INVALID_CFG                INT8_C(-7)
-#define BMI2_E_INVALID_SENSOR                     INT8_C(-8)
-#define BMI2_E_CONFIG_LOAD                        INT8_C(-9)
-#define BMI2_E_INVALID_PAGE                       INT8_C(-10)
-#define BMI2_E_INVALID_FEAT_BIT                   INT8_C(-11)
-#define BMI2_E_INVALID_INT_PIN                    INT8_C(-12)
-#define BMI2_E_SET_APS_FAIL                       INT8_C(-13)
-#define BMI2_E_AUX_INVALID_CFG                    INT8_C(-14)
-#define BMI2_E_AUX_BUSY                           INT8_C(-15)
-#define BMI2_E_SELF_TEST_FAIL                     INT8_C(-16)
-#define BMI2_E_REMAP_ERROR                        INT8_C(-17)
-#define BMI2_E_GYR_USER_GAIN_UPD_FAIL             INT8_C(-18)
-#define BMI2_E_SELF_TEST_NOT_DONE                 INT8_C(-19)
-#define BMI2_E_INVALID_INPUT                      INT8_C(-20)
-#define BMI2_E_INVALID_STATUS                     INT8_C(-21)
-#define BMI2_E_CRT_ERROR                          INT8_C(-22)
-#define BMI2_E_ST_ALREADY_RUNNING                 INT8_C(-23)
-#define BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT        INT8_C(-24)
-#define BMI2_E_DL_ERROR                           INT8_C(-25)
-#define BMI2_E_PRECON_ERROR                       INT8_C(-26)
-#define BMI2_E_ABORT_ERROR                        INT8_C(-27)
-#define BMI2_E_GYRO_SELF_TEST_ERROR               INT8_C(-28)
-#define BMI2_E_GYRO_SELF_TEST_TIMEOUT             INT8_C(-29)
-#define BMI2_E_WRITE_CYCLE_ONGOING                INT8_C(-30)
-#define BMI2_E_WRITE_CYCLE_TIMEOUT                INT8_C(-31)
-#define BMI2_E_ST_NOT_RUNING                      INT8_C(-32)
-#define BMI2_E_DATA_RDY_INT_FAILED                INT8_C(-33)
-#define BMI2_E_INVALID_FOC_POSITION               INT8_C(-34)
-
-/*! @name To define warnings for FIFO activity */
-#define BMI2_W_FIFO_EMPTY                         INT8_C(1)
-#define BMI2_W_PARTIAL_READ                       INT8_C(2)
-
-/*! @name Bit wise to define information */
-#define BMI2_I_MIN_VALUE                          UINT8_C(1)
-#define BMI2_I_MAX_VALUE                          UINT8_C(2)
-
-/*! @name BMI2 register addresses */
-#define BMI2_CHIP_ID_ADDR                         UINT8_C(0x00)
-#define BMI2_STATUS_ADDR                          UINT8_C(0x03)
-#define BMI2_AUX_X_LSB_ADDR                       UINT8_C(0x04)
-#define BMI2_ACC_X_LSB_ADDR                       UINT8_C(0x0C)
-#define BMI2_GYR_X_LSB_ADDR                       UINT8_C(0x12)
-#define BMI2_EVENT_ADDR                           UINT8_C(0x1B)
-#define BMI2_INT_STATUS_0_ADDR                    UINT8_C(0x1C)
-#define BMI2_INT_STATUS_1_ADDR                    UINT8_C(0x1D)
-#define BMI2_SC_OUT_0_ADDR                        UINT8_C(0x1E)
-#define BMI2_SYNC_COMMAND_ADDR                    UINT8_C(0x1E)
-#define BMI2_GYR_CAS_GPIO0_ADDR                   UINT8_C(0x1E)
-#define BMI2_INTERNAL_STATUS_ADDR                 UINT8_C(0x21)
-#define BMI2_FIFO_LENGTH_0_ADDR                   UINT8_C(0X24)
-#define BMI2_FIFO_DATA_ADDR                       UINT8_C(0X26)
-#define BMI2_FEAT_PAGE_ADDR                       UINT8_C(0x2F)
-#define BMI2_FEATURES_REG_ADDR                    UINT8_C(0x30)
-#define BMI2_ACC_CONF_ADDR                        UINT8_C(0x40)
-#define BMI2_GYR_CONF_ADDR                        UINT8_C(0x42)
-#define BMI2_AUX_CONF_ADDR                        UINT8_C(0x44)
-#define BMI2_FIFO_DOWNS_ADDR                      UINT8_C(0X45)
-#define BMI2_FIFO_WTM_0_ADDR                      UINT8_C(0X46)
-#define BMI2_FIFO_WTM_1_ADDR                      UINT8_C(0X47)
-#define BMI2_FIFO_CONFIG_0_ADDR                   UINT8_C(0X48)
-#define BMI2_FIFO_CONFIG_1_ADDR                   UINT8_C(0X49)
-#define BMI2_AUX_DEV_ID_ADDR                      UINT8_C(0x4B)
-#define BMI2_AUX_IF_CONF_ADDR                     UINT8_C(0x4C)
-#define BMI2_AUX_RD_ADDR                          UINT8_C(0x4D)
-#define BMI2_AUX_WR_ADDR                          UINT8_C(0x4E)
-#define BMI2_AUX_WR_DATA_ADDR                     UINT8_C(0x4F)
-#define BMI2_INT1_IO_CTRL_ADDR                    UINT8_C(0x53)
-#define BMI2_INT2_IO_CTRL_ADDR                    UINT8_C(0x54)
-#define BMI2_INT_LATCH_ADDR                       UINT8_C(0x55)
-#define BMI2_INT1_MAP_FEAT_ADDR                   UINT8_C(0x56)
-#define BMI2_INT2_MAP_FEAT_ADDR                   UINT8_C(0x57)
-#define BMI2_INT_MAP_DATA_ADDR                    UINT8_C(0x58)
-#define BMI2_INIT_CTRL_ADDR                       UINT8_C(0x59)
-#define BMI2_INIT_ADDR_0                          UINT8_C(0x5B)
-#define BMI2_INIT_ADDR_1                          UINT8_C(0x5C)
-#define BMI2_INIT_DATA_ADDR                       UINT8_C(0x5E)
-#define BMI2_AUX_IF_TRIM                          UINT8_C(0x68)
-#define BMI2_GYR_CRT_CONF_ADDR                    UINT8_C(0X69)
-#define BMI2_NVM_CONF_ADDR                        UINT8_C(0x6A)
-#define BMI2_IF_CONF_ADDR                         UINT8_C(0X6B)
-#define BMI2_ACC_SELF_TEST_ADDR                   UINT8_C(0X6D)
-#define BMI2_GYR_SELF_TEST_AXES_ADDR              UINT8_C(0x6E)
-#define BMI2_SELF_TEST_MEMS_ADDR                  UINT8_C(0X6F)
-#define BMI2_NV_CONF_ADDR                         UINT8_C(0x70)
-#define BMI2_ACC_OFF_COMP_0_ADDR                  UINT8_C(0X71)
-#define BMI2_GYR_OFF_COMP_3_ADDR                  UINT8_C(0X74)
-#define BMI2_GYR_OFF_COMP_6_ADDR                  UINT8_C(0X77)
-#define BMI2_GYR_USR_GAIN_0_ADDR                  UINT8_C(0X78)
-#define BMI2_PWR_CONF_ADDR                        UINT8_C(0x7C)
-#define BMI2_PWR_CTRL_ADDR                        UINT8_C(0x7D)
-#define BMI2_CMD_REG_ADDR                         UINT8_C(0x7E)
-
-/*! @name BMI2 I2C address */
-#define BMI2_I2C_PRIM_ADDR                        UINT8_C(0x68)
-#define BMI2_I2C_SEC_ADDR                         UINT8_C(0x69)
-
-/*! @name BMI2 Commands */
-#define BMI2_G_TRIGGER_CMD                        UINT8_C(0x02)
-#define BMI2_USR_GAIN_CMD                         UINT8_C(0x03)
-#define BMI2_NVM_PROG_CMD                         UINT8_C(0xA0)
-#define BMI2_SOFT_RESET_CMD                       UINT8_C(0xB6)
-#define BMI2_FIFO_FLUSH_CMD                       UINT8_C(0xB0)
-
-/*! @name BMI2 sensor data bytes */
-
-#define BMI2_ACC_GYR_NUM_BYTES                    UINT8_C(6)
-#define BMI2_AUX_NUM_BYTES                        UINT8_C(8)
-#define BMI2_CRT_CONFIG_FILE_SIZE                 UINT16_C(2048)
-#define BMI2_FEAT_SIZE_IN_BYTES                   UINT8_C(16)
-#define BMI2_ACC_CONFIG_LENGTH                    UINT8_C(2)
-
-/*! @name BMI2 configuration load status */
-#define BMI2_CONFIG_LOAD_SUCCESS                  UINT8_C(1)
-
-/*! @name To define BMI2 pages */
-#define BMI2_PAGE_0                               UINT8_C(0)
-#define BMI2_PAGE_1                               UINT8_C(1)
-#define BMI2_PAGE_2                               UINT8_C(2)
-#define BMI2_PAGE_3                               UINT8_C(3)
-#define BMI2_PAGE_4                               UINT8_C(4)
-#define BMI2_PAGE_5                               UINT8_C(5)
-#define BMI2_PAGE_6                               UINT8_C(6)
-#define BMI2_PAGE_7                               UINT8_C(7)
-
-/*! @name Array Parameter DefinItions */
-#define BMI2_SENSOR_TIME_LSB_BYTE                 UINT8_C(0)
-#define BMI2_SENSOR_TIME_XLSB_BYTE                UINT8_C(1)
-#define BMI2_SENSOR_TIME_MSB_BYTE                 UINT8_C(2)
-
-/*! @name Mask definitions for Gyro CRT  */
-#define BMI2_GYR_RDY_FOR_DL_MASK                  UINT8_C(0x08)
-#define BMI2_GYR_CRT_RUNNING_MASK                 UINT8_C(0x04)
-
-/*! @name mask definition for status register */
-#define BMI2_AUX_BUSY_MASK                        UINT8_C(0x04)
-#define BMI2_CMD_RDY_MASK                         UINT8_C(0x10)
-#define BMI2_DRDY_AUX_MASK                        UINT8_C(0x20)
-#define BMI2_DRDY_GYR_MASK                        UINT8_C(0x40)
-#define BMI2_DRDY_ACC_MASK                        UINT8_C(0x80)
-
-/*! @name Mask definitions for SPI read/write address */
-#define BMI2_SPI_RD_MASK                          UINT8_C(0x80)
-#define BMI2_SPI_WR_MASK                          UINT8_C(0x7F)
-
-/*! @name Mask definitions for power configuration register */
-#define BMI2_ADV_POW_EN_MASK                      UINT8_C(0x01)
-
-/*! @name Mask definitions for initialization control register */
-#define BMI2_CONF_LOAD_EN_MASK                    UINT8_C(0x01)
-
-/*! @name Mask definitions for power control register */
-#define BMI2_AUX_EN_MASK                          UINT8_C(0x01)
-#define BMI2_GYR_EN_MASK                          UINT8_C(0x02)
-#define BMI2_ACC_EN_MASK                          UINT8_C(0x04)
-#define BMI2_TEMP_EN_MASK                         UINT8_C(0x08)
-
-/*! @name Mask definitions for sensor event flags */
-#define BMI2_EVENT_FLAG_MASK                      UINT8_C(0x1C)
-
-/*! @name Mask definitions to switch page */
-#define BMI2_SWITCH_PAGE_EN_MASK                  UINT8_C(0x07)
-
-/*! @name Mask definitions of NVM register */
-#define BMI2_NV_ACC_OFFSET_MASK                   UINT8_C(0x08)
-
-/*! @name Mask definition for config version */
-#define BMI2_CONFIG_MAJOR_MASK                    UINT16_C(0x3C0)
-#define BMI2_CONFIG_MINOR_MASK                    UINT8_C(0x3F)
-
-/*! @name mask and bit position for activity recognition settings */
-#define BMI2_ACT_RECG_POST_PROS_EN_DIS_MASK       UINT8_C(0x01)
-#define BMI2_ACT_RECG_BUFF_SIZE_MASK              UINT8_C(0x0F)
-#define BMI2_ACT_RECG_MIN_SEG_CONF_MASK           UINT8_C(0x0F)
-
-/*! @name mask and bit position for activity recognition hc settings */
-#define BMI2_HC_ACT_RECG_SEGMENT_SIZE_MASK        UINT8_C(0x03)
-#define BMI2_HC_ACT_RECG_PP_EN_MASK               UINT8_C(0x01)
-#define BMI2_HC_ACT_RECG_MIN_GDI_THRES_MASK       UINT16_C(0xFFFF)
-#define BMI2_HC_ACT_RECG_MAX_GDI_THRES_MASK       UINT16_C(0xFFFF)
-#define BMI2_HC_ACT_RECG_BUF_SIZE_MASK            UINT16_C(0xFFFF)
-#define BMI2_HC_ACT_RECG_MIN_SEG_CONF_MASK        UINT16_C(0xFFFF)
-
-#define BMI2_GYRO_CROSS_AXES_SENSE_MASK           UINT8_C(0x7F)
-#define BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK  UINT8_C(0x40)
-
-/*! @name Bit position definitions for Gyro CRT */
-#define BMI2_GYR_RDY_FOR_DL_POS                   UINT8_C(0x03)
-#define BMI2_GYR_CRT_RUNNING_POS                  UINT8_C(0x02)
-
-/*! @name Bit position for status register*/
-#define BMI2_AUX_BUSY_POS                         UINT8_C(0x02)
-#define BMI2_CMD_RDY_POS                          UINT8_C(0x04)
-#define BMI2_DRDY_AUX_POS                         UINT8_C(0x05)
-#define BMI2_DRDY_GYR_POS                         UINT8_C(0x06)
-#define BMI2_DRDY_ACC_POS                         UINT8_C(0x07)
-
-/*! @name Bit position definitions for power control register */
-#define BMI2_GYR_EN_POS                           UINT8_C(0x01)
-#define BMI2_ACC_EN_POS                           UINT8_C(0x02)
-#define BMI2_TEMP_EN_POS                          UINT8_C(0x03)
-
-/*! @name Bit position definitions for sensor event flags */
-#define BMI2_EVENT_FLAG_POS                       UINT8_C(0x02)
-
-/*! @name Bit position definitions of NVM register */
-#define BMI2_NV_ACC_OFFSET_POS                    UINT8_C(0x03)
-
-/*! @name Bit position for major version from config */
-#define BMI2_CONFIG_MAJOR_POS                     UINT8_C(0x06)
-
-/*! @name Accelerometer and Gyroscope Filter/Noise performance modes */
-/* Power optimized mode */
-#define BMI2_POWER_OPT_MODE                       UINT8_C(0)
-
-/* Performance optimized  */
-#define BMI2_PERF_OPT_MODE                        UINT8_C(1)
-
-/*! @name index for config major minor information */
-#define BMI2_CONFIG_INFO_LOWER                    UINT8_C(52)
-#define BMI2_CONFIG_INFO_HIGHER                   UINT8_C(53)
-
-/*! @name Sensor status */
-#define BMI2_DRDY_ACC                             UINT8_C(0x80)
-#define BMI2_DRDY_GYR                             UINT8_C(0x40)
-#define BMI2_DRDY_AUX                             UINT8_C(0x20)
-#define BMI2_CMD_RDY                              UINT8_C(0x10)
-#define BMI2_AUX_BUSY                             UINT8_C(0x04)
-
-/*! @name Macro to define accelerometer configuration value for FOC */
-#define BMI2_FOC_ACC_CONF_VAL                     UINT8_C(0xB7)
-
-/*! @name Macro to define gyroscope configuration value for FOC */
-#define BMI2_FOC_GYR_CONF_VAL                     UINT8_C(0xB6)
-
-/*! @name Macro to define X Y and Z axis for an array */
-#define BMI2_X_AXIS                               UINT8_C(0)
-#define BMI2_Y_AXIS                               UINT8_C(1)
-#define BMI2_Z_AXIS                               UINT8_C(2)
-
-/******************************************************************************/
-/*! @name        Sensor Macro Definitions                 */
-/******************************************************************************/
-/*!  @name Macros to define BMI2 sensor/feature types */
-#define BMI2_ACCEL                                UINT8_C(0)
-#define BMI2_GYRO                                 UINT8_C(1)
-#define BMI2_AUX                                  UINT8_C(2)
-#define BMI2_SIG_MOTION                           UINT8_C(3)
-#define BMI2_ANY_MOTION                           UINT8_C(4)
-#define BMI2_NO_MOTION                            UINT8_C(5)
-#define BMI2_STEP_DETECTOR                        UINT8_C(6)
-#define BMI2_STEP_COUNTER                         UINT8_C(7)
-#define BMI2_STEP_ACTIVITY                        UINT8_C(8)
-#define BMI2_GYRO_GAIN_UPDATE                     UINT8_C(9)
-#define BMI2_TILT                                 UINT8_C(10)
-#define BMI2_UP_HOLD_TO_WAKE                      UINT8_C(11)
-#define BMI2_GLANCE_DETECTOR                      UINT8_C(12)
-#define BMI2_WAKE_UP                              UINT8_C(13)
-#define BMI2_ORIENTATION                          UINT8_C(14)
-#define BMI2_HIGH_G                               UINT8_C(15)
-#define BMI2_LOW_G                                UINT8_C(16)
-#define BMI2_FLAT                                 UINT8_C(17)
-#define BMI2_EXT_SENS_SYNC                        UINT8_C(18)
-#define BMI2_WRIST_GESTURE                        UINT8_C(19)
-#define BMI2_WRIST_WEAR_WAKE_UP                   UINT8_C(20)
-#define BMI2_WRIST_WEAR_WAKE_UP_WH                UINT8_C(21)
-#define BMI2_WRIST_GESTURE_WH                     UINT8_C(22)
-#define BMI2_PRIMARY_OIS                          UINT8_C(23)
-#define BMI2_FREE_FALL_DET                        UINT8_C(24)
-#define BMI2_SINGLE_TAP                           UINT8_C(25)
-#define BMI2_DOUBLE_TAP                           UINT8_C(26)
-#define BMI2_TRIPLE_TAP                           UINT8_C(27)
-#define BMI2_TAP                                  UINT8_C(28)
-
-/* Non virtual sensor features */
-#define BMI2_STEP_COUNTER_PARAMS                  UINT8_C(29)
-#define BMI2_TAP_DETECTOR_1                       UINT8_C(30)
-#define BMI2_TAP_DETECTOR_2                       UINT8_C(31)
-#define BMI2_TEMP                                 UINT8_C(32)
-#define BMI2_ACCEL_SELF_TEST                      UINT8_C(33)
-#define BMI2_GYRO_SELF_OFF                        UINT8_C(34)
-#define BMI2_ACTIVITY_RECOGNITION                 UINT8_C(35)
-#define BMI2_MAX_BURST_LEN                        UINT8_C(36)
-#define BMI2_SENS_MAX_NUM                         UINT8_C(37)
-#define BMI2_AXIS_MAP                             UINT8_C(38)
-#define BMI2_NVM_STATUS                           UINT8_C(39)
-#define BMI2_VFRM_STATUS                          UINT8_C(40)
-#define BMI2_GYRO_CROSS_SENSE                     UINT8_C(41)
-#define BMI2_CRT_GYRO_SELF_TEST                   UINT8_C(42)
-#define BMI2_ABORT_CRT_GYRO_SELF_TEST             UINT8_C(43)
-#define BMI2_NVM_PROG_PREP                        UINT8_C(44)
-#define BMI2_ACTIVITY_RECOGNITION_SETTINGS        UINT8_C(45)
-#define BMI2_OIS_OUTPUT                           UINT8_C(46)
-#define BMI2_CONFIG_ID                            UINT8_C(47)
-
-/*! @name Bit wise for selecting BMI2 sensors/features */
-#define BMI2_ACCEL_SENS_SEL                       (1)
-#define BMI2_GYRO_SENS_SEL                        (1 << BMI2_GYRO)
-#define BMI2_AUX_SENS_SEL                         (1 << BMI2_AUX)
-#define BMI2_TEMP_SENS_SEL                        ((uint64_t)1 << BMI2_TEMP)
-#define BMI2_ANY_MOT_SEL                          (1 << BMI2_ANY_MOTION)
-#define BMI2_NO_MOT_SEL                           (1 << BMI2_NO_MOTION)
-#define BMI2_TILT_SEL                             (1 << BMI2_TILT)
-#define BMI2_ORIENT_SEL                           (1 << BMI2_ORIENTATION)
-#define BMI2_SIG_MOTION_SEL                       (1 << BMI2_SIG_MOTION)
-#define BMI2_STEP_DETECT_SEL                      (1 << BMI2_STEP_DETECTOR)
-#define BMI2_STEP_COUNT_SEL                       (1 << BMI2_STEP_COUNTER)
-#define BMI2_STEP_ACT_SEL                         (1 << BMI2_STEP_ACTIVITY)
-#define BMI2_GYRO_GAIN_UPDATE_SEL                 (1 << BMI2_GYRO_GAIN_UPDATE)
-#define BMI2_UP_HOLD_TO_WAKE_SEL                  (1 << BMI2_UP_HOLD_TO_WAKE)
-#define BMI2_GLANCE_DET_SEL                       (1 << BMI2_GLANCE_DETECTOR)
-#define BMI2_WAKE_UP_SEL                          (1 << BMI2_WAKE_UP)
-#define BMI2_TAP_SEL                              (1 << BMI2_TAP)
-#define BMI2_HIGH_G_SEL                           (1 << BMI2_HIGH_G)
-#define BMI2_LOW_G_SEL                            (1 << BMI2_LOW_G)
-#define BMI2_FLAT_SEL                             (1 << BMI2_FLAT)
-#define BMI2_EXT_SENS_SEL                         (1 << BMI2_EXT_SENS_SYNC)
-#define BMI2_SINGLE_TAP_SEL                       (1 << BMI2_SINGLE_TAP)
-#define BMI2_DOUBLE_TAP_SEL                       (1 << BMI2_DOUBLE_TAP)
-#define BMI2_TRIPLE_TAP_SEL                       (1 << BMI2_TRIPLE_TAP)
-#define BMI2_GYRO_SELF_OFF_SEL                    ((uint64_t)1 << BMI2_GYRO_SELF_OFF)
-#define BMI2_WRIST_GEST_SEL                       (1 << BMI2_WRIST_GESTURE)
-#define BMI2_WRIST_WEAR_WAKE_UP_SEL               (1 << BMI2_WRIST_WEAR_WAKE_UP)
-#define BMI2_ACTIVITY_RECOGNITION_SEL             ((uint64_t)1 << BMI2_ACTIVITY_RECOGNITION)
-#define BMI2_ACCEL_SELF_TEST_SEL                  ((uint64_t)1 << BMI2_ACCEL_SELF_TEST)
-#define BMI2_WRIST_GEST_W_SEL                     (1 << BMI2_WRIST_GESTURE_WH)
-#define BMI2_WRIST_WEAR_WAKE_UP_WH_SEL            (1 << BMI2_WRIST_WEAR_WAKE_UP_WH)
-#define BMI2_PRIMARY_OIS_SEL                      (1 << BMI2_PRIMARY_OIS)
-#define BMI2_FREE_FALL_DET_SEL                    (1 << BMI2_FREE_FALL_DET)
-
-/*! @name Mask definitions for BMI2 wake-up feature configuration for bmi260 */
-#define BMI2_WAKEUP_SENSITIVITY_MASK              UINT8_C(0x0E)
-#define BMI2_WAKEUP_SINGLE_TAP_EN_MASK            UINT8_C(0x01)
-#define BMI2_WAKEUP_DOUBLE_TAP_EN_MASK            UINT8_C(0x02)
-#define BMI2_WAKEUP_TRIPLE_TAP_EN_MASK            UINT8_C(0x04)
-#define BMI2_WAKEUP_DATA_REG_EN_MASK              UINT8_C(0x08)
-#define BMI2_WAKEUP_AXIS_SEL_MASK                 UINT8_C(0x03)
-
-/*! @name Bit position definitions for BMI2 wake-up feature configuration for bmi260 */
-#define BMI2_WAKEUP_SENSITIVITY_POS               UINT8_C(0x01)
-#define BMI2_WAKEUP_DOUBLE_TAP_EN_POS             UINT8_C(0x01)
-#define BMI2_WAKEUP_TRIPLE_TAP_EN_POS             UINT8_C(0x02)
-#define BMI2_WAKEUP_DATA_REG_EN_POS               UINT8_C(0x03)
-
-/*! @name Mask definitions for BMI2 tap feature configuration for bmi260t */
-#define BMI2_TAP_SENSITIVITY_MASK                 UINT8_C(0x0E)
-#define BMI2_TAP_SINGLE_TAP_EN_MASK               UINT8_C(0x01)
-#define BMI2_TAP_DOUBLE_TAP_EN_MASK               UINT8_C(0x02)
-#define BMI2_TAP_TRIPLE_TAP_EN_MASK               UINT8_C(0x04)
-#define BMI2_TAP_DATA_REG_EN_MASK                 UINT8_C(0x08)
-#define BMI2_TAP_AXIS_SEL_MASK                    UINT8_C(0x03)
-
-/*! @name Bit position definitions for BMI2 tap feature configuration for bmi260t */
-#define BMI2_TAP_SENSITIVITY_POS                  UINT8_C(0x01)
-#define BMI2_TAP_DOUBLE_TAP_EN_POS                UINT8_C(0x01)
-#define BMI2_TAP_TRIPLE_TAP_EN_POS                UINT8_C(0x02)
-#define BMI2_TAP_DATA_REG_EN_POS                  UINT8_C(0x03)
-
-/*! @name Mask definitions for BMI2 wake-up feature configuration for other than bmi261 */
-#define BMI2_WAKE_UP_SENSITIVITY_MASK             UINT16_C(0x000E)
-#define BMI2_WAKE_UP_SINGLE_TAP_EN_MASK           UINT16_C(0x0010)
-
-/*! @name Bit position definitions for BMI2 wake-up feature configuration for other than bmi261 */
-#define BMI2_WAKE_UP_SENSITIVITY_POS              UINT8_C(0x01)
-#define BMI2_WAKE_UP_SINGLE_TAP_EN_POS            UINT8_C(0x04)
-
-/*! @name Offsets from feature start address for BMI2 feature enable/disable */
-#define BMI2_ANY_MOT_FEAT_EN_OFFSET               UINT8_C(0x03)
-#define BMI2_NO_MOT_FEAT_EN_OFFSET                UINT8_C(0x03)
-#define BMI2_SIG_MOT_FEAT_EN_OFFSET               UINT8_C(0x0A)
-#define BMI2_STEP_COUNT_FEAT_EN_OFFSET            UINT8_C(0x01)
-#define BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET         UINT8_C(0x05)
-#define BMI2_HIGH_G_FEAT_EN_OFFSET                UINT8_C(0x03)
-#define BMI2_LOW_G_FEAT_EN_OFFSET                 UINT8_C(0x03)
-#define BMI2_TILT_FEAT_EN_OFFSET                  UINT8_C(0x00)
-
-/*! @name Mask definitions for BMI2 feature enable/disable */
-#define BMI2_ANY_NO_MOT_EN_MASK                   UINT8_C(0x80)
-#define BMI2_TILT_FEAT_EN_MASK                    UINT8_C(0x01)
-#define BMI2_ORIENT_FEAT_EN_MASK                  UINT8_C(0x01)
-#define BMI2_SIG_MOT_FEAT_EN_MASK                 UINT8_C(0x01)
-#define BMI2_STEP_DET_FEAT_EN_MASK                UINT8_C(0x08)
-#define BMI2_STEP_COUNT_FEAT_EN_MASK              UINT8_C(0x10)
-#define BMI2_STEP_ACT_FEAT_EN_MASK                UINT8_C(0x20)
-#define BMI2_GYR_USER_GAIN_FEAT_EN_MASK           UINT8_C(0x08)
-#define BMI2_UP_HOLD_TO_WAKE_FEAT_EN_MASK         UINT8_C(0x01)
-#define BMI2_GLANCE_FEAT_EN_MASK                  UINT8_C(0x01)
-#define BMI2_WAKE_UP_FEAT_EN_MASK                 UINT8_C(0x01)
-#define BMI2_TAP_FEAT_EN_MASK                     UINT8_C(0x01)
-#define BMI2_HIGH_G_FEAT_EN_MASK                  UINT8_C(0x80)
-#define BMI2_LOW_G_FEAT_EN_MASK                   UINT8_C(0x10)
-#define BMI2_FLAT_FEAT_EN_MASK                    UINT8_C(0x01)
-#define BMI2_EXT_SENS_SYNC_FEAT_EN_MASK           UINT8_C(0x01)
-#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_MASK       UINT8_C(0x02)
-#define BMI2_WRIST_GEST_FEAT_EN_MASK              UINT8_C(0x20)
-#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_MASK      UINT8_C(0x10)
-#define BMI2_ACTIVITY_RECOG_EN_MASK               UINT8_C(0x01)
-#define BMI2_ACC_SELF_TEST_FEAT_EN_MASK           UINT8_C(0x02)
-#define BMI2_GYRO_SELF_TEST_CRT_EN_MASK           UINT8_C(0x01)
-#define BMI2_ABORT_FEATURE_EN_MASK                UINT8_C(0x02)
-#define BMI2_NVM_PREP_FEATURE_EN_MASK             UINT8_C(0x04)
-#define BMI2_FREE_FALL_DET_FEAT_EN_MASK           UINT8_C(0x01)
-#define BMI2_WRIST_GEST_WH_FEAT_EN_MASK           UINT8_C(0x02)
-
-/*! @name Bit position definitions for BMI2 feature enable/disable */
-#define BMI2_ANY_NO_MOT_EN_POS                    UINT8_C(0x07)
-#define BMI2_STEP_DET_FEAT_EN_POS                 UINT8_C(0x03)
-#define BMI2_STEP_COUNT_FEAT_EN_POS               UINT8_C(0x04)
-#define BMI2_STEP_ACT_FEAT_EN_POS                 UINT8_C(0x05)
-#define BMI2_GYR_USER_GAIN_FEAT_EN_POS            UINT8_C(0x03)
-#define BMI2_HIGH_G_FEAT_EN_POS                   UINT8_C(0x07)
-#define BMI2_LOW_G_FEAT_EN_POS                    UINT8_C(0x04)
-#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_POS        UINT8_C(0x01)
-#define BMI2_WRIST_GEST_FEAT_EN_POS               UINT8_C(0x05)
-#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_POS       UINT8_C(0x04)
-#define BMI2_ACC_SELF_TEST_FEAT_EN_POS            UINT8_C(0x01)
-#define BMI2_ABORT_FEATURE_EN_POS                 UINT8_C(0x1)
-#define BMI2_NVM_PREP_FEATURE_EN_POS              UINT8_C(0x02)
-#define BMI2_WRIST_GEST_WH_FEAT_EN_POS            UINT8_C(0x01)
-
-/*! Primary OIS low pass filter configuration position and mask */
-#define BMI2_LP_FILTER_EN_MASK                    UINT8_C(0x01)
-
-#define BMI2_LP_FILTER_CONFIG_POS                 UINT8_C(0x01)
-#define BMI2_LP_FILTER_CONFIG_MASK                UINT8_C(0x06)
-
-#define BMI2_PRIMARY_OIS_GYR_EN_POS               UINT8_C(0x06)
-#define BMI2_PRIMARY_OIS_GYR_EN_MASK              UINT8_C(0x40)
-
-#define BMI2_PRIMARY_OIS_ACC_EN_POS               UINT8_C(0x07)
-#define BMI2_PRIMARY_OIS_ACC_EN_MASK              UINT8_C(0x80)
-
-/*! @name Mask definitions for BMI2 any and no-motion feature configuration */
-#define BMI2_ANY_NO_MOT_DUR_MASK                  UINT16_C(0x1FFF)
-#define BMI2_ANY_NO_MOT_X_SEL_MASK                UINT16_C(0x2000)
-#define BMI2_ANY_NO_MOT_Y_SEL_MASK                UINT16_C(0x4000)
-#define BMI2_ANY_NO_MOT_Z_SEL_MASK                UINT16_C(0x8000)
-#define BMI2_ANY_NO_MOT_THRES_MASK                UINT16_C(0x07FF)
-#define BMI2_ANY_MOT_INT_MASK                     UINT8_C(0x40)
-
-/*! @name Mask definitions for BMI2 no-motion interrupt mapping */
-#define BMI2_NO_MOT_INT_MASK                      UINT8_C(0x20)
-
-/*! @name Bit position definitions for BMI2 any and no-motion feature
- * configuration
- */
-#define BMI2_ANY_NO_MOT_X_SEL_POS                 UINT8_C(0x0D)
-#define BMI2_ANY_NO_MOT_Y_SEL_POS                 UINT8_C(0x0E)
-#define BMI2_ANY_NO_MOT_Z_SEL_POS                 UINT8_C(0x0F)
-
-/*! @name Mask definitions for BMI2 orientation feature configuration */
-#define BMI2_ORIENT_UP_DOWN_MASK                  UINT16_C(0x0002)
-#define BMI2_ORIENT_SYMM_MODE_MASK                UINT16_C(0x000C)
-#define BMI2_ORIENT_BLOCK_MODE_MASK               UINT16_C(0x0030)
-#define BMI2_ORIENT_THETA_MASK                    UINT16_C(0x0FC0)
-#define BMI2_ORIENT_HYST_MASK                     UINT16_C(0x07FF)
-
-/*! @name Bit position definitions for BMI2 orientation feature configuration */
-#define BMI2_ORIENT_UP_DOWN_POS                   UINT8_C(0x01)
-#define BMI2_ORIENT_SYMM_MODE_POS                 UINT8_C(0x02)
-#define BMI2_ORIENT_BLOCK_MODE_POS                UINT8_C(0x04)
-#define BMI2_ORIENT_THETA_POS                     UINT8_C(0x06)
-
-/*! @name Mask definitions for BMI2 sig-motion feature configuration */
-#define BMI2_SIG_MOT_PARAM_1_MASK                 UINT16_C(0xFFFF)
-#define BMI2_SIG_MOT_PARAM_2_MASK                 UINT16_C(0xFFFF)
-#define BMI2_SIG_MOT_PARAM_3_MASK                 UINT16_C(0xFFFF)
-#define BMI2_SIG_MOT_PARAM_4_MASK                 UINT16_C(0xFFFF)
-#define BMI2_SIG_MOT_PARAM_5_MASK                 UINT16_C(0xFFFF)
-
-/*! @name Mask definitions for BMI2 parameter configurations */
-#define BMI2_STEP_COUNT_PARAMS_MASK               UINT16_C(0xFFFF)
-
-/*! @name Mask definitions for BMI2 step-counter/detector feature configuration */
-#define BMI2_STEP_COUNT_WM_LEVEL_MASK             UINT16_C(0x03FF)
-#define BMI2_STEP_COUNT_RST_CNT_MASK              UINT16_C(0x0400)
-#define BMI2_STEP_BUFFER_SIZE_MASK                UINT16_C(0XFF00)
-#define BMI2_STEP_COUNT_INT_MASK                  UINT8_C(0x02)
-#define BMI2_STEP_ACT_INT_MASK                    UINT8_C(0x04)
-
-/*! @name Bit position definitions for BMI2 step-counter/detector feature
- * configuration
- */
-#define BMI2_STEP_COUNT_RST_CNT_POS               UINT8_C(0x0A)
-#define BMI2_STEP_BUFFER_SIZE_POS                 UINT8_C(0X08)
-
-/*! @name Mask definitions for BMI2 gyroscope user gain feature
- * configuration
- */
-#define BMI2_GYR_USER_GAIN_RATIO_X_MASK           UINT16_C(0x07FF)
-#define BMI2_GYR_USER_GAIN_RATIO_Y_MASK           UINT16_C(0x07FF)
-#define BMI2_GYR_USER_GAIN_RATIO_Z_MASK           UINT16_C(0x07FF)
-
-/*! @name Mask definitions for BMI2 gyroscope user gain saturation status */
-#define BMI2_GYR_USER_GAIN_SAT_STAT_X_MASK        UINT8_C(0x01)
-#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_MASK        UINT8_C(0x02)
-#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_MASK        UINT8_C(0x04)
-#define BMI2_G_TRIGGER_STAT_MASK                  UINT8_C(0x38)
-
-/*! @name Bit position definitions for BMI2 gyroscope user gain saturation status */
-#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_POS         UINT8_C(0x01)
-#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_POS         UINT8_C(0x02)
-#define BMI2_G_TRIGGER_STAT_POS                   UINT8_C(0x03)
-
-/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation */
-#define BMI2_GYR_OFF_COMP_MSB_X_MASK              UINT8_C(0x03)
-#define BMI2_GYR_OFF_COMP_MSB_Y_MASK              UINT8_C(0x0C)
-#define BMI2_GYR_OFF_COMP_MSB_Z_MASK              UINT8_C(0x30)
-
-/*! @name Bit positions for MSB values of BMI2 gyroscope compensation */
-#define BMI2_GYR_OFF_COMP_MSB_Y_POS               UINT8_C(0x02)
-#define BMI2_GYR_OFF_COMP_MSB_Z_POS               UINT8_C(0x04)
-
-/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation from user input */
-#define BMI2_GYR_OFF_COMP_MSB_MASK                UINT16_C(0x0300)
-#define BMI2_GYR_OFF_COMP_LSB_MASK                UINT16_C(0x00FF)
-
-/*! @name Mask definitions for BMI2 orientation status */
-#define BMI2_ORIENT_DETECT_MASK                   UINT8_C(0x03)
-#define BMI2_ORIENT_FACE_UP_DWN_MASK              UINT8_C(0x04)
-
-/*! @name Bit position definitions for BMI2 orientation status */
-#define BMI2_ORIENT_FACE_UP_DWN_POS               UINT8_C(0x02)
-
-/*! @name Mask definitions for NVM-VFRM error status */
-#define BMI2_NVM_LOAD_ERR_STATUS_MASK             UINT8_C(0x01)
-#define BMI2_NVM_PROG_ERR_STATUS_MASK             UINT8_C(0x02)
-#define BMI2_NVM_ERASE_ERR_STATUS_MASK            UINT8_C(0x04)
-#define BMI2_NVM_END_EXCEED_STATUS_MASK           UINT8_C(0x08)
-#define BMI2_NVM_PRIV_ERR_STATUS_MASK             UINT8_C(0x10)
-#define BMI2_VFRM_LOCK_ERR_STATUS_MASK            UINT8_C(0x20)
-#define BMI2_VFRM_WRITE_ERR_STATUS_MASK           UINT8_C(0x40)
-#define BMI2_VFRM_FATAL_ERR_STATUS_MASK           UINT8_C(0x80)
-
-/*! @name Bit positions for NVM-VFRM error status */
-#define BMI2_NVM_PROG_ERR_STATUS_POS              UINT8_C(0x01)
-#define BMI2_NVM_ERASE_ERR_STATUS_POS             UINT8_C(0x02)
-#define BMI2_NVM_END_EXCEED_STATUS_POS            UINT8_C(0x03)
-#define BMI2_NVM_PRIV_ERR_STATUS_POS              UINT8_C(0x04)
-#define BMI2_VFRM_LOCK_ERR_STATUS_POS             UINT8_C(0x05)
-#define BMI2_VFRM_WRITE_ERR_STATUS_POS            UINT8_C(0x06)
-#define BMI2_VFRM_FATAL_ERR_STATUS_POS            UINT8_C(0x07)
-
-/*! @name Mask definitions for accelerometer self-test status */
-#define BMI2_ACC_SELF_TEST_DONE_MASK              UINT8_C(0x01)
-#define BMI2_ACC_X_OK_MASK                        UINT8_C(0x02)
-#define BMI2_ACC_Y_OK_MASK                        UINT8_C(0x04)
-#define BMI2_ACC_Z_OK_MASK                        UINT8_C(0x08)
-
-/*! @name Bit Positions for accelerometer self-test status */
-#define BMI2_ACC_X_OK_POS                         UINT8_C(0x01)
-#define BMI2_ACC_Y_OK_POS                         UINT8_C(0x02)
-#define BMI2_ACC_Z_OK_POS                         UINT8_C(0x03)
-
-/*! @name Mask definitions for BMI2 high-g feature configuration */
-#define BMI2_HIGH_G_THRES_MASK                    UINT16_C(0x7FFF)
-#define BMI2_HIGH_G_HYST_MASK                     UINT16_C(0x0FFF)
-#define BMI2_HIGH_G_X_SEL_MASK                    UINT16_C(0x1000)
-#define BMI2_HIGH_G_Y_SEL_MASK                    UINT16_C(0x2000)
-#define BMI2_HIGH_G_Z_SEL_MASK                    UINT16_C(0x4000)
-#define BMI2_HIGH_G_DUR_MASK                      UINT16_C(0x0FFF)
-
-/*! @name Bit position definitions for BMI2 high-g feature configuration */
-#define BMI2_HIGH_G_X_SEL_POS                     UINT8_C(0x0C)
-#define BMI2_HIGH_G_Y_SEL_POS                     UINT8_C(0x0D)
-#define BMI2_HIGH_G_Z_SEL_POS                     UINT8_C(0x0E)
-
-/*! @name Mask definitions for BMI2 low-g feature configuration */
-#define BMI2_LOW_G_THRES_MASK                     UINT16_C(0x7FFF)
-#define BMI2_LOW_G_HYST_MASK                      UINT16_C(0x0FFF)
-#define BMI2_LOW_G_DUR_MASK                       UINT16_C(0x0FFF)
-
-/*! @name Mask definitions for BMI2 free-fall detection feature configuration */
-#define BMI2_FREE_FALL_ACCEL_SETT_MASK            UINT16_C(0xFFFF)
-
-/*! @name Mask definitions for BMI2 flat feature configuration */
-#define BMI2_FLAT_THETA_MASK                      UINT16_C(0x007E)
-#define BMI2_FLAT_BLOCK_MASK                      UINT16_C(0x0180)
-#define BMI2_FLAT_HYST_MASK                       UINT16_C(0x003F)
-#define BMI2_FLAT_HOLD_TIME_MASK                  UINT16_C(0x3FC0)
-
-/*! @name Bit position definitions for BMI2 flat feature configuration */
-#define BMI2_FLAT_THETA_POS                       UINT8_C(0x01)
-#define BMI2_FLAT_BLOCK_POS                       UINT8_C(0x07)
-#define BMI2_FLAT_HOLD_TIME_POS                   UINT8_C(0x06)
-
-/*! @name Mask definitions for BMI2 wrist gesture configuration */
-#define BMI2_WRIST_GEST_WEAR_ARM_MASK             UINT16_C(0x0010)
-
-/*! @name Bit position definitions for wrist gesture configuration */
-#define BMI2_WRIST_GEST_WEAR_ARM_POS              UINT8_C(0x04)
-
-/*! @name Mask definitions for BMI2 wrist gesture wh configuration */
-#define BMI2_WRIST_GEST_WH_DEVICE_POS_MASK        UINT16_C(0x0001)
-#define BMI2_WRIST_GEST_WH_INT                    UINT8_C(0x10)
-#define BMI2_WRIST_GEST_WH_START_ADD              UINT8_C(0x08)
-
-/*! @name Mask definitions for BMI2 wrist wear wake-up configuration */
-#define BMI2_WRIST_WAKE_UP_WH_INT_MASK            UINT8_C(0x08)
-
-/*! @name Mask definition for BMI2 wrist wear wake-up configuration for wearable variant */
-#define BMI2_WRIST_WAKE_UP_ANGLE_LR_MASK          UINT16_C(0x00FF)
-#define BMI2_WRIST_WAKE_UP_ANGLE_LL_MASK          UINT16_C(0xFF00)
-#define BMI2_WRIST_WAKE_UP_ANGLE_PD_MASK          UINT16_C(0x00FF)
-#define BMI2_WRIST_WAKE_UP_ANGLE_PU_MASK          UINT16_C(0xFF00)
-#define BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED_MASK     UINT16_C(0x00FF)
-#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_MASK     UINT16_C(0xFF00)
-
-/*! @name Bit position definition for BMI2 wrist wear wake-up configuration for wearable variant */
-#define BMI2_WRIST_WAKE_UP_ANGLE_LL_POS           UINT16_C(0x0008)
-#define BMI2_WRIST_WAKE_UP_ANGLE_PU_POS           UINT16_C(0x0008)
-#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_POS      UINT16_C(0x0008)
-
-/*! @name Macros to define values of BMI2 axis and its sign for re-map
- * settings
- */
-#define BMI2_MAP_X_AXIS                           UINT8_C(0x00)
-#define BMI2_MAP_Y_AXIS                           UINT8_C(0x01)
-#define BMI2_MAP_Z_AXIS                           UINT8_C(0x02)
-#define BMI2_MAP_POSITIVE                         UINT8_C(0x00)
-#define BMI2_MAP_NEGATIVE                         UINT8_C(0x01)
-
-/*! @name Mask definitions of BMI2 axis re-mapping */
-#define BMI2_X_AXIS_MASK                          UINT8_C(0x03)
-#define BMI2_X_AXIS_SIGN_MASK                     UINT8_C(0x04)
-#define BMI2_Y_AXIS_MASK                          UINT8_C(0x18)
-#define BMI2_Y_AXIS_SIGN_MASK                     UINT8_C(0x20)
-#define BMI2_Z_AXIS_MASK                          UINT8_C(0xC0)
-#define BMI2_Z_AXIS_SIGN_MASK                     UINT8_C(0x01)
-
-/*! @name Bit position definitions of BMI2 axis re-mapping */
-#define BMI2_X_AXIS_SIGN_POS                      UINT8_C(0x02)
-#define BMI2_Y_AXIS_POS                           UINT8_C(0x03)
-#define BMI2_Y_AXIS_SIGN_POS                      UINT8_C(0x05)
-#define BMI2_Z_AXIS_POS                           UINT8_C(0x06)
-
-/*! @name Macros to define polarity */
-#define BMI2_NEG_SIGN                             UINT8_C(1)
-#define BMI2_POS_SIGN                             UINT8_C(0)
-
-/*! @name Macro to define related to CRT */
-#define BMI2_CRT_READY_FOR_DOWNLOAD_US            UINT16_C(2000)
-#define BMI2_CRT_READY_FOR_DOWNLOAD_RETRY         UINT8_C(100)
-
-#define BMI2_CRT_WAIT_RUNNING_US                  UINT16_C(10000)
-#define BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION     UINT8_C(200)
-
-#define BMI2_CRT_MIN_BURST_WORD_LENGTH            UINT8_C(2)
-#define BMI2_CRT_MAX_BURST_WORD_LENGTH            UINT16_C(255)
-
-#define BMI2_ACC_FOC_2G_REF                       UINT16_C(16384)
-#define BMI2_ACC_FOC_4G_REF                       UINT16_C(8192)
-#define BMI2_ACC_FOC_8G_REF                       UINT16_C(4096)
-#define BMI2_ACC_FOC_16G_REF                      UINT16_C(2048)
-
-#define BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE        INT8_C(-20)
-#define BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE        INT8_C(20)
-
-/* reference value with positive and negative noise range in lsb */
-#define BMI2_ACC_2G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_2G_REF + UINT16_C(255))
-#define BMI2_ACC_2G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_2G_REF - UINT16_C(255))
-#define BMI2_ACC_4G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_4G_REF + UINT16_C(255))
-#define BMI2_ACC_4G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_4G_REF - UINT16_C(255))
-#define BMI2_ACC_8G_MAX_NOISE_LIMIT               (BMI2_ACC_FOC_8G_REF + UINT16_C(255))
-#define BMI2_ACC_8G_MIN_NOISE_LIMIT               (BMI2_ACC_FOC_8G_REF - UINT16_C(255))
-#define BMI2_ACC_16G_MAX_NOISE_LIMIT              (BMI2_ACC_FOC_16G_REF + UINT16_C(255))
-#define BMI2_ACC_16G_MIN_NOISE_LIMIT              (BMI2_ACC_FOC_16G_REF - UINT16_C(255))
-
-#define BMI2_FOC_SAMPLE_LIMIT                     UINT8_C(128)
-
-/*! @name Bit wise selection of BMI2 sensors */
-#define BMI2_MAIN_SENSORS \
-    (BMI2_ACCEL_SENS_SEL | BMI2_GYRO_SENS_SEL \
-     | BMI2_AUX_SENS_SEL | BMI2_TEMP_SENS_SEL)
-
-/*!  @name Maximum number of BMI2 main sensors */
-#define BMI2_MAIN_SENS_MAX_NUM                    UINT8_C(4)
-
-/*! @name Macro to specify the number of step counter parameters */
-#define BMI2_STEP_CNT_N_PARAMS                    UINT8_C(25)
-
-/*! @name Macro to specify the number of free-fall accel setting parameters */
-#define BMI2_FREE_FALL_ACCEL_SET_PARAMS           UINT8_C(7)
-
-#define BMI2_SELECT_GYRO_SELF_TEST                UINT8_C(0)
-#define BMI2_SELECT_CRT                           UINT8_C(1)
-
-/*! @name Macro for NVM enable */
-#define BMI2_NVM_UNLOCK_ENABLE                    UINT8_C(0x02)
-#define BMI2_NVM_UNLOCK_DISABLE                   UINT8_C(0x00)
-
-/*! @name macro to select between gyro self test and CRT */
-#define BMI2_GYRO_SELF_TEST_SEL                   UINT8_C(0)
-#define BMI2_CRT_SEL                              UINT8_C(1)
-
-/******************************************************************************/
-/*! @name       Accelerometer Macro Definitions               */
-/******************************************************************************/
-/*! @name Accelerometer Bandwidth parameters */
-#define BMI2_ACC_OSR4_AVG1                        UINT8_C(0x00)
-#define BMI2_ACC_OSR2_AVG2                        UINT8_C(0x01)
-#define BMI2_ACC_NORMAL_AVG4                      UINT8_C(0x02)
-#define BMI2_ACC_CIC_AVG8                         UINT8_C(0x03)
-#define BMI2_ACC_RES_AVG16                        UINT8_C(0x04)
-#define BMI2_ACC_RES_AVG32                        UINT8_C(0x05)
-#define BMI2_ACC_RES_AVG64                        UINT8_C(0x06)
-#define BMI2_ACC_RES_AVG128                       UINT8_C(0x07)
-
-/*! @name Accelerometer Output Data Rate */
-#define BMI2_ACC_ODR_0_78HZ                       UINT8_C(0x01)
-#define BMI2_ACC_ODR_1_56HZ                       UINT8_C(0x02)
-#define BMI2_ACC_ODR_3_12HZ                       UINT8_C(0x03)
-#define BMI2_ACC_ODR_6_25HZ                       UINT8_C(0x04)
-#define BMI2_ACC_ODR_12_5HZ                       UINT8_C(0x05)
-#define BMI2_ACC_ODR_25HZ                         UINT8_C(0x06)
-#define BMI2_ACC_ODR_50HZ                         UINT8_C(0x07)
-#define BMI2_ACC_ODR_100HZ                        UINT8_C(0x08)
-#define BMI2_ACC_ODR_200HZ                        UINT8_C(0x09)
-#define BMI2_ACC_ODR_400HZ                        UINT8_C(0x0A)
-#define BMI2_ACC_ODR_800HZ                        UINT8_C(0x0B)
-#define BMI2_ACC_ODR_1600HZ                       UINT8_C(0x0C)
-
-/*! @name Accelerometer G Range */
-#define BMI2_ACC_RANGE_2G                         UINT8_C(0x00)
-#define BMI2_ACC_RANGE_4G                         UINT8_C(0x01)
-#define BMI2_ACC_RANGE_8G                         UINT8_C(0x02)
-#define BMI2_ACC_RANGE_16G                        UINT8_C(0x03)
-
-/*! @name Mask definitions for accelerometer configuration register */
-#define BMI2_ACC_RANGE_MASK                       UINT8_C(0x03)
-#define BMI2_ACC_ODR_MASK                         UINT8_C(0x0F)
-#define BMI2_ACC_BW_PARAM_MASK                    UINT8_C(0x70)
-#define BMI2_ACC_FILTER_PERF_MODE_MASK            UINT8_C(0x80)
-
-/*! @name Bit position definitions for accelerometer configuration register */
-#define BMI2_ACC_BW_PARAM_POS                     UINT8_C(0x04)
-#define BMI2_ACC_FILTER_PERF_MODE_POS             UINT8_C(0x07)
-
-/*! @name Self test macro to define range */
-#define BMI2_ACC_SELF_TEST_RANGE                  UINT8_C(16)
-
-/*! @name Self test macro to show resulting minimum and maximum difference
- * signal of the axes in mg
- */
-#define BMI2_ST_ACC_X_SIG_MIN_DIFF                INT16_C(16000)
-#define BMI2_ST_ACC_Y_SIG_MIN_DIFF                INT16_C(-15000)
-#define BMI2_ST_ACC_Z_SIG_MIN_DIFF                INT16_C(10000)
-
-/*! @name Mask definitions for accelerometer self-test */
-#define BMI2_ACC_SELF_TEST_EN_MASK                UINT8_C(0x01)
-#define BMI2_ACC_SELF_TEST_SIGN_MASK              UINT8_C(0x04)
-#define BMI2_ACC_SELF_TEST_AMP_MASK               UINT8_C(0x08)
-
-/*! @name Bit Positions for accelerometer self-test */
-#define BMI2_ACC_SELF_TEST_SIGN_POS               UINT8_C(0x02)
-#define BMI2_ACC_SELF_TEST_AMP_POS                UINT8_C(0x03)
-
-/*! @name MASK definition for gyro self test status  */
-#define BMI2_GYR_ST_AXES_DONE_MASK                UINT8_C(0X01)
-#define BMI2_GYR_AXIS_X_OK_MASK                   UINT8_C(0x02)
-#define BMI2_GYR_AXIS_Y_OK_MASK                   UINT8_C(0x04)
-#define BMI2_GYR_AXIS_Z_OK_MASK                   UINT8_C(0x08)
-
-/*! @name Bit position for gyro self test status  */
-#define BMI2_GYR_AXIS_X_OK_POS                    UINT8_C(0x01)
-#define BMI2_GYR_AXIS_Y_OK_POS                    UINT8_C(0x02)
-#define BMI2_GYR_AXIS_Z_OK_POS                    UINT8_C(0x03)
-
-/******************************************************************************/
-/*! @name       Gyroscope Macro Definitions               */
-/******************************************************************************/
-/*! @name Gyroscope Bandwidth parameters */
-#define BMI2_GYR_OSR4_MODE                        UINT8_C(0x00)
-#define BMI2_GYR_OSR2_MODE                        UINT8_C(0x01)
-#define BMI2_GYR_NORMAL_MODE                      UINT8_C(0x02)
-#define BMI2_GYR_CIC_MODE                         UINT8_C(0x03)
-
-/*! @name Gyroscope Output Data Rate */
-#define BMI2_GYR_ODR_25HZ                         UINT8_C(0x06)
-#define BMI2_GYR_ODR_50HZ                         UINT8_C(0x07)
-#define BMI2_GYR_ODR_100HZ                        UINT8_C(0x08)
-#define BMI2_GYR_ODR_200HZ                        UINT8_C(0x09)
-#define BMI2_GYR_ODR_400HZ                        UINT8_C(0x0A)
-#define BMI2_GYR_ODR_800HZ                        UINT8_C(0x0B)
-#define BMI2_GYR_ODR_1600HZ                       UINT8_C(0x0C)
-#define BMI2_GYR_ODR_3200HZ                       UINT8_C(0x0D)
-
-/*! @name Gyroscope OIS Range */
-#define BMI2_GYR_OIS_250                          UINT8_C(0x00)
-#define BMI2_GYR_OIS_2000                         UINT8_C(0x01)
-
-/*! @name Gyroscope Angular Rate Measurement Range */
-#define BMI2_GYR_RANGE_2000                       UINT8_C(0x00)
-#define BMI2_GYR_RANGE_1000                       UINT8_C(0x01)
-#define BMI2_GYR_RANGE_500                        UINT8_C(0x02)
-#define BMI2_GYR_RANGE_250                        UINT8_C(0x03)
-#define BMI2_GYR_RANGE_125                        UINT8_C(0x04)
-
-/*! @name Mask definitions for gyroscope configuration register */
-#define BMI2_GYR_RANGE_MASK                       UINT8_C(0x07)
-#define BMI2_GYR_OIS_RANGE_MASK                   UINT8_C(0x08)
-#define BMI2_GYR_ODR_MASK                         UINT8_C(0x0F)
-#define BMI2_GYR_BW_PARAM_MASK                    UINT8_C(0x30)
-#define BMI2_GYR_NOISE_PERF_MODE_MASK             UINT8_C(0x40)
-#define BMI2_GYR_FILTER_PERF_MODE_MASK            UINT8_C(0x80)
-
-/*! @name Bit position definitions for gyroscope configuration register */
-#define BMI2_GYR_OIS_RANGE_POS                    UINT8_C(0x03)
-#define BMI2_GYR_BW_PARAM_POS                     UINT8_C(0x04)
-#define BMI2_GYR_NOISE_PERF_MODE_POS              UINT8_C(0x06)
-#define BMI2_GYR_FILTER_PERF_MODE_POS             UINT8_C(0x07)
-
-/******************************************************************************/
-/*! @name       Auxiliary Macro Definitions               */
-/******************************************************************************/
-/*! @name Auxiliary Output Data Rate */
-#define BMI2_AUX_ODR_RESERVED                     UINT8_C(0x00)
-#define BMI2_AUX_ODR_0_78HZ                       UINT8_C(0x01)
-#define BMI2_AUX_ODR_1_56HZ                       UINT8_C(0x02)
-#define BMI2_AUX_ODR_3_12HZ                       UINT8_C(0x03)
-#define BMI2_AUX_ODR_6_25HZ                       UINT8_C(0x04)
-#define BMI2_AUX_ODR_12_5HZ                       UINT8_C(0x05)
-#define BMI2_AUX_ODR_25HZ                         UINT8_C(0x06)
-#define BMI2_AUX_ODR_50HZ                         UINT8_C(0x07)
-#define BMI2_AUX_ODR_100HZ                        UINT8_C(0x08)
-#define BMI2_AUX_ODR_200HZ                        UINT8_C(0x09)
-#define BMI2_AUX_ODR_400HZ                        UINT8_C(0x0A)
-#define BMI2_AUX_ODR_800HZ                        UINT8_C(0x0B)
-
-/*! @name Macro to define burst read lengths for both manual and auto modes */
-#define BMI2_AUX_READ_LEN_0                       UINT8_C(0x00)
-#define BMI2_AUX_READ_LEN_1                       UINT8_C(0x01)
-#define BMI2_AUX_READ_LEN_2                       UINT8_C(0x02)
-#define BMI2_AUX_READ_LEN_3                       UINT8_C(0x03)
-
-/*! @name Mask definitions for auxiliary interface configuration register */
-#define BMI2_AUX_SET_I2C_ADDR_MASK                UINT8_C(0xFE)
-#define BMI2_AUX_MAN_MODE_EN_MASK                 UINT8_C(0x80)
-#define BMI2_AUX_FCU_WR_EN_MASK                   UINT8_C(0x40)
-#define BMI2_AUX_MAN_READ_BURST_MASK              UINT8_C(0x0C)
-#define BMI2_AUX_READ_BURST_MASK                  UINT8_C(0x03)
-#define BMI2_AUX_ODR_EN_MASK                      UINT8_C(0x0F)
-#define BMI2_AUX_OFFSET_READ_OUT_MASK             UINT8_C(0xF0)
-
-/*! @name Bit positions for auxiliary interface configuration register */
-#define BMI2_AUX_SET_I2C_ADDR_POS                 UINT8_C(0x01)
-#define BMI2_AUX_MAN_MODE_EN_POS                  UINT8_C(0x07)
-#define BMI2_AUX_FCU_WR_EN_POS                    UINT8_C(0x06)
-#define BMI2_AUX_MAN_READ_BURST_POS               UINT8_C(0x02)
-#define BMI2_AUX_OFFSET_READ_OUT_POS              UINT8_C(0x04)
-
-/******************************************************************************/
-/*! @name       FIFO Macro Definitions                                        */
-/******************************************************************************/
-/*! @name Macros to define virtual FIFO frame mode */
-#define BMI2_FIFO_VIRT_FRM_MODE                   UINT8_C(0x03)
-
-/*! @name FIFO Header Mask definitions */
-#define BMI2_FIFO_HEADER_ACC_FRM                  UINT8_C(0x84)
-#define BMI2_FIFO_HEADER_AUX_FRM                  UINT8_C(0x90)
-#define BMI2_FIFO_HEADER_GYR_FRM                  UINT8_C(0x88)
-#define BMI2_FIFO_HEADER_GYR_ACC_FRM              UINT8_C(0x8C)
-#define BMI2_FIFO_HEADER_AUX_ACC_FRM              UINT8_C(0x94)
-#define BMI2_FIFO_HEADER_AUX_GYR_FRM              UINT8_C(0x98)
-#define BMI2_FIFO_HEADER_ALL_FRM                  UINT8_C(0x9C)
-#define BMI2_FIFO_HEADER_SENS_TIME_FRM            UINT8_C(0x44)
-#define BMI2_FIFO_HEADER_SKIP_FRM                 UINT8_C(0x40)
-#define BMI2_FIFO_HEADER_INPUT_CFG_FRM            UINT8_C(0x48)
-#define BMI2_FIFO_HEAD_OVER_READ_MSB              UINT8_C(0x80)
-#define BMI2_FIFO_VIRT_ACT_RECOG_FRM              UINT8_C(0xC8)
-
-/*! @name BMI2 sensor selection for header-less frames  */
-#define BMI2_FIFO_HEAD_LESS_ACC_FRM               UINT8_C(0x40)
-#define BMI2_FIFO_HEAD_LESS_AUX_FRM               UINT8_C(0x20)
-#define BMI2_FIFO_HEAD_LESS_GYR_FRM               UINT8_C(0x80)
-#define BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM           UINT8_C(0xA0)
-#define BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM           UINT8_C(0xC0)
-#define BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM           UINT8_C(0x60)
-#define BMI2_FIFO_HEAD_LESS_ALL_FRM               UINT8_C(0xE0)
-
-/*! @name Mask definitions for FIFO frame content configuration */
-#define BMI2_FIFO_STOP_ON_FULL                    UINT16_C(0x0001)
-#define BMI2_FIFO_TIME_EN                         UINT16_C(0x0002)
-#define BMI2_FIFO_TAG_INT1                        UINT16_C(0x0300)
-#define BMI2_FIFO_TAG_INT2                        UINT16_C(0x0C00)
-#define BMI2_FIFO_HEADER_EN                       UINT16_C(0x1000)
-#define BMI2_FIFO_AUX_EN                          UINT16_C(0x2000)
-#define BMI2_FIFO_ACC_EN                          UINT16_C(0x4000)
-#define BMI2_FIFO_GYR_EN                          UINT16_C(0x8000)
-#define BMI2_FIFO_ALL_EN                          UINT16_C(0xE000)
-
-/*! @name FIFO sensor data lengths */
-#define BMI2_FIFO_ACC_LENGTH                      UINT8_C(6)
-#define BMI2_FIFO_GYR_LENGTH                      UINT8_C(6)
-#define BMI2_FIFO_AUX_LENGTH                      UINT8_C(8)
-#define BMI2_FIFO_ACC_AUX_LENGTH                  UINT8_C(14)
-#define BMI2_FIFO_GYR_AUX_LENGTH                  UINT8_C(14)
-#define BMI2_FIFO_ACC_GYR_LENGTH                  UINT8_C(12)
-#define BMI2_FIFO_ALL_LENGTH                      UINT8_C(20)
-#define BMI2_SENSOR_TIME_LENGTH                   UINT8_C(3)
-#define BMI2_FIFO_CONFIG_LENGTH                   UINT8_C(2)
-#define BMI2_FIFO_WM_LENGTH                       UINT8_C(2)
-#define BMI2_MAX_VALUE_FIFO_FILTER                UINT8_C(1)
-#define BMI2_FIFO_DATA_LENGTH                     UINT8_C(2)
-#define BMI2_FIFO_LENGTH_MSB_BYTE                 UINT8_C(1)
-#define BMI2_FIFO_INPUT_CFG_LENGTH                UINT8_C(4)
-#define BMI2_FIFO_SKIP_FRM_LENGTH                 UINT8_C(1)
-
-/*! @name FIFO sensor virtual data lengths: sensor data plus sensor time */
-#define BMI2_FIFO_VIRT_ACC_LENGTH                 UINT8_C(9)
-#define BMI2_FIFO_VIRT_GYR_LENGTH                 UINT8_C(9)
-#define BMI2_FIFO_VIRT_AUX_LENGTH                 UINT8_C(11)
-#define BMI2_FIFO_VIRT_ACC_AUX_LENGTH             UINT8_C(17)
-#define BMI2_FIFO_VIRT_GYR_AUX_LENGTH             UINT8_C(17)
-#define BMI2_FIFO_VIRT_ACC_GYR_LENGTH             UINT8_C(15)
-#define BMI2_FIFO_VIRT_ALL_LENGTH                 UINT8_C(23)
-
-/*! @name FIFO sensor virtual data lengths: activity recognition */
-#define BMI2_FIFO_VIRT_ACT_DATA_LENGTH            UINT8_C(6)
-#define BMI2_FIFO_VIRT_ACT_TIME_LENGTH            UINT8_C(4)
-#define BMI2_FIFO_VIRT_ACT_TYPE_LENGTH            UINT8_C(1)
-#define BMI2_FIFO_VIRT_ACT_STAT_LENGTH            UINT8_C(1)
-
-/*! @name BMI2 FIFO data filter modes */
-#define BMI2_FIFO_UNFILTERED_DATA                 UINT8_C(0)
-#define BMI2_FIFO_FILTERED_DATA                   UINT8_C(1)
-
-/*! @name FIFO frame masks */
-#define BMI2_FIFO_LSB_CONFIG_CHECK                UINT8_C(0x00)
-#define BMI2_FIFO_MSB_CONFIG_CHECK                UINT8_C(0x80)
-#define BMI2_FIFO_TAG_INTR_MASK                   UINT8_C(0xFF)
-
-/*! @name BMI2 Mask definitions of FIFO configuration registers */
-#define BMI2_FIFO_CONFIG_0_MASK                   UINT16_C(0x0003)
-#define BMI2_FIFO_CONFIG_1_MASK                   UINT16_C(0xFF00)
-
-/*! @name FIFO self wake-up mask definition */
-#define BMI2_FIFO_SELF_WAKE_UP_MASK               UINT8_C(0x02)
-
-/*! @name FIFO down sampling mask definition */
-#define BMI2_ACC_FIFO_DOWNS_MASK                  UINT8_C(0x70)
-#define BMI2_GYR_FIFO_DOWNS_MASK                  UINT8_C(0x07)
-
-/*! @name FIFO down sampling bit positions */
-#define BMI2_ACC_FIFO_DOWNS_POS                   UINT8_C(0x04)
-
-/*! @name FIFO filter mask definition */
-#define BMI2_ACC_FIFO_FILT_DATA_MASK              UINT8_C(0x80)
-#define BMI2_GYR_FIFO_FILT_DATA_MASK              UINT8_C(0x08)
-
-/*! @name FIFO filter bit positions */
-#define BMI2_ACC_FIFO_FILT_DATA_POS               UINT8_C(0x07)
-#define BMI2_GYR_FIFO_FILT_DATA_POS               UINT8_C(0x03)
-
-/*! @name FIFO byte counter mask definition */
-#define BMI2_FIFO_BYTE_COUNTER_MSB_MASK           UINT8_C(0x3F)
-
-/*! @name FIFO self wake-up bit positions */
-#define BMI2_FIFO_SELF_WAKE_UP_POS                UINT8_C(0x01)
-
-/*! @name Mask Definitions for Virtual FIFO frames */
-#define BMI2_FIFO_VIRT_FRM_MODE_MASK              UINT8_C(0xC0)
-#define BMI2_FIFO_VIRT_PAYLOAD_MASK               UINT8_C(0x3C)
-
-/*! @name Bit Positions for Virtual FIFO frames */
-#define BMI2_FIFO_VIRT_FRM_MODE_POS               UINT8_C(0x06)
-#define BMI2_FIFO_VIRT_PAYLOAD_POS                UINT8_C(0x02)
-
-/******************************************************************************/
-/*! @name        Interrupt Macro Definitions                  */
-/******************************************************************************/
-/*! @name BMI2 Interrupt Modes */
-/* Non latched */
-#define BMI2_INT_NON_LATCH                        UINT8_C(0)
-
-/* Permanently latched */
-#define BMI2_INT_LATCH                            UINT8_C(1)
-
-/*! @name BMI2 Interrupt Pin Behavior */
-#define BMI2_INT_PUSH_PULL                        UINT8_C(0)
-#define BMI2_INT_OPEN_DRAIN                       UINT8_C(1)
-
-/*! @name BMI2 Interrupt Pin Level */
-#define BMI2_INT_ACTIVE_LOW                       UINT8_C(0)
-#define BMI2_INT_ACTIVE_HIGH                      UINT8_C(1)
-
-/*! @name BMI2 Interrupt Output Enable */
-#define BMI2_INT_OUTPUT_DISABLE                   UINT8_C(0)
-#define BMI2_INT_OUTPUT_ENABLE                    UINT8_C(1)
-
-/*! @name BMI2 Interrupt Input Enable */
-#define BMI2_INT_INPUT_DISABLE                    UINT8_C(0)
-#define BMI2_INT_INPUT_ENABLE                     UINT8_C(1)
-
-/*! @name Mask definitions for interrupt pin configuration */
-#define BMI2_INT_LATCH_MASK                       UINT8_C(0x01)
-#define BMI2_INT_LEVEL_MASK                       UINT8_C(0x02)
-#define BMI2_INT_OPEN_DRAIN_MASK                  UINT8_C(0x04)
-#define BMI2_INT_OUTPUT_EN_MASK                   UINT8_C(0x08)
-#define BMI2_INT_INPUT_EN_MASK                    UINT8_C(0x10)
-
-/*! @name Bit position definitions for interrupt pin configuration */
-#define BMI2_INT_LEVEL_POS                        UINT8_C(0x01)
-#define BMI2_INT_OPEN_DRAIN_POS                   UINT8_C(0x02)
-#define BMI2_INT_OUTPUT_EN_POS                    UINT8_C(0x03)
-#define BMI2_INT_INPUT_EN_POS                     UINT8_C(0x04)
-
-/*! @name Mask definitions for data interrupt mapping */
-#define BMI2_FFULL_INT                            UINT8_C(0x01)
-#define BMI2_FWM_INT                              UINT8_C(0x02)
-#define BMI2_DRDY_INT                             UINT8_C(0x04)
-#define BMI2_ERR_INT                              UINT8_C(0x08)
-
-/*! @name Mask definitions for data interrupt status bits */
-#define BMI2_FFULL_INT_STATUS_MASK                UINT16_C(0x0100)
-#define BMI2_FWM_INT_STATUS_MASK                  UINT16_C(0x0200)
-#define BMI2_ERR_INT_STATUS_MASK                  UINT16_C(0x0400)
-#define BMI2_AUX_DRDY_INT_MASK                    UINT16_C(0x2000)
-#define BMI2_GYR_DRDY_INT_MASK                    UINT16_C(0x4000)
-#define BMI2_ACC_DRDY_INT_MASK                    UINT16_C(0x8000)
-
-/*!  @name Maximum number of interrupt pins */
-#define BMI2_INT_PIN_MAX_NUM                      UINT8_C(2)
-
-/*!  @name Macro for mapping feature interrupts */
-#define BMI2_FEAT_BIT_DISABLE                     UINT8_C(0)
-#define BMI2_FEAT_BIT0                            UINT8_C(1)
-#define BMI2_FEAT_BIT1                            UINT8_C(2)
-#define BMI2_FEAT_BIT2                            UINT8_C(3)
-#define BMI2_FEAT_BIT3                            UINT8_C(4)
-#define BMI2_FEAT_BIT4                            UINT8_C(5)
-#define BMI2_FEAT_BIT5                            UINT8_C(6)
-#define BMI2_FEAT_BIT6                            UINT8_C(7)
-#define BMI2_FEAT_BIT7                            UINT8_C(8)
-#define BMI2_FEAT_BIT_MAX                         UINT8_C(9)
-
-/******************************************************************************/
-/*! @name               OIS Interface Macro Definitions                       */
-/******************************************************************************/
-/*! @name Mask definitions for interface configuration register */
-#define BMI2_OIS_IF_EN_MASK                       UINT8_C(0x10)
-#define BMI2_AUX_IF_EN_MASK                       UINT8_C(0x20)
-
-/*! @name Bit positions for OIS interface enable */
-#define BMI2_OIS_IF_EN_POS                        UINT8_C(0x04)
-#define BMI2_AUX_IF_EN_POS                        UINT8_C(0x05)
-
-/******************************************************************************/
-/*! @name       Macro Definitions for Axes re-mapping             */
-/******************************************************************************/
-/*! @name Macros for the user-defined values of axes and their polarities */
-#define BMI2_X                                    UINT8_C(0x01)
-#define BMI2_NEG_X                                UINT8_C(0x09)
-#define BMI2_Y                                    UINT8_C(0x02)
-#define BMI2_NEG_Y                                UINT8_C(0x0A)
-#define BMI2_Z                                    UINT8_C(0x04)
-#define BMI2_NEG_Z                                UINT8_C(0x0C)
-#define BMI2_AXIS_MASK                            UINT8_C(0x07)
-#define BMI2_AXIS_SIGN                            UINT8_C(0x08)
-
-/******************************************************************************/
-/*! @name         Macro Definitions for offset and gain compensation          */
-/******************************************************************************/
-/*! @name Mask definitions of gyroscope offset compensation registers */
-#define BMI2_GYR_GAIN_EN_MASK                     UINT8_C(0x80)
-#define BMI2_GYR_OFF_COMP_EN_MASK                 UINT8_C(0x40)
-
-/*! @name Bit positions of gyroscope offset compensation registers */
-#define BMI2_GYR_OFF_COMP_EN_POS                  UINT8_C(0x06)
-
-/*! @name Mask definitions of gyroscope user-gain registers */
-#define BMI2_GYR_USR_GAIN_X_MASK                  UINT8_C(0x7F)
-#define BMI2_GYR_USR_GAIN_Y_MASK                  UINT8_C(0x7F)
-#define BMI2_GYR_USR_GAIN_Z_MASK                  UINT8_C(0x7F)
-
-/*! @name Bit positions of gyroscope offset compensation registers */
-#define BMI2_GYR_GAIN_EN_POS                      UINT8_C(0x07)
-
-/******************************************************************************/
-/*! @name       Macro Definitions for internal status                 */
-/******************************************************************************/
-#define BMI2_NOT_INIT                             UINT8_C(0x00)
-#define BMI2_INIT_OK                              UINT8_C(0x01)
-#define BMI2_INIT_ERR                             UINT8_C(0x02)
-#define BMI2_DRV_ERR                              UINT8_C(0x03)
-#define BMI2_SNS_STOP                             UINT8_C(0x04)
-#define BMI2_NVM_ERROR                            UINT8_C(0x05)
-#define BMI2_START_UP_ERROR                       UINT8_C(0x06)
-#define BMI2_COMPAT_ERROR                         UINT8_C(0x07)
-#define BMI2_VFM_SKIPPED                          UINT8_C(0x10)
-#define BMI2_AXES_MAP_ERROR                       UINT8_C(0x20)
-#define BMI2_ODR_50_HZ_ERROR                      UINT8_C(0x40)
-#define BMI2_ODR_HIGH_ERROR                       UINT8_C(0x80)
-
-/******************************************************************************/
-/*! @name        error status form gyro gain update status.               */
-/******************************************************************************/
-#define BMI2_G_TRIGGER_NO_ERROR                   UINT8_C(0x00)
-
-#define BMI2_G_TRIGGER_PRECON_ERROR               UINT8_C(0x01)
-#define BMI2_G_TRIGGER_DL_ERROR                   UINT8_C(0x02)
-#define BMI2_G_TRIGGER_ABORT_ERROR                UINT8_C(0x03)
-
-/******************************************************************************/
-/*! @name       Variant specific features selection macros            */
-/******************************************************************************/
-#define BMI2_CRT_RTOSK_ENABLE                     UINT8_C(0x01)
-#define BMI2_GYRO_CROSS_SENS_ENABLE               UINT8_C(0x02)
-#define BMI2_GYRO_USER_GAIN_ENABLE                UINT8_C(0x08)
-#define BMI2_NO_FEATURE_ENABLE                    UINT8_C(0x00)
-#define BMI2_CRT_IN_FIFO_NOT_REQ                  UINT8_C(0x10)
-#define BMI2_MAXIMUM_FIFO_VARIANT                 UINT8_C(0x20)
-
-/*! Pull-up configuration for ASDA               */
-#define BMI2_ASDA_PUPSEL_OFF                      UINT8_C(0x00)
-#define BMI2_ASDA_PUPSEL_40K                      UINT8_C(0x01)
-#define BMI2_ASDA_PUPSEL_10K                      UINT8_C(0x02)
-#define BMI2_ASDA_PUPSEL_2K                       UINT8_C(0x03)
-
-/******************************************************************************/
-/*! @name           Function Pointers                             */
-/******************************************************************************/
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific read functions of the user
- *
- * @param[in] reg_addr       : Register address from which data is read.
- * @param[out] reg_data     : Pointer to data buffer where read data is stored.
- * @param[in] len            : Number of bytes of data to be read.
- * @param[in, out] intf_ptr  : Void pointer that can enable the linking of descriptors
- *                                  for interface related call backs.
- *
- *  retval =  BMA4_INTF_RET_SUCCESS -> Success
- *  retval != BMA4_INTF_RET_SUCCESS -> Failure
- *
- */
-typedef BMI2_INTF_RETURN_TYPE (*bmi2_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific write functions of the user
- *
- * @param[in] reg_addr      : Register address to which the data is written.
- * @param[in] reg_data     : Pointer to data buffer in which data to be written
- *                            is stored.
- * @param[in] len           : Number of bytes of data to be written.
- * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
- *                            for interface related call backs
- *
- * retval  = BMA4_INTF_RET_SUCCESS -> Success
- * retval != BMA4_INTF_RET_SUCCESS -> Failure
- *
- */
-typedef BMI2_INTF_RETURN_TYPE (*bmi2_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len,
-                                                   void *intf_ptr);
-
-/*!
- * @brief Delay function pointer which should be mapped to
- * delay function of the user
- *
- * @param[in] period              : Delay in microseconds.
- * @param[in, out] intf_ptr       : Void pointer that can enable the linking of descriptors
- *                                  for interface related call backs
- *
- */
-typedef void (*bmi2_delay_fptr_t)(uint32_t period, void *intf_ptr);
-
-/*!
- * @brief To get the configurations for wake_up feature, since wakeup feature is different for bmi260 and bmi261.
- *
- * @param[out]      wake_up    : Void pointer to store bmi2_wake_up_config structure.
- * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
- *
- * @return Result of API execution status
- *
- * @retval BMI2_OK - Success.
- * @retval BMI2_E_COM_FAIL - Error: Communication fail
- * @retval BMI2_E_NULL_PTR - Error: Null pointer error
- * @retval BMI2_E_INVALID_PAGE - Error: Invalid Page
- *
- */
-typedef int8_t (*bmi2_wake_up_fptr_t)(void *wake_up, void *bmi2_dev);
-
-/*!
- * @brief To get the configurations for tap feature.
- *
- * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
- * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
- *
- * @return Result of API execution status
- *
- * @retval BMI2_OK - Success.
- * @retval BMI2_E_COM_FAIL - Error: Communication fail
- * @retval BMI2_E_NULL_PTR - Error: Null pointer error
- * @retval BMI2_E_INVALID_PAGE - Error: Invalid Page
- *
- */
-typedef int8_t (*bmi2_tap_fptr_t)(void *tap, void *bmi2_dev);
-
-/******************************************************************************/
-/*!  @name         Enum Declarations                                  */
-/******************************************************************************/
-/*!  @name Enum to define BMI2 sensor interfaces */
-enum bmi2_intf {
-    BMI2_SPI_INTF = 0,
-    BMI2_I2C_INTF,
-    BMI2_I3C_INTF
-};
-
-/*!  @name Enum to define BMI2 sensor configuration errors for accelerometer
- *   and gyroscope
- */
-enum bmi2_sensor_config_error {
-    BMI2_NO_ERROR,
-    BMI2_ACC_ERROR,
-    BMI2_GYR_ERROR,
-    BMI2_ACC_GYR_ERROR
-};
-
-/*!  @name Enum to define interrupt lines */
-enum bmi2_hw_int_pin {
-    BMI2_INT_NONE,
-    BMI2_INT1,
-    BMI2_INT2,
-    BMI2_INT_BOTH,
-    BMI2_INT_PIN_MAX
-};
-
-/*!  @name Enum for the position of the wearable device */
-enum bmi2_wear_arm_pos {
-    BMI2_ARM_LEFT,
-    BMI2_ARM_RIGHT
-};
-
-/*!  @name Enum to display type of activity recognition */
-enum bmi2_act_recog_type {
-    BMI2_ACT_UNKNOWN,
-    BMI2_ACT_STILL,
-    BMI2_ACT_WALK,
-    BMI2_ACT_RUN,
-    BMI2_ACT_BIKE,
-    BMI2_ACT_VEHICLE,
-    BMI2_ACT_TILTED
-};
-
-/*!  @name Enum to display activity recognition status */
-enum bmi2_act_recog_stat {
-    BMI2_ACT_START = 1,
-    BMI2_ACT_END
-};
-
-/******************************************************************************/
-/*!  @name         Structure Declarations                             */
-/******************************************************************************/
-/*! @name Structure to store the compensated user-gain data of gyroscope */
-struct bmi2_gyro_user_gain_data
-{
-    /*! x-axis */
-    int8_t x;
-
-    /*! y-axis */
-    int8_t y;
-
-    /*! z-axis */
-    int8_t z;
-};
-
-/*! @name Structure to store the re-mapped axis */
-struct bmi2_remap
-{
-    /*! Re-mapped x-axis */
-    uint8_t x;
-
-    /*! Re-mapped y-axis */
-    uint8_t y;
-
-    /*! Re-mapped z-axis */
-    uint8_t z;
-};
-
-/*! @name Structure to store the value of re-mapped axis and its sign */
-struct bmi2_axes_remap
-{
-    /*! Re-mapped x-axis */
-    uint8_t x_axis;
-
-    /*! Re-mapped y-axis */
-    uint8_t y_axis;
-
-    /*! Re-mapped z-axis */
-    uint8_t z_axis;
-
-    /*! Re-mapped x-axis sign */
-    uint8_t x_axis_sign;
-
-    /*! Re-mapped y-axis sign */
-    uint8_t y_axis_sign;
-
-    /*! Re-mapped z-axis sign */
-    uint8_t z_axis_sign;
-};
-
-/*! @name Structure to define the type of sensor and its interrupt pin */
-struct bmi2_sens_int_config
-{
-    /*! Defines the type of sensor */
-    uint8_t type;
-
-    /*! Type of interrupt pin */
-    enum bmi2_hw_int_pin hw_int_pin;
-};
-
-/*! @name Structure to define output for activity recognition */
-struct bmi2_act_recog_output
-{
-    /*! Time stamp */
-    uint32_t time_stamp;
-
-    /*! current activity */
-    uint8_t curr_act;
-
-    /*! previous activity */
-    uint8_t prev_act;
-};
-
-/*! @name Structure to define FIFO frame configuration */
-struct bmi2_fifo_frame
-{
-    /*! Pointer to FIFO data */
-    uint8_t *data;
-
-    /*! Number of user defined bytes of FIFO to be read */
-    uint16_t length;
-
-    /*! Defines header/header-less mode */
-    uint8_t header_enable;
-
-    /*! Enables type of data to be streamed - accelerometer, auxiliary or
-     * gyroscope
-     */
-    uint16_t data_enable;
-
-    /*! To index accelerometer bytes */
-    uint16_t acc_byte_start_idx;
-
-    /*! To index activity output bytes */
-    uint16_t act_recog_byte_start_idx;
-
-    /*! To index auxiliary bytes */
-    uint16_t aux_byte_start_idx;
-
-    /*! To index gyroscope bytes */
-    uint16_t gyr_byte_start_idx;
-
-    /*! FIFO sensor time */
-    uint32_t sensor_time;
-
-    /*! Skipped frame count */
-    uint8_t skipped_frame_count;
-
-    /*! Type of data interrupt to be mapped */
-    uint8_t data_int_map;
-
-    /*! Water-mark level for water-mark interrupt */
-    uint16_t wm_lvl;
-
-    /*! Accelerometer frame length */
-    uint8_t acc_frm_len;
-
-    /*! Gyroscope frame length */
-    uint8_t gyr_frm_len;
-
-    /*! Auxiliary frame length */
-    uint8_t aux_frm_len;
-
-    /*! Accelerometer and gyroscope frame length */
-    uint8_t acc_gyr_frm_len;
-
-    /*! Accelerometer and auxiliary frame length */
-    uint8_t acc_aux_frm_len;
-
-    /*! Gyroscope and auxiliary frame length */
-    uint8_t aux_gyr_frm_len;
-
-    /*! Accelerometer, Gyroscope and auxiliary frame length */
-    uint8_t all_frm_len;
-};
-
-/*! @name Structure to define Interrupt pin configuration */
-struct bmi2_int_pin_cfg
-{
-    /*! Configure level of interrupt pin */
-    uint8_t lvl;
-
-    /*! Configure behavior of interrupt pin */
-    uint8_t od;
-
-    /*! Output enable for interrupt pin */
-    uint8_t output_en;
-
-    /*! Input enable for interrupt pin */
-    uint8_t input_en;
-};
-
-/*! @name Structure to define interrupt pin type, mode and configurations */
-struct bmi2_int_pin_config
-{
-    /*! Interrupt pin type: INT1 or INT2 or BOTH */
-    uint8_t pin_type;
-
-    /*! Latched or non-latched mode*/
-    uint8_t int_latch;
-
-    /*! Structure to define Interrupt pin configuration */
-    struct bmi2_int_pin_cfg pin_cfg[BMI2_INT_PIN_MAX_NUM];
-};
-
-/*! @name Structure to define an array of 8 auxiliary data bytes */
-struct bmi2_aux_fifo_data
-{
-    /*! Auxiliary data */
-    uint8_t data[8];
-
-    /*! Sensor time for virtual frames */
-    uint32_t virt_sens_time;
-};
-
-/*! @name Structure to define accelerometer and gyroscope sensor axes and
- * sensor time for virtual frames
- */
-struct bmi2_sens_axes_data
-{
-    /*! Data in x-axis */
-    int16_t x;
-
-    /*! Data in y-axis */
-    int16_t y;
-
-    /*! Data in z-axis */
-    int16_t z;
-
-    /*! Sensor time for virtual frames */
-    uint32_t virt_sens_time;
-};
-
-/*! @name Structure to define gyroscope saturation status of user gain */
-struct bmi2_gyr_user_gain_status
-{
-    /*! Status in x-axis */
-    uint8_t sat_x;
-
-    /*! Status in y-axis */
-    uint8_t sat_y;
-
-    /*! Status in z-axis */
-    uint8_t sat_z;
-
-    /*! G trigger status */
-    uint8_t g_trigger_status;
-};
-
-/*! @name Structure to store the status of gyro self test result */
-struct bmi2_gyro_self_test_status
-{
-    /*! gyro self test axes done */
-    uint8_t gyr_st_axes_done : 1;
-
-    /*! status of gyro X-axis self test */
-    uint8_t gyr_axis_x_ok : 1;
-
-    /*! status of gyro Y-axis self test */
-    uint8_t gyr_axis_y_ok : 1;
-
-    /*! status of gyro Z-axis self test */
-    uint8_t gyr_axis_z_ok : 1;
-};
-
-/*! @name Structure to define NVM error status */
-struct bmi2_nvm_err_status
-{
-    /*! NVM load action error */
-    uint8_t load_error;
-
-    /*! NVM program action error */
-    uint8_t prog_error;
-
-    /*! NVM erase action error */
-    uint8_t erase_error;
-
-    /*! NVM program limit exceeded */
-    uint8_t exceed_error;
-
-    /*! NVM privilege error */
-    uint8_t privil_error;
-};
-
-/*! @name Structure to define VFRM error status */
-struct bmi2_vfrm_err_status
-{
-    /*! VFRM lock acquire error */
-    uint8_t lock_error;
-
-    /*! VFRM write error */
-    uint8_t write_error;
-
-    /*! VFRM fatal err */
-    uint8_t fatal_error;
-};
-
-/*! @name Structure to define accelerometer self test feature status */
-struct bmi2_acc_self_test_status
-{
-    /*! Accelerometer test completed */
-    uint8_t acc_self_test_done;
-
-    /*! Bit is set to 1 when accelerometer X-axis test passed */
-    uint8_t acc_x_ok;
-
-    /*! Bit is set to 1 when accelerometer y-axis test passed */
-    uint8_t acc_y_ok;
-
-    /*! Bit is set to 1 when accelerometer z-axis test passed */
-    uint8_t acc_z_ok;
-};
-
-/*! @name Structure to define orientation output */
-struct bmi2_orientation_output
-{
-    /*! Orientation portrait landscape */
-    uint8_t portrait_landscape;
-
-    /*! Orientation face-up down  */
-    uint8_t faceup_down;
-};
-
-/*! @name Structure to define OIS output */
-struct bmi2_ois_output
-{
-    /*! OIS accel x axis */
-    int16_t ois_acc_x;
-
-    /*! OIS accel y axis */
-    int16_t ois_acc_y;
-
-    /*! OIS accel z axis */
-    int16_t ois_acc_z;
-
-    /*! ois gyro x axis */
-    int16_t ois_gyro_x;
-
-    /*! OIS gyro y axis */
-    int16_t ois_gyro_y;
-
-    /*! OIS gyro z axis */
-    int16_t ois_gyro_z;
-};
-
-/*! @name Union to define BMI2 sensor data */
-union bmi2_sens_data
-{
-    /*! Accelerometer axes data */
-    struct bmi2_sens_axes_data acc;
-
-    /*! Gyroscope axes data */
-    struct bmi2_sens_axes_data gyr;
-
-    /*! Auxiliary sensor data */
-    uint8_t aux_data[BMI2_AUX_NUM_BYTES];
-
-    /*! Step counter output */
-    uint32_t step_counter_output;
-
-    /*! Step activity output */
-    uint8_t activity_output;
-
-    /*! Orientation output */
-    struct bmi2_orientation_output orient_output;
-
-    /*! High-g output */
-    uint8_t high_g_output;
-
-    /*! Gyroscope user gain saturation status */
-    struct bmi2_gyr_user_gain_status gyro_user_gain_status;
-
-    /*! NVM error status */
-    struct bmi2_nvm_err_status nvm_status;
-
-    /*! Virtual frame error status */
-    struct bmi2_vfrm_err_status vfrm_status;
-
-    /*! Wrist gesture output */
-    uint8_t wrist_gesture_output;
-
-    /*! Gyroscope cross sense value of z axis */
-    int16_t correction_factor_zx;
-
-    /*! Accelerometer self test feature status */
-    struct bmi2_acc_self_test_status accel_self_test_output;
-
-    /*! OIS output */
-    struct bmi2_ois_output ois_output;
-};
-
-/*! @name Structure to define type of sensor and their respective data */
-struct bmi2_sensor_data
-{
-    /*! Defines the type of sensor */
-    uint8_t type;
-
-    /*! Defines various sensor data */
-    union bmi2_sens_data sens_data;
-};
-
-/*! @name Structure to define accelerometer configuration */
-struct bmi2_accel_config
-{
-    /*! Output data rate in Hz */
-    uint8_t odr;
-
-    /*! Bandwidth parameter */
-    uint8_t bwp;
-
-    /*! Filter performance mode */
-    uint8_t filter_perf;
-
-    /*! g-range */
-    uint8_t range;
-};
-
-/*! @name Structure to define gyroscope configuration */
-struct bmi2_gyro_config
-{
-    /*! Output data rate in Hz */
-    uint8_t odr;
-
-    /*! Bandwidth parameter */
-    uint8_t bwp;
-
-    /*! Filter performance mode */
-    uint8_t filter_perf;
-
-    /*! OIS Range */
-    uint8_t ois_range;
-
-    /*! Gyroscope Range */
-    uint8_t range;
-
-    /*! Selects noise performance */
-    uint8_t noise_perf;
-};
-
-/*! @name Structure to define auxiliary sensor configuration */
-struct bmi2_aux_config
-{
-    /*! Enable/Disable auxiliary interface */
-    uint8_t aux_en;
-
-    /*! Manual or Auto mode*/
-    uint8_t manual_en;
-
-    /*! Enables FCU write command on auxiliary interface */
-    uint8_t fcu_write_en;
-
-    /*! Read burst length for manual mode */
-    uint8_t man_rd_burst;
-
-    /*! Read burst length for data mode */
-    uint8_t aux_rd_burst;
-
-    /*! Output data rate */
-    uint8_t odr;
-
-    /*! Read-out offset */
-    uint8_t offset;
-
-    /*! I2c address of auxiliary sensor */
-    uint8_t i2c_device_addr;
-
-    /*! Read address of auxiliary sensor */
-    uint8_t read_addr;
-};
-
-/*! @name Structure to define any-motion configuration */
-struct bmi2_any_motion_config
-{
-    /*! Duration in 50Hz samples(20msec) */
-    uint16_t duration;
-
-    /*! Acceleration slope threshold */
-    uint16_t threshold;
-
-    /*! To select per x-axis */
-    uint16_t select_x;
-
-    /*! To select per y-axis */
-    uint16_t select_y;
-
-    /*! To select per z-axis */
-    uint16_t select_z;
-};
-
-/*! @name Structure to define no-motion configuration */
-struct bmi2_no_motion_config
-{
-    /*! Duration in 50Hz samples(20msec) */
-    uint16_t duration;
-
-    /*! Acceleration slope threshold */
-    uint16_t threshold;
-
-    /*! To select per x-axis */
-    uint16_t select_x;
-
-    /*! To select per y-axis */
-    uint16_t select_y;
-
-    /*! To select per z-axis */
-    uint16_t select_z;
-};
-
-/*! @name Structure to define sig-motion configuration */
-struct bmi2_sig_motion_config
-{
-    /*! Block size */
-    uint16_t block_size;
-
-    /*! Parameter 2 */
-    uint16_t param_2;
-
-    /*! Parameter 3 */
-    uint16_t param_3;
-
-    /*! Parameter 4 */
-    uint16_t param_4;
-
-    /*! Parameter 5 */
-    uint16_t param_5;
-};
-
-/*! @name Structure to define step counter/detector/activity configuration */
-struct bmi2_step_config
-{
-    /*! Water-mark level */
-    uint16_t watermark_level;
-
-    /*! Reset counter */
-    uint16_t reset_counter;
-
-    /*! Step buffer size */
-    uint8_t step_buffer_size;
-};
-
-/*! @name Structure to define gyroscope user gain configuration */
-struct bmi2_gyro_user_gain_config
-{
-    /*! Gain update value for x-axis */
-    uint16_t ratio_x;
-
-    /*! Gain update value for y-axis */
-    uint16_t ratio_y;
-
-    /*! Gain update value for z-axis */
-    uint16_t ratio_z;
-};
-
-/*! @name Structure to define wake-up configuration */
-struct bmi2_wake_up_config
-{
-    /*! Wake-up sensitivity for bmi261 */
-    uint16_t sensitivity;
-
-    /*! Tap feature for BMI261
-     * For Single tap, single_tap_en = 1
-     * For Double tap, single_tap_en = 0
-     */
-    uint16_t single_tap_en;
-
-    /*! Enable -> Filtered tap data, Disable -> Unfiltered data */
-    uint16_t data_reg_en;
-
-    /*! Scaling factor of threshold */
-    uint16_t tap_sens_thres;
-
-    /*! Maximum duration between each taps */
-    uint16_t max_gest_dur;
-
-    /*! Minimum quite time between the two gesture detection */
-    uint16_t quite_time_after_gest;
-
-    /*! Wait time */
-    uint16_t wait_for_timeout;
-
-    /*! Axis selection */
-    uint16_t axis_sel;
-};
-
-/*! @name Structure to define tap configuration */
-struct bmi2_tap_config
-{
-    /*! Tap sensitivity */
-    uint16_t sensitivity;
-
-    /*! Tap feature.
-     * For Single tap, single_tap_en = 1
-     * For Double tap, single_tap_en = 0
-     */
-    uint16_t single_tap_en;
-
-    /*! Enable -> Filtered tap data, Disable -> Unfiltered data */
-    uint16_t data_reg_en;
-
-    /*! Scaling factor of threshold */
-    uint16_t tap_sens_thres;
-
-    /*! Maximum duration between each taps */
-    uint16_t max_gest_dur;
-
-    /*! Minimum quite time between the two gesture detection */
-    uint16_t quite_time_after_gest;
-
-    /*! Wait time */
-    uint16_t wait_for_timeout;
-
-    /*! Axis selection */
-    uint16_t axis_sel;
-};
-
-/*! @name Structure to define orientation configuration */
-struct bmi2_orient_config
-{
-    /*!  Upside/down detection */
-    uint16_t ud_en;
-
-    /*!  Symmetrical, high or low Symmetrical */
-    uint16_t mode;
-
-    /*!  Blocking mode */
-    uint16_t blocking;
-
-    /*!  Threshold angle */
-    uint16_t theta;
-
-    /*!  Acceleration hysteresis for orientation detection */
-    uint16_t hysteresis;
-};
-
-/*! @name Structure to define high-g configuration */
-struct bmi2_high_g_config
-{
-    /*!  Acceleration threshold */
-    uint16_t threshold;
-
-    /*!  Hysteresis */
-    uint16_t hysteresis;
-
-    /*! To select per x-axis */
-    uint16_t select_x;
-
-    /*! To select per y-axis */
-    uint16_t select_y;
-
-    /*! To select per z-axis */
-    uint16_t select_z;
-
-    /*!  Duration interval */
-    uint16_t duration;
-};
-
-/*! @name Structure to define low-g configuration */
-struct bmi2_low_g_config
-{
-    /*! Acceleration threshold */
-    uint16_t threshold;
-
-    /*! Hysteresis */
-    uint16_t hysteresis;
-
-    /*! Duration interval */
-    uint16_t duration;
-};
-
-/*! @name Structure to define flat configuration */
-struct bmi2_flat_config
-{
-    /*!  Theta angle for flat detection */
-    uint16_t theta;
-
-    /*!  Blocking mode */
-    uint16_t blocking;
-
-    /*!  Hysteresis for theta flat detection */
-    uint16_t hysteresis;
-
-    /*! Holds the duration in 50Hz samples(20msec) */
-    uint16_t hold_time;
-};
-
-/*! @name Structure to define wrist gesture configuration */
-struct bmi2_wrist_gest_config
-{
-    /*!  Wearable arm (left or right) */
-    uint16_t wearable_arm;
-
-    /*! Sine of the minimum tilt angle in portrait down direction of the device when wrist is rolled
-     *  away from user. The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle).
-     *  Range is 1448 to 1774. Default value is 1774.  */
-    uint16_t min_flick_peak;
-
-    /*! Value of minimum time difference between wrist roll-out and roll-in movement during flick gesture.
-     *  Range is 3 to 5 samples at 50Hz. Default value is 4 (i.e. 0.08 seconds).  */
-    uint16_t min_flick_samples;
-
-    /*! Maximum time within which gesture movement has to be completed. Range is 150 to 250 samples at 50Hz.
-     * Default value is 200 (i.e. 4 seconds).  */
-    uint16_t max_duration;
-};
-
-/*! @name Structure to define wrist wear wake-up configuration */
-struct bmi2_wrist_wear_wake_up_config
-{
-    /*! Cosine of min expected attitude change of the device within 1 second time window when
-     *  moving within focus position.
-     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774.
-     *  Default is 1448.  */
-    uint16_t min_angle_focus;
-
-    /*! Cosine of min expected attitude change of the device within 1 second time window when
-     *  moving from non-focus to focus position.
-     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856.
-     *  Default value is 1774.  */
-    uint16_t min_angle_nonfocus;
-
-    /*! Sine of the max allowed downward tilt angle in landscape right direction of the device,
-     *  when it is in focus position
-     *  (i.e. user is able to comfortably look at the dial of wear device).
-     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024.
-     *  Default value is 1024.  */
-    uint16_t max_tilt_lr;
-
-    /*! Sine of the max allowed downward tilt angle in landscape left direction of the device,
-     * when it is in focus position
-     *  (i.e. user is able to comfortably look at the dial of wear device).
-     *   The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to
-     * 1024. Default value is 700.  */
-    uint16_t max_tilt_ll;
-
-    /*! Sine of the max allowed backward tilt angle in portrait down direction of the device,
-     *  when it is in focus position
-     *  (i.e. user is able to comfortably look at the dial of wear device).
-     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 0 to179.
-     *  Default value is 179. */
-    uint16_t max_tilt_pd;
-
-    /*! Sine of the maximum allowed forward tilt angle in portrait up direction of the
-     *  device, when it is in focus position
-     *  (i.e. user is able to comfortably look at the dial of wear device).
-     *  The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 1774 to 1978.
-     *  Default value is 1925. */
-    uint16_t max_tilt_pu;
-};
-
-/*! @name Structure to define wrist gesture configuration for wearable variant */
-struct bmi2_wrist_gest_w_config
-{
-    /*!  Wearable arm (left or right) */
-    uint8_t device_position;
-
-    /*! Minimum threshold for flick peak on y-axis */
-    uint16_t min_flick_peak_y_threshold;
-
-    /*! Minimum threshold for flick peak on z-axis */
-    uint16_t min_flick_peak_z_threshold;
-
-    /*! Maximum expected value of positive gravitational acceleration on x-axis
-     * when arm is in focus pose */
-    uint16_t gravity_bounds_x_pos;
-
-    /*! Maximum expected value of negative gravitational acceleration on x-axis
-     * when arm is in focus pose */
-    uint16_t gravity_bounds_x_neg;
-
-    /*! Maximum expected value of negative gravitational acceleration on y-axis
-     * when arm is in focus pose */
-    uint16_t gravity_bounds_y_neg;
-
-    /*! Maximum expected value of negative gravitational acceleration on z-axis
-     * when arm is in focus pose */
-    uint16_t gravity_bounds_z_neg;
-
-    /*! Exponential smoothing coefficient for adaptive peak threshold decay */
-    uint16_t flick_peak_decay_coeff;
-
-    /*! Exponential smoothing coefficient for acceleration mean estimation */
-    uint16_t lp_mean_filter_coeff;
-
-    /*! Maximum duration between 2 peaks of jiggle in samples @50Hz  */
-    uint16_t max_duration_jiggle_peaks;
-};
-
-/*! @name Structure to define wrist wear wake-up configuration for wearable configuration */
-struct bmi2_wrist_wear_wake_up_wh_config
-{
-    /*! Cosine of min expected attitude change of the device within 1 second time window when
-     * moving within focus position.
-     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774.
-     *  Default is 1448.  */
-    uint16_t min_angle_focus;
-
-    /*! Cosine of min expected attitude change of the device within 1 second time window when
-     * moving from non-focus to focus position.
-     *  The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856.
-     *  Default value is 1774.  */
-    uint16_t min_angle_nonfocus;
-
-    /*! Sine of the max allowed downward tilt angle in landscape right direction of the device,
-     * when it is in focus position  (i.e. user is able to comfortably look at the dial of wear device).
-     *  The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 88 to 128.
-     * Default value is 128.  */
-    uint8_t angle_lr;
-
-    /*! Sine of the max allowed downward tilt angle in landscape left direction of the device,
-     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
-     *   The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 88 to 128.
-     * Default value is 128.  */
-    uint8_t angle_ll;
-
-    /*! Sine of the max allowed backward tilt angle in portrait down direction of the device,
-     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
-     *   The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 0 to 179.
-     * Default value is 22. */
-    uint8_t angle_pd;
-
-    /*! Sine of the maximum allowed forward tilt angle in portrait up direction of the device,
-     * when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).
-     * The configuration parameter is scaled by 256 i.e. 256 * sin(angle). Range is 222 to 247.
-     * Default value is 241. */
-    uint8_t angle_pu;
-
-    /*! Minimum duration the arm should be moved while performing gesture. Range: 1 to 10,
-     * resolution = 20 ms.
-     * Default 2(40 ms)*/
-    uint8_t min_dur_mov;
-
-    /*! Minimum duration the arm should be static between two consecutive gestures. Range: 1 to
-     * 10, resolution = 20 ms
-     * Default 2(40 ms)*/
-    uint8_t min_dur_quite;
-};
-
-/*! @name Structure to define primary OIS configuration */
-struct bmi2_primary_ois_config
-{
-    uint8_t lp_filter_enable;
-
-    uint8_t lp_filter_config;
-
-    uint8_t primary_ois_reserved;
-
-    uint8_t primary_ois_gyro_en;
-
-    uint8_t primary_ois_accel_en;
-};
-
-/*! @name Structure to configure free-fall detection settings */
-struct bmi2_free_fall_det_config
-{
-    /*! free-fall accel settings */
-    uint16_t freefall_accel_settings[BMI2_FREE_FALL_ACCEL_SET_PARAMS];
-};
-
-/*!  @name Union to define the sensor configurations */
-union bmi2_sens_config_types
-{
-    /*! Accelerometer configuration */
-    struct bmi2_accel_config acc;
-
-    /*! Gyroscope configuration */
-    struct bmi2_gyro_config gyr;
-
-    /*! Auxiliary configuration */
-    struct bmi2_aux_config aux;
-
-    /*! Any-motion configuration */
-    struct bmi2_any_motion_config any_motion;
-
-    /*! No-motion configuration */
-    struct bmi2_no_motion_config no_motion;
-
-    /*! Sig_motion configuration */
-    struct bmi2_sig_motion_config sig_motion;
-
-    /*! Step counter parameter configuration */
-    uint16_t step_counter_params[BMI2_STEP_CNT_N_PARAMS];
-
-    /*! Step counter/detector/activity configuration */
-    struct bmi2_step_config step_counter;
-
-    /*! Gyroscope user gain configuration */
-    struct bmi2_gyro_user_gain_config gyro_gain_update;
-
-    /*! Wake-up configuration */
-    struct bmi2_wake_up_config tap;
-
-    /*! Tap configuration */
-    struct bmi2_tap_config tap_conf;
-
-    /*! Orientation configuration */
-    struct bmi2_orient_config orientation;
-
-    /*! High-g configuration */
-    struct bmi2_high_g_config high_g;
-
-    /*! Low-g configuration */
-    struct bmi2_low_g_config low_g;
-
-    /*! Flat configuration */
-    struct bmi2_flat_config flat;
-
-    /*! Wrist gesture configuration */
-    struct bmi2_wrist_gest_config wrist_gest;
-
-    /*! Wrist wear wake-up configuration */
-    struct bmi2_wrist_wear_wake_up_config wrist_wear_wake_up;
-
-    /*! Wrist gesture configuration for wearable variant */
-    struct bmi2_wrist_gest_w_config wrist_gest_w;
-
-    /*! Wrist wear wake-up configuration for wearable variant */
-    struct bmi2_wrist_wear_wake_up_wh_config wrist_wear_wake_up_wh;
-
-    /*! Primary OIS configuration */
-    struct bmi2_primary_ois_config primary_ois;
-
-    /* Free-fall detection configurations */
-    struct bmi2_free_fall_det_config free_fall_det;
-};
-
-/*!  @name Structure to define the type of the sensor and its configurations */
-struct bmi2_sens_config
-{
-    /*! Defines the type of sensor */
-    uint8_t type;
-
-    /*! Defines various sensor configurations */
-    union bmi2_sens_config_types cfg;
-};
-
-/*!  @name Structure to define the feature configuration */
-struct bmi2_feature_config
-{
-    /*! Defines the type of sensor */
-    uint8_t type;
-
-    /*! Page to where the feature is mapped */
-    uint8_t page;
-
-    /*! Address of the feature */
-    uint8_t start_addr;
-};
-
-/*!  @name Structure to define the feature interrupt configurations */
-struct bmi2_map_int
-{
-    /*! Defines the type of sensor */
-    uint8_t type;
-
-    /*! Defines the feature interrupt */
-    uint8_t sens_map_int;
-};
-
-/*!  @name Structure to define BMI2 sensor configurations */
-struct bmi2_dev
-{
-    /*! Chip id of BMI2 */
-    uint8_t chip_id;
-
-    /*! The interface pointer is used to enable the user
-     * to link their interface descriptors for reference during the
-     * implementation of the read and write interfaces to the
-     * hardware.
-     */
-    void *intf_ptr;
-
-    /*! To store warnings */
-    uint8_t info;
-
-    /*! Type of Interface  */
-    enum bmi2_intf intf;
-
-    /*! To store interface pointer error */
-    BMI2_INTF_RETURN_TYPE intf_rslt;
-
-    /*! For switching from I2C to SPI */
-    uint8_t dummy_byte;
-
-    /*! Resolution for FOC */
-    uint8_t resolution;
-
-    /*! User set read/write length */
-    uint16_t read_write_len;
-
-    /*! Pointer to the configuration data buffer address */
-    const uint8_t *config_file_ptr;
-
-    /*! To define maximum page number */
-    uint8_t page_max;
-
-    /*! To define maximum number of input sensors/features */
-    uint8_t input_sens;
-
-    /*! To define maximum number of output sensors/features */
-    uint8_t out_sens;
-
-    /*! Indicate manual enable for auxiliary communication */
-    uint8_t aux_man_en;
-
-    /*! Defines manual read burst length for auxiliary communication */
-    uint8_t aux_man_rd_burst_len;
-
-    /*! Array of feature input configuration structure */
-    const struct bmi2_feature_config *feat_config;
-
-    /*! Array of feature output configuration structure */
-    const struct bmi2_feature_config *feat_output;
-
-    /*! Structure to maintain a copy of the re-mapped axis */
-    struct bmi2_axes_remap remap;
-
-    /*! Flag to hold enable status of sensors */
-    uint64_t sens_en_stat;
-
-    /*! Read function pointer */
-    bmi2_read_fptr_t read;
-
-    /*! Write function pointer */
-    bmi2_write_fptr_t write;
-
-    /*!  Delay function pointer */
-    bmi2_delay_fptr_t delay_us;
-
-    /*! To store the gyroscope cross sensitivity value */
-    int16_t gyr_cross_sens_zx;
-
-    /* gyro enable status, used as a flag in CRT enabling and aborting */
-    uint8_t gyro_en : 1;
-
-    /* advance power saving mode status, used as a flag in CRT enabling and aborting */
-    uint8_t aps_status;
-
-    /* used as a flag to enable variant specific features like crt */
-    uint16_t variant_feature;
-
-    /* To store hold the size of config file */
-    uint16_t config_size;
-
-    /*! Function pointer to get wakeup configurations */
-    bmi2_wake_up_fptr_t get_wakeup_config;
-
-    /*! Function pointer to set wakeup configurations */
-    bmi2_wake_up_fptr_t set_wakeup_config;
-
-    /*! Function pointer to get tap configurations */
-    bmi2_tap_fptr_t get_tap_config;
-
-    /*! Function pointer to set tap configurations */
-    bmi2_tap_fptr_t set_tap_config;
-
-    /*! Array of feature interrupts configuration structure */
-    struct bmi2_map_int *map_int;
-
-    /*! To define maximum number of interrupts */
-    uint8_t sens_int_map;
-};
-
-/*!  @name Structure to enable an accel axis for foc */
-struct bmi2_accel_foc_g_value
-{
-    /*! '0' to disable x axis and '1' to enable x axis */
-    uint8_t x;
-
-    /*! '0' to disable y axis and '1' to enable y axis */
-    uint8_t y;
-
-    /*! '0' to disable z axis and '1' to enable z axis */
-    uint8_t z;
-
-    /*! '0' for positive input and '1' for negative input */
-    uint8_t sign;
-};
-
-/*! @name Structure to configure activity recognition settings */
-struct bmi2_act_recg_sett
-{
-    /*! Activity recognition register 1 */
-    uint8_t act_rec_1 : 1;
-
-    /*! Activity recognition register 2 */
-    uint16_t act_rec_2;
-
-    /*! Activity recognition register 3 */
-    uint16_t act_rec_3;
-
-    /*! Activity recognition register 4 */
-    uint8_t act_rec_4 : 4;
-
-    /*! Activity recognition register 5 */
-    uint8_t act_rec_5 : 4;
-};
-
-/*! @name Structure to configure activity recognition settings for bmi270hc */
-struct bmi2_hc_act_recg_sett
-{
-    /*! Static segment size for activity classification. */
-    uint8_t segment_size;
-
-    /*! Enable/Disable post processing of the activity detected */
-    uint8_t pp_en;
-
-    /*! Minimum threshold of the Gini's diversity index (GDI) */
-    uint16_t min_gdi_thres;
-
-    /*! Maximum threshold of the Gini's diversity index (GDI) */
-    uint16_t max_gdi_thres;
-
-    /*! Buffer size for post processing of the activity detected */
-    uint16_t buf_size;
-
-    /*! Minimum segments belonging to a certain activity type */
-    uint16_t min_seg_conf;
-};
-
-#endif /* BMI2_DEFS_H_ */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c
deleted file mode 100644
index 04350db08d..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c
+++ /dev/null
@@ -1,417 +0,0 @@
-/**
- * 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       bmi2_ois.c
- * @date       2020-05-05
- * @version    v2.23.2
- *
- */
-
-/******************************************************************************/
-
-/*!  @name          Header Files                                  */
-/******************************************************************************/
-#include "bmi2_ois.h"
-
-/******************************************************************************/
-
-/*!         Local Function Prototypes
- ******************************************************************************/
-
-/*!
- * @brief This internal API gets the OIS accelerometer and the gyroscope data.
- *
- * @param[out] ois_data                     : Structure instance of bmi2_sens_axes_data.
- * @param[in] reg_addr                      : Register address where data is stored.
- * @param[in] ois_dev                       : Structure instance of bmi2_ois_dev.
- * @param[in] ois_gyr_cross_sens_zx         :"gyroscope cross sensitivity value which was calculated during
- * bmi2xy_init(), refer the example ois_accel_gyro.c for more info"
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
-                                   uint8_t reg_addr,
-                                   struct bmi2_ois_dev *ois_dev,
-                                   int16_t ois_gyr_cross_sens_zx);
-
-/*!
- * @brief This internal API is used to validate the OIS device pointer for null
- * conditions.
- *
- * @param[in] ois_dev : Structure instance of bmi2_ois_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev);
-
-/*!
- * @brief This internal API corrects the gyroscope cross-axis sensitivity
- * between the z and the x axis.
- *
- * @param[in] ois_dev               : Structure instance of bmi2_ois_dev.
- * @param[in] ois_gyr_cross_sens_zx : "gyroscope cross sensitivity value which was calculated during bmi2xy_init(),
- * refer the example ois_accel_gyro.c for more info"
- *
- */
-static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx);
-
-/******************************************************************************/
-/*!  @name      User Interface Definitions                            */
-/******************************************************************************/
-
-/*!
- * @brief This API reads the data from the given OIS register address of bmi2
- * sensor.
- */
-int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define dummy byte for SPI read */
-    uint8_t dummy_byte = 1;
-
-    /* Variable to define temporary length */
-    uint16_t temp_len = data_len + dummy_byte;
-
-    /* Variable to define temporary buffer */
-    uint8_t temp_buf[temp_len];
-
-    /* Variable to index bytes read */
-    uint16_t index = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(ois_dev);
-    if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
-    {
-        /* Configuring reg_addr for SPI Interface */
-        ois_reg_addr = (ois_reg_addr | BMI2_OIS_SPI_RD_MASK);
-
-        /* Read from OIS register through OIS interface */
-        ois_dev->intf_rslt = ois_dev->ois_read(ois_reg_addr, temp_buf, temp_len, ois_dev->intf_ptr);
-        if (ois_dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
-        {
-            /* Read the data from the position next to dummy byte */
-            while (index < data_len)
-            {
-                ois_reg_data[index] = temp_buf[index + dummy_byte];
-                index++;
-            }
-        }
-        else
-        {
-            rslt = BMI2_OIS_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        rslt = BMI2_OIS_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API writes data to the given OIS register address of bmi2 sensor.
- */
-int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
-                         const uint8_t *ois_reg_data,
-                         uint16_t data_len,
-                         struct bmi2_ois_dev *ois_dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(ois_dev);
-    if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
-    {
-        /* Configuring reg_addr for SPI Interface */
-        ois_reg_addr = (ois_reg_addr & BMI2_OIS_SPI_WR_MASK);
-
-        /* Burst write to OIS register through OIS interface */
-        ois_dev->intf_rslt = ois_dev->ois_write(ois_reg_addr, ois_reg_data, data_len, ois_dev->intf_ptr);
-        if (ois_dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
-        {
-            rslt = BMI2_OIS_E_COM_FAIL;
-        }
-    }
-    else
-    {
-        rslt = BMI2_OIS_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API enables/disables accelerometer/gyroscope data read through
- * OIS interface.
- */
-int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(ois_dev);
-    if (rslt == BMI2_OIS_OK)
-    {
-        rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
-        if (rslt == BMI2_OIS_OK)
-        {
-            /* Enable/Disable Low pass filter */
-            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN, ois_dev->lp_filter_en);
-
-            /* Configures Low pass filter cut-off frequency */
-            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG, ois_dev->lp_filter_config);
-
-            /* Low pass filter - mute on secondary interface */
-            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE, ois_dev->lp_filter_mute);
-
-            /* Enable/Disable ois on accelerometer */
-            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_ACC_EN, ois_dev->acc_en);
-
-            /* Enable/Disable ois on gyroscope */
-            reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_GYR_EN, ois_dev->gyr_en);
-
-            /* Set the OIS configurations */
-            rslt = bmi2_ois_set_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API gets the status of accelerometer/gyroscope enable for data
- * read through OIS interface.
- */
-int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to store data */
-    uint8_t reg_data = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(ois_dev);
-    if (rslt == BMI2_OIS_OK)
-    {
-        rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
-        if (rslt == BMI2_OIS_OK)
-        {
-            /* Get the status of Low pass filter enable */
-            ois_dev->lp_filter_en = BMI2_GET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN);
-
-            /* Get the status of Low pass filter cut-off frequency */
-            ois_dev->lp_filter_config = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG);
-
-            /* Get the status of Low pass filter mute */
-            ois_dev->lp_filter_mute = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE);
-
-            /* Get the status of accelerometer enable */
-            ois_dev->acc_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_ACC_EN);
-
-            /* Get the status of gyroscope enable */
-            ois_dev->gyr_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_GYR_EN);
-        }
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This API reads accelerometer/gyroscope data through OIS interface.
- */
-int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
-                          uint8_t n_sens,
-                          struct bmi2_ois_dev *ois_dev,
-                          int16_t gyr_cross_sens_zx)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variable to define loop */
-    uint8_t loop = 0;
-
-    /* Variable to update register address */
-    uint8_t reg_addr = 0;
-
-    /* Null-pointer check */
-    rslt = null_ptr_check(ois_dev);
-    if ((rslt == BMI2_OIS_OK) && (sens_sel != NULL))
-    {
-
-        for (loop = 0; loop < n_sens; loop++)
-        {
-            switch (sens_sel[loop])
-            {
-                case BMI2_OIS_ACCEL:
-
-                    /* Update OIS accelerometer address */
-                    reg_addr = BMI2_OIS_ACC_X_LSB_ADDR;
-
-                    /* Get OIS accelerometer data */
-                    rslt = get_ois_acc_gyr_data(&ois_dev->acc_data, reg_addr, ois_dev, 0);
-                    break;
-                case BMI2_OIS_GYRO:
-
-                    /* Update OIS gyroscope address */
-                    reg_addr = BMI2_OIS_GYR_X_LSB_ADDR;
-
-                    /* Get OIS gyroscope data */
-                    rslt = get_ois_acc_gyr_data(&ois_dev->gyr_data, reg_addr, ois_dev, gyr_cross_sens_zx);
-                    break;
-                default:
-                    rslt = BMI2_OIS_E_INVALID_SENSOR;
-                    break;
-            }
-
-            /* Return error if any of the get sensor data fails */
-            if (rslt != BMI2_OIS_OK)
-            {
-                break;
-            }
-        }
-    }
-    else
-    {
-        rslt = BMI2_OIS_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/***************************************************************************/
-
-/*!         Local Function Definitions
- ****************************************************************************/
-
-/*! @cond DOXYGEN_SUPRESS */
-
-/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
- * directories */
-
-/*!
- * @brief This internal API gets the accelerometer and the gyroscope data.
- */
-static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
-                                   uint8_t reg_addr,
-                                   struct bmi2_ois_dev *ois_dev,
-                                   int16_t ois_gyr_cross_sens_zx)
-{
-    /* Variable to define error */
-    int8_t rslt;
-
-    /* Variables to store MSB value */
-    uint8_t msb;
-
-    /* Variables to store LSB value */
-    uint8_t lsb;
-
-    /* Variables to store both MSB and LSB value */
-    uint16_t msb_lsb;
-
-    /* Variables to define index */
-    uint8_t index = 0;
-
-    /* Array to define data stored in register */
-    uint8_t reg_data[BMI2_OIS_ACC_GYR_NUM_BYTES] = { 0 };
-
-    /* Read the sensor data */
-    rslt = bmi2_ois_get_regs(reg_addr, reg_data, BMI2_OIS_ACC_GYR_NUM_BYTES, ois_dev);
-    if (rslt == BMI2_OIS_OK)
-    {
-        /* Read x-axis data */
-        lsb = reg_data[index++];
-        msb = reg_data[index++];
-        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
-        ois_data->x = (int16_t)msb_lsb;
-
-        /* Read y-axis data */
-        lsb = reg_data[index++];
-        msb = reg_data[index++];
-        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
-        ois_data->y = (int16_t)msb_lsb;
-
-        /* Read z-axis data */
-        lsb = reg_data[index++];
-        msb = reg_data[index++];
-        msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
-        ois_data->z = (int16_t)msb_lsb;
-
-        comp_gyro_cross_axis_sensitivity(ois_data, ois_gyr_cross_sens_zx);
-    }
-
-    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 bmi2_ois_dev *ois_dev)
-{
-    /* Variable to define error */
-    int8_t rslt = BMI2_OIS_OK;
-
-    if ((ois_dev == NULL) || (ois_dev->ois_read == NULL) || (ois_dev->ois_write == NULL) ||
-        (ois_dev->ois_delay_us == NULL))
-    {
-        /* Device structure pointer is NULL */
-        rslt = BMI2_OIS_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API corrects the gyroscope cross-axis sensitivity
- * between the z and the x axis.
- */
-static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx)
-{
-
-    /* Get the compensated gyroscope x-axis */
-    ois_data->x = ois_data->x - (int16_t)(((int32_t)ois_gyr_cross_sens_zx * (int32_t)ois_data->z) / 512);
-}
-
-/*! @endcond */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h b/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h
deleted file mode 100644
index 9b700cd955..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h
+++ /dev/null
@@ -1,387 +0,0 @@
-/**
- * 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       bmi2_ois.h
- * @date       2020-05-05
- * @version    v2.23.2
- *
- */
-
-/**
- * \ingroup bmi2xy
- * \defgroup bmi2_ois BMI2_OIS
- * @brief Sensor driver for BMI2_OIS sensor
- */
-#ifndef _BMI2_OIS_H
-#define _BMI2_OIS_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/***************************************************************************/
-
-/*!             Header files
- ****************************************************************************/
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/kernel.h>
-#else
-#include <stdint.h>
-#include <stddef.h>
-#endif
-
-/******************************************************************************/
-/*!  @name          Macros                                        */
-/******************************************************************************/
-
-#ifndef BMI2_INTF_RETURN_TYPE
-#define BMI2_INTF_RETURN_TYPE  int8_t
-#endif
-
-/*! @name  Utility macros */
-#define BMI2_OIS_SET_BITS(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MASK)) | \
-     ((data << bitname##_POS) & bitname##_MASK))
-
-#define BMI2_OIS_GET_BITS(reg_data, bitname) \
-    ((reg_data & (bitname##_MASK)) >> \
-     (bitname##_POS))
-
-#define BMI2_SET_BIT_POS0(reg_data, bitname, data) \
-    ((reg_data & ~(bitname##_MASK)) | \
-     (data & bitname##_MASK))
-
-#define BMI2_GET_BIT_POS0(reg_data, bitname)  (reg_data & (bitname##_MASK))
-
-/*! @name For enable and disable */
-#define BMI2_OIS_ENABLE                       UINT8_C(1)
-#define BMI2_OIS_DISABLE                      UINT8_C(0)
-
-/*! @name To define sensor interface success code */
-#define BMI2_INTF_RET_SUCCESS                 INT8_C(0)
-
-/*! @name To define success code */
-#define BMI2_OIS_OK                           UINT8_C(0)
-
-/*! @name To define error codes */
-#define BMI2_OIS_E_NULL_PTR                   INT8_C(-1)
-#define BMI2_OIS_E_COM_FAIL                   INT8_C(-2)
-#define BMI2_OIS_E_INVALID_SENSOR             INT8_C(-8)
-
-/*! @name Mask definitions for SPI read/write address for OIS */
-#define BMI2_OIS_SPI_RD_MASK                  UINT8_C(0x80)
-#define BMI2_OIS_SPI_WR_MASK                  UINT8_C(0x7F)
-
-/*! @name BMI2 OIS data bytes */
-#define BMI2_OIS_ACC_GYR_NUM_BYTES            UINT8_C(6)
-
-/*!  @name Macros to select sensor for OIS data read */
-#define BMI2_OIS_ACCEL                        UINT8_C(0x01)
-#define BMI2_OIS_GYRO                         UINT8_C(0x02)
-
-/*!  @name Macros to define OIS register addresses */
-#define BMI2_OIS_CONFIG_ADDR                  UINT8_C(0x40)
-#define BMI2_OIS_ACC_X_LSB_ADDR               UINT8_C(0x0C)
-#define BMI2_OIS_GYR_X_LSB_ADDR               UINT8_C(0x12)
-
-/*! @name Mask definitions for OIS configurations */
-#define BMI2_OIS_GYR_EN_MASK                  UINT8_C(0x40)
-#define BMI2_OIS_ACC_EN_MASK                  UINT8_C(0x80)
-
-/*! @name Bit Positions for OIS configurations */
-#define BMI2_OIS_GYR_EN_POS                   UINT8_C(0x06)
-#define BMI2_OIS_ACC_EN_POS                   UINT8_C(0x07)
-
-/*! Low pass filter configuration position and mask */
-#define BMI2_OIS_LP_FILTER_EN_POS             UINT8_C(0x00)
-#define BMI2_OIS_LP_FILTER_EN_MASK            UINT8_C(0x01)
-
-#define BMI2_OIS_LP_FILTER_CONFIG_POS         UINT8_C(0x01)
-#define BMI2_OIS_LP_FILTER_CONFIG_MASK        UINT8_C(0x06)
-
-#define BMI2_OIS_LP_FILTER_MUTE_POS           UINT8_C(0x05)
-#define BMI2_OIS_LP_FILTER_MUTE_MASK          UINT8_C(0x20)
-
-/******************************************************************************/
-/*! @name           Function Pointers                             */
-/******************************************************************************/
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific read functions of the user
- *
- * @param[in] reg_addr       : Register address from which data is read.
- * @param[out] reg_data     : Pointer to data buffer where read data is stored.
- * @param[in] len            : Number of bytes of data to be read.
- * @param[in, out] intf_ptr  : Void pointer that can enable the linking of descriptors
- *                                  for interface related call backs.
- *
- *  retval =  BMI2_INTF_RET_SUCCESS -> Success
- *  retval != BMI2_INTF_RET_SUCCESS -> Failure
- *
- */
-typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_read_fptr_t)(uint8_t reg_addr, uint8_t *data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief Bus communication function pointer which should be mapped to
- * the platform specific write functions of the user
- *
- * @param[in] reg_addr      : Register address to which the data is written.
- * @param[in] reg_data     : Pointer to data buffer in which data to be written
- *                            is stored.
- * @param[in] len           : Number of bytes of data to be written.
- * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
- *                            for interface related call backs
- *
- * retval  = BMI2_INTF_RET_SUCCESS -> Success
- * retval != BMI2_INTF_RET_SUCCESS -> Failure
- *
- */
-typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_write_fptr_t)(uint8_t reg_addr, const uint8_t *data, uint32_t len,
-                                                       void *intf_ptr);
-
-/*!
- * @brief Delay function pointer which should be mapped to
- * delay function of the user
- *
- * @param[in] period              : Delay in microseconds.
- * @param[in, out] intf_ptr       : Void pointer that can enable the linking of descriptors
- *                                  for interface related call backs
- *
- */
-typedef void (*bmi2_ois_delay_fptr_t)(uint32_t period, void *intf_ptr);
-
-/******************************************************************************/
-/*!  @name         Structure Declarations                             */
-/******************************************************************************/
-/*! @name Structure to define accelerometer and gyroscope sensor axes for OIS */
-struct bmi2_ois_sens_axes_data
-{
-    /*! Data in x-axis */
-    int16_t x;
-
-    /*! Data in y-axis */
-    int16_t y;
-
-    /*! Data in z-axis */
-    int16_t z;
-
-};
-
-/*!  @name Structure to define bmi2 OIS sensor configurations */
-struct bmi2_ois_dev
-{
-    /*! Read function pointer */
-    bmi2_ois_read_fptr_t ois_read;
-
-    /*! Write function pointer */
-    bmi2_ois_write_fptr_t ois_write;
-
-    /*!  Delay function pointer */
-    bmi2_ois_delay_fptr_t ois_delay_us;
-
-    /*!  Low pass filter en/dis  */
-    uint8_t lp_filter_en;
-
-    /*! Void interface pointer */
-    void *intf_ptr;
-
-    /*! To store interface pointer error */
-    int8_t intf_rslt;
-
-    /*!  Low pass filter cut-off frequency  */
-    uint8_t lp_filter_config;
-
-    /*!  Low pass filter mute  */
-    uint8_t lp_filter_mute;
-
-    /*! Accelerometer enable for OIS */
-    uint8_t acc_en;
-
-    /*! Gyroscope enable for OIS */
-    uint8_t gyr_en;
-
-    /*! Accelerometer data axes */
-    struct bmi2_ois_sens_axes_data acc_data;
-
-    /*! Gyroscope data axes */
-    struct bmi2_ois_sens_axes_data gyr_data;
-};
-
-/***************************************************************************/
-
-/*!     BMI2 OIS User Interface function prototypes
- ****************************************************************************/
-
-/**
- * \ingroup bmi2_ois
- * \defgroup bmi2_oisApiRegs Registers
- * @brief Read data from the given OIS register address of bmi2
- */
-
-/*!
- * \ingroup bmi2_oisApiRegs
- * \page bmi2_ois_api_bmi2_ois_get_regs bmi2_ois_get_regs
- * \code
- * int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
- *                        uint8_t *ois_reg_data,
- *                        uint16_t data_len,
- *                        const struct bmi2_ois_dev *ois_dev);
- * \endcode
- *  @details This API reads the data from the given OIS register address of bmi2
- * sensor.
- *
- * @param[in]  ois_reg_addr : OIS register address from which data is read.
- * @param[out] ois_reg_data : Pointer to data buffer where read data is stored.
- * @param[in]  data_len     : No. of bytes of data to be read.
- * @param[in]  ois_dev      : Structure instance of bmi2_ois_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev);
-
-/*!
- * \ingroup bmi2_oisApiRegs
- * \page bmi2_ois_api_bmi2_ois_set_regs bmi2_ois_set_regs
- * \code
- * int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
- *                        uint8_t *ois_reg_data,
- *                        uint16_t data_len,
- *                        const struct bmi2_ois_dev *ois_dev);
- * \endcode
- *  @details This API writes data to the given OIS register address of bmi2 sensor.
- *
- * @param[in] ois_reg_addr  : OIS register address to which the data is written.
- * @param[in] ois_reg_data  : Pointer to data buffer in which data to be written
- *                is stored.
- * @param[in] data_len      : No. of bytes of data to be written.
- * @param[in] ois_dev       : Structure instance of bmi2_ois_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
-                         const uint8_t *ois_reg_data,
-                         uint16_t data_len,
-                         struct bmi2_ois_dev *ois_dev);
-
-/**
- * \ingroup bmi2_ois
- * \defgroup bmi2_oisApiConfig Status update
- * @brief Get / Set the status of Enable / Disable accelerometer / gyroscope data read through OIS interface
- */
-
-/*!
- * \ingroup bmi2_oisApiConfig
- * \page bmi2_ois_api_bmi2_ois_set_config bmi2_ois_set_config
- * \code
- * int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev);
- * \endcode
- *  @details This API sets the status of enable/disable accelerometer/gyroscope data read through
- * OIS interface.
- *
- * @param[in] ois_dev   : Structure instance of bmi2_ois_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev);
-
-/*!
- * \ingroup bmi2_oisApiConfig
- * \page bmi2_ois_api_bmi2_ois_get_config bmi2_ois_get_config
- * \code
- * int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
- * \endcode
- *  @details This API gets the status of accelerometer/gyroscope enable for data
- * read through OIS interface.
- *
- * @param[in, out] ois_dev : Structure instance of bmi2_ois_dev.
- *
- * @note Enabling and disabling is done during OIS structure initialization.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
-
-/**
- * \ingroup bmi2_ois
- * \defgroup bmi2_oisApiRead Data read
- * @brief Read accelerometer / gyroscope data through OIS interface
- */
-
-/*!
- * \ingroup bmi2_oisApiRead
- * \page bmi2_ois_api_bmi2_ois_read_data bmi2_ois_read_data
- * \code
- * int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
- *                         uint8_t n_sens,
- *                         struct bmi2_ois_dev *ois_dev,
- *                         int16_t gyr_cross_sens_zx);
- * \endcode
- *  @details This API reads accelerometer/gyroscope data through OIS interface.
- *
- * @param[in] sens_sel          : Select sensor whose data is to be read.
- * @param[in] n_sens            : Number of sensors selected.
- * @param[in, out] ois_dev      : Structure instance of bmi2_ois_dev.
- * @param[in] gyr_cross_sens_zx : Store the gyroscope cross sensitivity values taken from the bmi2xy
- *                                (refer bmi2_ois example).
- *
- *@verbatim
- *  sens_sel      |   Value
- * ---------------|---------------
- * BMI2_OIS_ACCEL |   0x01
- * BMI2_OIS_GYRO  |   0x02
- *@endverbatim
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- */
-int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
-                          uint8_t n_sens,
-                          struct bmi2_ois_dev *ois_dev,
-                          int16_t gyr_cross_sens_zx);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* End of _BMI2_OIS_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile
deleted file mode 100644
index c63d602ce5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c
deleted file mode 100644
index ea385d7441..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c
+++ /dev/null
@@ -1,200 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 20;
-
-    /* Assign accel sensor to variable. */
-    uint8_t sensor_list = BMI2_ACCEL;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Initialize the interrupt status of accel. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 0;
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel sensor. */
-        rslt = bmi270_sensor_enable(&sensor_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel configuration settings. */
-            rslt = set_accel_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel sensor. */
-            sensor_data.type = BMI2_ACCEL;
-            printf("Accel and m/s2 data \n");
-            printf("Accel data collected at 2G Range with 16-bit resolution\n");
-
-            /* Loop to print the accel data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the status of accel data ready interrupt. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the accel data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_ACC_DRDY_INT_MASK)
-                {
-                    /* Get accelerometer data for x, y and z axis. */
-                    rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
-                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
-                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer configuration. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ACCEL;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel configurations. */
-        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile
deleted file mode 100644
index c0617d02e2..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c
deleted file mode 100644
index 1e7c9dfc06..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 10;
-
-    /* Assign accel and gyro sensor to variable. */
-    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
-
-    /* Initialize the interrupt status of accel and gyro. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 1;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_SPI_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel and gyro sensor. */
-        rslt = bmi270_sensor_enable(sensor_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel and gyro configuration settings. */
-            rslt = set_accel_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel and gyro sensor. */
-            sensor_data[ACCEL].type = BMI2_ACCEL;
-            sensor_data[GYRO].type = BMI2_GYRO;
-
-            /* Loop to print accel and gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of accel and gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
-                {
-                    /* Get accel and gyro data for x, y and z axis. */
-                    rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
-
-                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer and gyro configuration. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel and gyro configurations. */
-        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile
deleted file mode 100644
index 9158f05773..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= any_motion_interrupt.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c
deleted file mode 100644
index 062b29eb31..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/any_motion_interrupt.c
+++ /dev/null
@@ -1,135 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for any-motion.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and any-motion feature are listed in array. */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_ANY_MOTION };
-
-    /* Variable to get any-motion interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set feature configurations for any-motion. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for any-motion. */
-                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Move the board\n");
-
-                /* Loop to get any-motion interrupt. */
-                do
-                {
-                    /* Clear buffer. */
-                    int_status = 0;
-
-                    /* To get the interrupt status of any-motion. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of any-motion. */
-                    if (int_status & BMI270_ANY_MOT_STATUS_MASK)
-                    {
-                        printf("Any-motion interrupt is generated\n");
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for any-motion.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ANY_MOTION;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
-        config.cfg.any_motion.duration = 0x04;
-
-        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
-        config.cfg.any_motion.threshold = 0x68;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c
deleted file mode 100644
index afff37bc84..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.c
+++ /dev/null
@@ -1,372 +0,0 @@
-/**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "bmi2_defs.h"
-
-/******************************************************************************/
-/*!                 Macro definitions                                         */
-#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
-
-/*! Macro that defines read write length */
-#define READ_WRITE_LEN     UINT8_C(46)
-
-/******************************************************************************/
-/*!                Static variable definition                                 */
-
-/*! Variable that holds the I2C device address or SPI chip selection */
-static uint8_t dev_addr;
-
-/******************************************************************************/
-/*!                User interface functions                                   */
-
-/*!
- * I2C read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * I2C write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *  Also to initialize coines platform
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
-{
-    int8_t rslt = BMI2_OK;
-    struct coines_board_info board_info;
-
-    if (bmi != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        result = coines_get_board_info(&board_info);
-
-#if defined(PC)
-        setbuf(stdout, NULL);
-#endif
-
-        if (result == COINES_SUCCESS)
-        {
-            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
-            {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
-                exit(COINES_E_FAILURE);
-            }
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        /* Bus configuration : I2C */
-        if (intf == BMI2_I2C_INTF)
-        {
-            printf("I2C Interface \n");
-
-            /* To initialize the user I2C function */
-            dev_addr = BMI2_I2C_PRIM_ADDR;
-            bmi->intf = BMI2_I2C_INTF;
-            bmi->read = bmi2_i2c_read;
-            bmi->write = bmi2_i2c_write;
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
-        }
-        /* Bus configuration : SPI */
-        else if (intf == BMI2_SPI_INTF)
-        {
-            printf("SPI Interface \n");
-
-            /* To initialize the user SPI function */
-            dev_addr = COINES_SHUTTLE_PIN_7;
-            bmi->intf = BMI2_SPI_INTF;
-            bmi->read = bmi2_spi_read;
-            bmi->write = bmi2_spi_write;
-            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
-            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-        }
-
-        /* Assign device address to interface pointer */
-        bmi->intf_ptr = &dev_addr;
-
-        /* Configure delay in microseconds */
-        bmi->delay_us = bmi2_delay_us;
-
-        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
-        bmi->read_write_len = READ_WRITE_LEN;
-
-        /* Assign to NULL to load the default config file. */
-        bmi->config_file_ptr = NULL;
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-
-}
-
-/*!
- *  @brief Prints the execution status of the APIs.
- */
-void bmi2_error_codes_print_result(int8_t rslt)
-{
-    switch (rslt)
-    {
-        case BMI2_OK:
-
-            /* Do nothing */
-            break;
-
-        case BMI2_W_FIFO_EMPTY:
-            printf("Warning [%d] : FIFO empty\r\n", rslt);
-            break;
-        case BMI2_W_PARTIAL_READ:
-            printf("Warning [%d] : FIFO partial read\r\n", rslt);
-            break;
-        case BMI2_E_NULL_PTR:
-            printf(
-                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_COM_FAIL:
-            printf(
-                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DEV_NOT_FOUND:
-            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
-                   rslt);
-            break;
-
-        case BMI2_E_INVALID_SENSOR:
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_FAIL:
-            printf(
-                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INT_PIN:
-            printf(
-                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_OUT_OF_RANGE:
-            printf(
-                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYRO_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_GYR_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CONFIG_LOAD:
-            printf(
-                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_PAGE:
-            printf(
-                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SET_APS_FAIL:
-            printf(
-                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_BUSY:
-            printf(
-                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_REMAP_ERROR:
-            printf(
-                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
-            printf(
-                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_NOT_DONE:
-            printf(
-                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INPUT:
-            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_INVALID_STATUS:
-            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_CRT_ERROR:
-            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
-            break;
-
-        case BMI2_E_ST_ALREADY_RUNNING:
-            printf(
-                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
-            printf(
-                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DL_ERROR:
-            printf(
-                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_PRECON_ERROR:
-            printf(
-                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ABORT_ERROR:
-            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
-            break;
-
-        case BMI2_E_WRITE_CYCLE_ONGOING:
-            printf(
-                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ST_NOT_RUNING:
-            printf(
-                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DATA_RDY_INT_FAILED:
-            printf(
-                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_FOC_POSITION:
-            printf(
-                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
-                rslt);
-            break;
-
-        default:
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-            break;
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h
deleted file mode 100644
index 763983da4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/common/common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *  @param[in] intf : Interface selection parameter
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_error_codes_print_result(int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile
deleted file mode 100644
index aad6a0b877..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= component_retrim.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c
deleted file mode 100644
index d85c148d2a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/component_retrim/component_retrim.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* This API runs the CRT process. */
-        rslt = bmi2_do_crt(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
-        if (rslt == BMI2_OK)
-        {
-            printf("CRT successfully completed.");
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile
deleted file mode 100644
index 83a8f49ff9..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c
deleted file mode 100644
index 2118c241df..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_header_mode/fifo_full_header_mode.c
+++ /dev/null
@@ -1,315 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data. */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO. */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO. */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
- * totaling to 13) which equals to 157.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
-
-/*! Number of gyro frames to be extracted from FIFO. */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
-
-/*! Macro to read sensortime byte in FIFO. */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-    uint16_t fifo_length = 0;
-    uint16_t config = 0;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    int8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
-
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile
deleted file mode 100644
index ae9a413fe5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c
deleted file mode 100644
index 53dddc4ba6..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_full_headerless_mode/fifo_full_headerless_mode.c
+++ /dev/null
@@ -1,304 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
- * 12) which equals to 170.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
-
-/******************************************************************************/
-/*!                 Static Function Declaration                               */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint8_t try = 1;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile
deleted file mode 100644
index 08158205b5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c
deleted file mode 100644
index faaeb307ea..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c
+++ /dev/null
@@ -1,335 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
- * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
- * NOTE: Extra frames are read in order to get sensor time
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/*! Macro to read sensortime byte in FIFO */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile
deleted file mode 100644
index 527a18ab8e..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
deleted file mode 100644
index b3adf89659..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
+++ /dev/null
@@ -1,331 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
- * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameter according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile
deleted file mode 100644
index e1f03b8bd2..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c
deleted file mode 100644
index 1bb0ca471b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print gyro data. */
-    uint8_t limit = 10;
-
-    uint8_t indx = 0;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Assign gyro sensor to variable. */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Initialize the interrupt status of gyro. */
-    uint16_t int_status = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_sensor_enable(&sens_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Gyro configuration settings. */
-            rslt = set_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Select gyro sensor. */
-            sensor_data.type = BMI2_GYRO;
-            printf("Gyro and DPS data\n");
-            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
-
-            /* Loop to print gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_GYR_DRDY_INT_MASK)
-                {
-                    /* Get gyro data for x, y and z axis. */
-                    rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
-                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(&config, 1, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the gyro configurations. */
-        rslt = bmi270_set_sensor_config(&config, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile
deleted file mode 100644
index c5df6dfb3c..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= no_motion_interrupt.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c
deleted file mode 100644
index 5c46306602..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c
+++ /dev/null
@@ -1,134 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for no-motion.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and no-motion feature are listed in array. */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
-
-    /* Variable to get no-motion interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set feature configurations for no-motion. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for no-motion. */
-                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Do not move the board\n");
-
-                /* Loop to get no-motion interrupt. */
-                do
-                {
-                    /* Clear buffer. */
-                    int_status = 0;
-
-                    /* To get the interrupt status of no-motion. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of no-motion. */
-                    if (int_status & BMI270_NO_MOT_STATUS_MASK)
-                    {
-                        printf("No-motion interrupt is generated\n");
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for no-motion.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_NO_MOTION;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
-        config.cfg.no_motion.duration = 0x04;
-
-        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
-        config.cfg.no_motion.threshold = 0x68;
-
-        /* Set new configurations. */
-        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile
deleted file mode 100644
index db669c09dc..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= read_aux_data_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-BMM150_SOURCE ?= ../../../bmm150
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(BMM150_SOURCE)/bmm150.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(BMM150_SOURCE) \
-$(COMMON_LOCATION)/common 
-
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c
deleted file mode 100644
index a542f97c61..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c
+++ /dev/null
@@ -1,327 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "bmm150.h"
-#include "coines.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-#define AUX            UINT8_C(0x02)
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*****************************************************************************/
-/*!         Structure declaration                                            */
-
-/* Sensor initialization configuration. */
-struct bmi2_dev bmi2_dev;
-
-/*******************************************************************************/
-/*!                 Functions                                                  */
-
-/**
- * user_aux_read - Reads data from auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/**
- * user_aux_write - Writes data to the auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the data being written.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- */
-static void user_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to select the pull-up resistor which is set to trim register */
-    uint8_t regdata;
-
-    /* Variable to define limit to print aux data. */
-    uint8_t limit = 20;
-
-    /* Accel, Gyro and Aux sensors are listed in array. */
-    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
-
-    /* Structure to define the type of the sensor and its configurations. */
-    struct bmi2_sens_config config[3];
-
-    /* Sensor initialization configuration. */
-    struct bmm150_dev bmm150_dev;
-
-    /* bmm150 settings configuration */
-    struct bmm150_settings settings;
-
-    /* bmm150 magnetometer data */
-    struct bmm150_mag_data mag_data;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data[3];
-
-    /* Variables to define read the accel and gyro data in float */
-    float x = 0, y = 0, z = 0;
-
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-    config[AUX].type = BMI2_AUX;
-
-    /* To enable the i2c interface settings for bmm150. */
-    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    bmm150_dev.intf_ptr = &bmm150_dev_addr;
-    bmm150_dev.read = user_aux_read;
-    bmm150_dev.write = user_aux_write;
-    bmm150_dev.delay_us = user_delay_us;
-
-    /* As per datasheet, aux interface with bmi270 will support only for I2C */
-    bmm150_dev.intf = BMM150_I2C_INTF;
-
-    sensor_data[ACCEL].type = BMI2_ACCEL;
-    sensor_data[GYRO].type = BMI2_GYRO;
-    sensor_data[AUX].type = BMI2_AUX;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Pull-up resistor 2k is set to the trim regiter */
-    regdata = BMI2_ASDA_PUPSEL_2K;
-    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable the accel, gyro and aux sensor. */
-    rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configurations for accel. */
-    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
-    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-    /* Configurations for gyro. */
-    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
-    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
-
-    /* Configurations for aux. */
-    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
-    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
-    config[AUX].cfg.aux.read_addr = BMM150_REG_DATA_X_LSB;
-
-    /* Set new configurations for accel, gyro and aux. */
-    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmm150. */
-    rslt = bmm150_init(&bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set the power mode to normal mode. */
-    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
-    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Disable manual mode so that the data mode is enabled. */
-    config[AUX].cfg.aux.manual_en = BMI2_DISABLE;
-
-    /* Set the aux configurations. */
-    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("MAGNETOMETER, ACCEL, AND GYRO DATA IN DATA MODE\n");
-
-    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
-    {
-        while (limit--)
-        {
-            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
-            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
-
-            rslt = bmi270_get_sensor_data(sensor_data, 3, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                /* Print the data in m/s2. */
-                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                printf("Gyr_Z= %d", sensor_data[GYRO].sens_data.gyr.z);
-
-                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                /* Print the data in dps. */
-                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                /* Compensating the raw auxiliary data available from the BMM150 API. */
-                rslt = bmm150_aux_mag_data(sensor_data[AUX].sens_data.aux_data, &mag_data, &bmm150_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("\nMag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n",
-                       mag_data.x,
-                       mag_data.y,
-                       mag_data.z);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This function reads the data from auxiliary sensor in manual mode.
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This function writes the data to auxiliary sensor in manual mode.
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * Delay function map to COINES platform
- */
-static void user_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile
deleted file mode 100644
index cc9e6e4e74..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= read_aux_manual_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-BMM150_SOURCE ?= ../../../bmm150
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(BMM150_SOURCE)/bmm150.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(BMM150_SOURCE) \
-$(COMMON_LOCATION)/common 
-
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c
deleted file mode 100644
index ced8f59c7a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/read_aux_manual_mode.c
+++ /dev/null
@@ -1,322 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "bmm150.h"
-#include "coines.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-#define AUX            UINT8_C(0x02)
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*****************************************************************************/
-/*!         Structure declaration                                            */
-
-/* Sensor initialization configuration. */
-struct bmi2_dev bmi2_dev;
-
-/******************************************************************************/
-/*!                 Functions                                                 */
-
-/**
- * user_aux_read - Reads data from auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/**
- * user_aux_write - Writes data to the auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the data being written.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- */
-static void user_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to select the pull-up resistor which is set to trim register */
-    uint8_t regdata;
-
-    /* Variable to define limit to print aux data. */
-    uint8_t limit = 20;
-
-    /* Accel, Gyro and Aux sensors are listed in array. */
-    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
-
-    /* Sensor initialization configuration. */
-    struct bmm150_dev bmm150_dev;
-
-    /* bmm150 settings configuration */
-    struct bmm150_settings settings;
-
-    /* bmm150 magnetometer data */
-    struct bmm150_mag_data mag_data;
-
-    /* Structure to define the type of the sensor and its configurations. */
-    struct bmi2_sens_config config[3];
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data[2];
-
-    /* Variables to define read the accel and gyro data in float */
-    float x = 0, y = 0, z = 0;
-
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-    config[AUX].type = BMI2_AUX;
-
-    sensor_data[ACCEL].type = BMI2_ACCEL;
-    sensor_data[GYRO].type = BMI2_GYRO;
-
-    /* Array of eight bytes to store x, y, z and r axis aux data. */
-    uint8_t aux_data[8] = { 0 };
-
-    /* To enable the i2c interface settings for bmm150. */
-    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    bmm150_dev.intf_ptr = &bmm150_dev_addr;
-    bmm150_dev.read = user_aux_read;
-    bmm150_dev.write = user_aux_write;
-    bmm150_dev.delay_us = user_delay_us;
-
-    /* As per datasheet, aux interface with bmi270 will support only for I2C */
-    bmm150_dev.intf = BMM150_I2C_INTF;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Pull-up resistor 2k is set to the trim register */
-    regdata = BMI2_ASDA_PUPSEL_2K;
-    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable the accel, gyro and aux sensor. */
-    rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configurations for accel. */
-    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
-    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-    /* Configurations for gyro. */
-    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
-    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
-
-    /* Configurations for aux. */
-    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
-    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
-
-    /* Set new configurations for accel, gyro and aux. */
-    rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmm150. */
-    rslt = bmm150_init(&bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set the power mode to normal mode. */
-    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
-    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("MAGNETOMETER, ACCEL AND GYRO DATA IN MANUAL MODE\n");
-
-    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
-    {
-        while (limit--)
-        {
-            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
-            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
-
-            rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                /* Print the data in m/s2. */
-                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                printf("Gyr_Z = %d", sensor_data[GYRO].sens_data.gyr.z);
-
-                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                /* Print the data in dps. */
-                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-            }
-
-            /* Read aux data from the bmm150 data registers. */
-            rslt = bmi2_read_aux_man_mode(BMM150_REG_DATA_X_LSB, aux_data, 8, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-            if (rslt == BMI2_OK)
-            {
-                /* Compensating the raw auxiliary data available from the BMM150 API. */
-                rslt = bmm150_aux_mag_data(aux_data, &mag_data, &bmm150_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Mag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n", mag_data.x, mag_data.y,
-                       mag_data.z);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This function reads the data from auxiliary sensor in manual mode.
- */
-int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This function writes the data to auxiliary sensor in manual mode.
- */
-int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * Delay function map to COINES platform
- */
-static void user_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile
deleted file mode 100644
index 97edcc2d16..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= sig_motion.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c
deleted file mode 100644
index 47e1c2864d..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/sig_motion/sig_motion.c
+++ /dev/null
@@ -1,93 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Accel sensor and significant-motion feature are listed in array. */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_SIG_MOTION };
-
-    /* Variable to get significant-motion interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_SIG_MOTION, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Configure the type of feature. */
-        config.type = BMI2_SIG_MOTION;
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get default configurations for the type of feature selected. */
-            rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for significant-motion. */
-                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* By default the significant-motion interrupt occurs when the sensor is in motion for about 5 seconds.
-                 * */
-                printf("Move the board for 5 secs in any direction\n");
-
-                do
-                {
-                    /* To get the interrupt status of significant-motion. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of significant-motion. */
-                    if (int_status & BMI270_SIG_MOT_STATUS_MASK)
-                    {
-                        printf("Significant motion interrupt is generated\n");
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile
deleted file mode 100644
index 91962d5026..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_activity.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c
deleted file mode 100644
index 87775b706b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define the type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step activity feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_ACTIVITY };
-
-    /* Type of sensor to get step activity data. */
-    sensor_data.type = BMI2_STEP_ACTIVITY;
-
-    /* Variable to get step activity interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t loop = 10;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_ACTIVITY, .hw_int_pin = BMI2_INT2 };
-
-    /* The step activities are listed in array. */
-    const char *activity_output[4] = { "BMI2_STILL", "BMI2_WALK", "BMI2_RUN", "BMI2_UNKNOWN" };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Configure the type of sensor. */
-        config.type = BMI2_STEP_ACTIVITY;
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get default configurations for the type of feature selected. */
-            rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for step activity. */
-                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                printf("\nMove the board in steps to perform step activity:\n");
-
-                /* Loop to get step activity. */
-                while (loop)
-                {
-                    /* To get the interrupt status of step detector. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of step detector. */
-                    if (int_status & BMI270_STEP_ACT_STATUS_MASK)
-                    {
-                        printf("Step detected\n");
-
-                        /* Get step activity output. */
-                        rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step activity output. */
-                        printf("Step activity = %s\n", activity_output[sensor_data.sens_data.activity_output]);
-
-                        loop--;
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile
deleted file mode 100644
index b47fb0e9d1..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_counter.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c
deleted file mode 100644
index b08f958a22..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step counter feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
-
-    /* Variable to get step counter interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
-
-    /* Type of sensor to get step counter data. */
-    sensor_data.type = BMI2_STEP_COUNTER;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the feature configuration for step counter. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("Step counter watermark level set to 1 (20 steps)\n");
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the step counter feature interrupt. */
-                rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* Move the board in steps for 20 times to get step counter interrupt. */
-                printf("Move the board in steps\n");
-
-                /* Loop to get number of steps counted. */
-                do
-                {
-                    /* To get the interrupt status of the step counter. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the step counter. */
-                    if (int_status & BMI270_STEP_CNT_STATUS_MASK)
-                    {
-                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
-
-                        /* Get step counter output. */
-                        rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step counter output. */
-                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for step counter.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of sensor. */
-    config.type = BMI2_STEP_COUNTER;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
-         * output triggers. */
-        config.cfg.step_counter.watermark_level = 1;
-
-        /* Set new configuration. */
-        rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile
deleted file mode 100644
index 0f959907ba..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= wrist_gesture.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c
deleted file mode 100644
index be494b8be9..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c
+++ /dev/null
@@ -1,147 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!            Header Files                                  */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set the sensor configuration.
- *
- *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program */
-int main(void)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* Initialize status of wrist gesture interrupt */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_GESTURE, .hw_int_pin = BMI2_INT1 };
-
-    /* Sensor data structure */
-    struct bmi2_sensor_data sens_data = { 0 };
-
-    /* The gesture movements are listed in array */
-    const char *gesture_output[6] =
-    { "unknown_gesture", "push_arm_down", "pivot_up", "wrist_shake_jiggle", "flick_in", "flick_out" };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        sens_data.type = BMI2_WRIST_GESTURE;
-
-        /* Set the sensor configuration */
-        rslt = bmi2_set_config(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Map the feature interrupt */
-            rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("Flip the board in portrait/landscape mode:\n");
-
-                /* Loop to print the wrist gesture data when interrupt occurs */
-                while (1)
-                {
-                    /* Get the interrupt status of the wrist gesture */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_GEST_STATUS_MASK))
-                    {
-                        printf("Wrist gesture detected\n");
-
-                        /* Get wrist gesture output */
-                        rslt = bmi270_get_sensor_data(&sens_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        printf("Wrist gesture = %d\r\n", sens_data.sens_data.wrist_gesture_output);
-
-                        printf("Gesture output = %s\n", gesture_output[sens_data.sens_data.wrist_gesture_output]);
-                        break;
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the sensor configuration
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* List the sensors which are required to enable */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_GESTURE };
-
-    /* Structure to define the type of the sensor and its configurations */
-    struct bmi2_sens_config config;
-
-    /* Configure type of feature */
-    config.type = BMI2_WRIST_GESTURE;
-
-    /* Enable the selected sensors */
-    rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Get default configurations for the type of feature selected */
-        rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            config.cfg.wrist_gest.wearable_arm = BMI2_ARM_LEFT;
-
-            /* Set the new configuration along with interrupt mapping */
-            rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-        }
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile
deleted file mode 100644
index 1e20da2ea8..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= wrist_wear_wakeup.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c
deleted file mode 100644
index 3547b2d309..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c
+++ /dev/null
@@ -1,131 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!            Header Files                                  */
-#include <stdio.h>
-#include "bmi270.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set the sensor configuration.
- *
- *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program */
-int main(void)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* Initialize status of wrist wear wakeup interrupt */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Set the sensor configuration */
-        rslt = bmi2_set_config(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Map the feature interrupt */
-            rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("Tilt the board in landscape position to trigger wrist wear wakeup\n");
-
-                /* Loop to print the wrist wear wakeup data when interrupt occurs */
-                while (1)
-                {
-                    int_status = 0;
-
-                    /* To get the interrupt status of the wrist wear wakeup */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the wrist gesture */
-                    if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_WAKE_UP_STATUS_MASK))
-                    {
-                        printf("Wrist wear wakeup detected\n");
-                        break;
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the sensor configuration
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* List the sensors which are required to enable */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP };
-
-    /* Structure to define the type of the sensor and its configurations */
-    struct bmi2_sens_config config;
-
-    /* Configure type of feature */
-    config.type = BMI2_WRIST_WEAR_WAKE_UP;
-
-    /* Enable the selected sensors */
-    rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Get default configurations for the type of feature selected */
-        rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the new configuration */
-            rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-        }
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile
deleted file mode 100644
index d215172455..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c
deleted file mode 100644
index 5b36fffe42..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c
+++ /dev/null
@@ -1,200 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 20;
-
-    /* Assign accel sensor to variable. */
-    uint8_t sensor_list = BMI2_ACCEL;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Initialize the interrupt status of accel. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 0;
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel sensor. */
-        rslt = bmi270_context_sensor_enable(&sensor_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel configuration settings. */
-            rslt = set_accel_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel sensor. */
-            sensor_data.type = BMI2_ACCEL;
-            printf("Accel and m/s2 data \n");
-            printf("Accel data collected at 2G Range with 16-bit resolution\n");
-
-            /* Loop to print the accel data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the status of accel data ready interrupt. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the accel data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_ACC_DRDY_INT_MASK)
-                {
-                    /* Get accelerometer data for x, y and z axis. */
-                    rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
-                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
-                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer configuration. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ACCEL;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel configurations. */
-        rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile
deleted file mode 100644
index 2eed195611..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c
deleted file mode 100644
index 7458969efb..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel_gyro/accel_gyro.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 10;
-
-    /* Assign accel and gyro sensor to variable. */
-    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
-
-    /* Initialize the interrupt status of accel and gyro. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 1;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel and gyro sensor. */
-        rslt = bmi270_context_sensor_enable(sensor_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel and gyro configuration settings. */
-            rslt = set_accel_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel and gyro sensor. */
-            sensor_data[ACCEL].type = BMI2_ACCEL;
-            sensor_data[GYRO].type = BMI2_GYRO;
-
-            /* Loop to print accel and gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of accel and gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
-                {
-                    /* Get accel and gyro data for x, y and z axis. */
-                    rslt = bmi270_context_get_sensor_data(sensor_data, 2, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
-
-                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                    printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer and gyro configuration. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel and gyro configurations. */
-        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile
deleted file mode 100644
index 28ed939cd6..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= activity_recognition.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c
deleted file mode 100644
index 9f0714d384..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c
+++ /dev/null
@@ -1,154 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define index for FIFO data */
-    uint8_t count;
-
-    /* Various Activity recognitions are listed in array. */
-    const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
-
-    /* Accel sensor and step activity feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
-
-    /* Array to define FIFO data */
-    uint8_t fifo_data[516] = { 0 };
-
-    /* Variable to store number of activity frames */
-    uint16_t act_frames;
-
-    /* Structure to define a FIFO */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Structure to define output for activity recognition */
-    struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
-
-    uint16_t fifo_length;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            rslt = set_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Update FIFO structure */
-                fifoframe.data = fifo_data;
-                fifoframe.length = 516;
-
-                rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-                printf("Fifo length = %d \n", fifo_length);
-
-                /* Read FIFO data */
-                rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                while (rslt != BMI2_W_FIFO_EMPTY)
-                {
-                    /* Provide the number of frames to be read */
-                    act_frames = 5;
-
-                    printf("Requested FIFO data frames : %d\n", act_frames);
-
-                    /* Get the activity output */
-                    rslt = bmi270_context_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("Parsed FIFO data frames : %d\r\n", act_frames);
-
-                    for (count = 0; count < act_frames; count++)
-                    {
-                        printf(
-                            "Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
-                            count,
-                            act_recog_data[count].time_stamp,
-                            activity_reg_output[act_recog_data[count].prev_act],
-                            activity_reg_output[act_recog_data[count].curr_act]);
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-static int8_t set_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint8_t temp_data[2];
-
-    /* Disable advanced power save */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Reset FIFO */
-        rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        printf("Move the board for activity recognition for 30 sec :\n");
-        bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
-
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-        }
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c
deleted file mode 100644
index afff37bc84..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.c
+++ /dev/null
@@ -1,372 +0,0 @@
-/**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "bmi2_defs.h"
-
-/******************************************************************************/
-/*!                 Macro definitions                                         */
-#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
-
-/*! Macro that defines read write length */
-#define READ_WRITE_LEN     UINT8_C(46)
-
-/******************************************************************************/
-/*!                Static variable definition                                 */
-
-/*! Variable that holds the I2C device address or SPI chip selection */
-static uint8_t dev_addr;
-
-/******************************************************************************/
-/*!                User interface functions                                   */
-
-/*!
- * I2C read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * I2C write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *  Also to initialize coines platform
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
-{
-    int8_t rslt = BMI2_OK;
-    struct coines_board_info board_info;
-
-    if (bmi != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        result = coines_get_board_info(&board_info);
-
-#if defined(PC)
-        setbuf(stdout, NULL);
-#endif
-
-        if (result == COINES_SUCCESS)
-        {
-            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
-            {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
-                exit(COINES_E_FAILURE);
-            }
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        /* Bus configuration : I2C */
-        if (intf == BMI2_I2C_INTF)
-        {
-            printf("I2C Interface \n");
-
-            /* To initialize the user I2C function */
-            dev_addr = BMI2_I2C_PRIM_ADDR;
-            bmi->intf = BMI2_I2C_INTF;
-            bmi->read = bmi2_i2c_read;
-            bmi->write = bmi2_i2c_write;
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
-        }
-        /* Bus configuration : SPI */
-        else if (intf == BMI2_SPI_INTF)
-        {
-            printf("SPI Interface \n");
-
-            /* To initialize the user SPI function */
-            dev_addr = COINES_SHUTTLE_PIN_7;
-            bmi->intf = BMI2_SPI_INTF;
-            bmi->read = bmi2_spi_read;
-            bmi->write = bmi2_spi_write;
-            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
-            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-        }
-
-        /* Assign device address to interface pointer */
-        bmi->intf_ptr = &dev_addr;
-
-        /* Configure delay in microseconds */
-        bmi->delay_us = bmi2_delay_us;
-
-        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
-        bmi->read_write_len = READ_WRITE_LEN;
-
-        /* Assign to NULL to load the default config file. */
-        bmi->config_file_ptr = NULL;
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-
-}
-
-/*!
- *  @brief Prints the execution status of the APIs.
- */
-void bmi2_error_codes_print_result(int8_t rslt)
-{
-    switch (rslt)
-    {
-        case BMI2_OK:
-
-            /* Do nothing */
-            break;
-
-        case BMI2_W_FIFO_EMPTY:
-            printf("Warning [%d] : FIFO empty\r\n", rslt);
-            break;
-        case BMI2_W_PARTIAL_READ:
-            printf("Warning [%d] : FIFO partial read\r\n", rslt);
-            break;
-        case BMI2_E_NULL_PTR:
-            printf(
-                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_COM_FAIL:
-            printf(
-                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DEV_NOT_FOUND:
-            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
-                   rslt);
-            break;
-
-        case BMI2_E_INVALID_SENSOR:
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_FAIL:
-            printf(
-                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INT_PIN:
-            printf(
-                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_OUT_OF_RANGE:
-            printf(
-                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYRO_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_GYR_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CONFIG_LOAD:
-            printf(
-                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_PAGE:
-            printf(
-                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SET_APS_FAIL:
-            printf(
-                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_BUSY:
-            printf(
-                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_REMAP_ERROR:
-            printf(
-                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
-            printf(
-                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_NOT_DONE:
-            printf(
-                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INPUT:
-            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_INVALID_STATUS:
-            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_CRT_ERROR:
-            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
-            break;
-
-        case BMI2_E_ST_ALREADY_RUNNING:
-            printf(
-                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
-            printf(
-                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DL_ERROR:
-            printf(
-                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_PRECON_ERROR:
-            printf(
-                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ABORT_ERROR:
-            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
-            break;
-
-        case BMI2_E_WRITE_CYCLE_ONGOING:
-            printf(
-                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ST_NOT_RUNING:
-            printf(
-                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DATA_RDY_INT_FAILED:
-            printf(
-                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_FOC_POSITION:
-            printf(
-                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
-                rslt);
-            break;
-
-        default:
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-            break;
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h
deleted file mode 100644
index 763983da4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/common/common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *  @param[in] intf : Interface selection parameter
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_error_codes_print_result(int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile
deleted file mode 100644
index 61db2e1351..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= component_retrim.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c
deleted file mode 100644
index 94ed043772..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/component_retrim/component_retrim.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* This API runs the CRT process. */
-        rslt = bmi2_do_crt(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
-        if (rslt == BMI2_OK)
-        {
-            printf("CRT successfully completed.");
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile
deleted file mode 100644
index 2d328d5f8a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c
deleted file mode 100644
index 3a5a810ec7..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_header_mode/fifo_full_header_mode.c
+++ /dev/null
@@ -1,315 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data. */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO. */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO. */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
- * totaling to 13) which equals to 157.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
-
-/*! Number of gyro frames to be extracted from FIFO. */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
-
-/*! Macro to read sensortime byte in FIFO. */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-    uint16_t fifo_length = 0;
-    uint16_t config = 0;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    int8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
-
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_50HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile
deleted file mode 100644
index 8f1f9609dd..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c
deleted file mode 100644
index bfc11455a8..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_full_headerless_mode/fifo_full_headerless_mode.c
+++ /dev/null
@@ -1,304 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
- * 12) which equals to 170.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
-
-/******************************************************************************/
-/*!                 Static Function Declaration                               */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint8_t try = 1;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile
deleted file mode 100644
index 38c5ce6a59..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c
deleted file mode 100644
index 59ff8f758a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c
+++ /dev/null
@@ -1,335 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
- * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
- * NOTE: Extra frames are read in order to get sensor time
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/*! Macro to read sensortime byte in FIFO */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_context_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile
deleted file mode 100644
index 9d5e86e564..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
deleted file mode 100644
index 878fe43bb0..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
+++ /dev/null
@@ -1,331 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
- * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameter according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_context_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile
deleted file mode 100644
index 135fe5ba3f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c
deleted file mode 100644
index 0a057e4647..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print gyro data. */
-    uint8_t limit = 10;
-
-    uint8_t indx = 0;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Assign gyro sensor to variable. */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Initialize the interrupt status of gyro. */
-    uint16_t int_status = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_context_sensor_enable(&sens_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Gyro configuration settings. */
-            rslt = set_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Select gyro sensor. */
-            sensor_data.type = BMI2_GYRO;
-            printf("Gyro and DPS data\n");
-            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
-
-            /* Loop to print gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_GYR_DRDY_INT_MASK)
-                {
-                    /* Get gyro data for x, y and z axis. */
-                    rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
-                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(&config, 1, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the gyro configurations. */
-        rslt = bmi270_context_set_sensor_config(&config, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile
deleted file mode 100644
index 1e8be48cdc..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_counter.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_context.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c
deleted file mode 100644
index 2513b028ac..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_context.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step counter feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
-
-    /* Variable to get step counter interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
-
-    /* Type of sensor to get step counter data. */
-    sensor_data.type = BMI2_STEP_COUNTER;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_context. */
-    rslt = bmi270_context_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the feature configuration for step counter. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("Step counter watermark level set to 1 (20 steps)\n");
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the step counter feature interrupt. */
-                rslt = bmi270_context_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* Move the board in steps for 20 times to get step counter interrupt. */
-                printf("Move the board in steps\n");
-
-                /* Loop to get number of steps counted. */
-                do
-                {
-                    /* To get the interrupt status of the step counter. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the step counter. */
-                    if (int_status & BMI270_CONTEXT_STEP_CNT_STATUS_MASK)
-                    {
-                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
-
-                        /* Get step counter output. */
-                        rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step counter output. */
-                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for step counter.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of sensor. */
-    config.type = BMI2_STEP_COUNTER;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
-         * output triggers. */
-        config.cfg.step_counter.watermark_level = 1;
-
-        /* Set new configuration. */
-        rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile
deleted file mode 100644
index d4cc64caf4..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c
deleted file mode 100644
index 553db37724..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c
+++ /dev/null
@@ -1,201 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 20;
-
-    /* Assign accel sensor to variable. */
-    uint8_t sensor_list = BMI2_ACCEL;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Initialize the interrupt status of accel. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 0;
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel sensor. */
-        rslt = bmi270_hc_sensor_enable(&sensor_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel configuration settings. */
-            rslt = set_accel_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel sensor. */
-            sensor_data.type = BMI2_ACCEL;
-            printf("Accel and m/s2 data \n");
-            printf("Accel data collected at 2G Range with 16-bit resolution\n");
-
-            /* Loop to print the accel data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the status of accel data ready interrupt. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the accel data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_ACC_DRDY_INT_MASK)
-                {
-                    /* Get accelerometer data for x, y and z axis. */
-                    rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
-                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
-                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
-{
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer configuration. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ACCEL;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel configurations. */
-        rslt = bmi270_hc_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile
deleted file mode 100644
index 19eb609eae..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c
deleted file mode 100644
index c92a1b82d5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel_gyro/accel_gyro.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 10;
-
-    /* Assign accel and gyro sensor to variable. */
-    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
-
-    /* Initialize the interrupt status of accel and gyro. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 1;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel and gyro sensor. */
-        rslt = bmi270_hc_sensor_enable(sensor_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel and gyro configuration settings. */
-            rslt = set_accel_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel and gyro sensor. */
-            sensor_data[ACCEL].type = BMI2_ACCEL;
-            sensor_data[GYRO].type = BMI2_GYRO;
-
-            /* Loop to print accel and gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of accel and gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
-                {
-                    /* Get accel and gyro data for x, y and z axis. */
-                    rslt = bmi270_hc_get_sensor_data(sensor_data, 2, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
-
-                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                    printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer and gyro configuration. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel and gyro configurations. */
-        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile
deleted file mode 100644
index ae036b47c1..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= activity_recognition.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c
deleted file mode 100644
index 11750ca538..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c
+++ /dev/null
@@ -1,154 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define index for FIFO data */
-    uint8_t count;
-
-    /* Various Activity recognitions are listed in array. */
-    const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
-
-    /* Accel sensor and step activity feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
-
-    /* Array to define FIFO data */
-    uint8_t fifo_data[516] = { 0 };
-
-    /* Variable to store number of activity frames */
-    uint16_t act_frames;
-
-    /* Structure to define a FIFO */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Structure to define output for activity recognition */
-    struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
-
-    uint16_t fifo_length;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            rslt = set_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Update FIFO structure */
-                fifoframe.data = fifo_data;
-                fifoframe.length = 516;
-
-                rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-                printf("Fifo length = %d \n", fifo_length);
-
-                /* Read FIFO data */
-                rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                while (rslt != BMI2_W_FIFO_EMPTY)
-                {
-                    /* Provide the number of frames to be read */
-                    act_frames = 5;
-
-                    printf("Requested FIFO data frames : %d\n", act_frames);
-
-                    /* Get the activity output */
-                    rslt = bmi270_hc_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("Parsed FIFO data frames : %d\r\n", act_frames);
-
-                    for (count = 0; count < act_frames; count++)
-                    {
-                        printf(
-                            "Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
-                            count,
-                            act_recog_data[count].time_stamp,
-                            activity_reg_output[act_recog_data[count].prev_act],
-                            activity_reg_output[act_recog_data[count].curr_act]);
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-static int8_t set_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint8_t temp_data[2];
-
-    /* Disable advanced power save */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Reset FIFO */
-        rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        printf("Move the board for activity recognition for 30 sec :\n");
-        bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
-
-        if (rslt == BMI2_OK)
-        {
-            rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-        }
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c
deleted file mode 100644
index afff37bc84..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.c
+++ /dev/null
@@ -1,372 +0,0 @@
-/**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "bmi2_defs.h"
-
-/******************************************************************************/
-/*!                 Macro definitions                                         */
-#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
-
-/*! Macro that defines read write length */
-#define READ_WRITE_LEN     UINT8_C(46)
-
-/******************************************************************************/
-/*!                Static variable definition                                 */
-
-/*! Variable that holds the I2C device address or SPI chip selection */
-static uint8_t dev_addr;
-
-/******************************************************************************/
-/*!                User interface functions                                   */
-
-/*!
- * I2C read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * I2C write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *  Also to initialize coines platform
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
-{
-    int8_t rslt = BMI2_OK;
-    struct coines_board_info board_info;
-
-    if (bmi != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        result = coines_get_board_info(&board_info);
-
-#if defined(PC)
-        setbuf(stdout, NULL);
-#endif
-
-        if (result == COINES_SUCCESS)
-        {
-            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
-            {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
-                exit(COINES_E_FAILURE);
-            }
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        /* Bus configuration : I2C */
-        if (intf == BMI2_I2C_INTF)
-        {
-            printf("I2C Interface \n");
-
-            /* To initialize the user I2C function */
-            dev_addr = BMI2_I2C_PRIM_ADDR;
-            bmi->intf = BMI2_I2C_INTF;
-            bmi->read = bmi2_i2c_read;
-            bmi->write = bmi2_i2c_write;
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
-        }
-        /* Bus configuration : SPI */
-        else if (intf == BMI2_SPI_INTF)
-        {
-            printf("SPI Interface \n");
-
-            /* To initialize the user SPI function */
-            dev_addr = COINES_SHUTTLE_PIN_7;
-            bmi->intf = BMI2_SPI_INTF;
-            bmi->read = bmi2_spi_read;
-            bmi->write = bmi2_spi_write;
-            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
-            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-        }
-
-        /* Assign device address to interface pointer */
-        bmi->intf_ptr = &dev_addr;
-
-        /* Configure delay in microseconds */
-        bmi->delay_us = bmi2_delay_us;
-
-        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
-        bmi->read_write_len = READ_WRITE_LEN;
-
-        /* Assign to NULL to load the default config file. */
-        bmi->config_file_ptr = NULL;
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-
-}
-
-/*!
- *  @brief Prints the execution status of the APIs.
- */
-void bmi2_error_codes_print_result(int8_t rslt)
-{
-    switch (rslt)
-    {
-        case BMI2_OK:
-
-            /* Do nothing */
-            break;
-
-        case BMI2_W_FIFO_EMPTY:
-            printf("Warning [%d] : FIFO empty\r\n", rslt);
-            break;
-        case BMI2_W_PARTIAL_READ:
-            printf("Warning [%d] : FIFO partial read\r\n", rslt);
-            break;
-        case BMI2_E_NULL_PTR:
-            printf(
-                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_COM_FAIL:
-            printf(
-                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DEV_NOT_FOUND:
-            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
-                   rslt);
-            break;
-
-        case BMI2_E_INVALID_SENSOR:
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_FAIL:
-            printf(
-                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INT_PIN:
-            printf(
-                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_OUT_OF_RANGE:
-            printf(
-                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYRO_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_GYR_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CONFIG_LOAD:
-            printf(
-                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_PAGE:
-            printf(
-                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SET_APS_FAIL:
-            printf(
-                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_BUSY:
-            printf(
-                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_REMAP_ERROR:
-            printf(
-                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
-            printf(
-                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_NOT_DONE:
-            printf(
-                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INPUT:
-            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_INVALID_STATUS:
-            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_CRT_ERROR:
-            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
-            break;
-
-        case BMI2_E_ST_ALREADY_RUNNING:
-            printf(
-                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
-            printf(
-                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DL_ERROR:
-            printf(
-                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_PRECON_ERROR:
-            printf(
-                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ABORT_ERROR:
-            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
-            break;
-
-        case BMI2_E_WRITE_CYCLE_ONGOING:
-            printf(
-                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ST_NOT_RUNING:
-            printf(
-                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DATA_RDY_INT_FAILED:
-            printf(
-                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_FOC_POSITION:
-            printf(
-                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
-                rslt);
-            break;
-
-        default:
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-            break;
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h
deleted file mode 100644
index 763983da4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/common/common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *  @param[in] intf : Interface selection parameter
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_error_codes_print_result(int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile
deleted file mode 100644
index 633a817299..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= component_retrim.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c
deleted file mode 100644
index 6084574f4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/component_retrim/component_retrim.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* This API runs the CRT process. */
-        rslt = bmi2_do_crt(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
-        if (rslt == BMI2_OK)
-        {
-            printf("CRT successfully completed.");
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile
deleted file mode 100644
index 00794a37a0..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c
deleted file mode 100644
index 6f11642843..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_header_mode/fifo_full_header_mode.c
+++ /dev/null
@@ -1,316 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data. */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO. */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO. */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
- * totaling to 13) which equals to 157.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
-
-/*! Number of gyro frames to be extracted from FIFO. */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
-
-/*! Macro to read sensortime byte in FIFO. */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-    uint16_t fifo_length = 0;
-    uint16_t config = 0;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    int8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
-
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile
deleted file mode 100644
index 5eefc71ab8..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c
deleted file mode 100644
index 1bce488be0..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c
+++ /dev/null
@@ -1,304 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
- * 12) which equals to 170.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
-
-/******************************************************************************/
-/*!                 Static Function Declaration                               */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint8_t try = 1;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile
deleted file mode 100644
index 8dea084da5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c
deleted file mode 100644
index 46599f21cd..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c
+++ /dev/null
@@ -1,335 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
- * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
- * NOTE: Extra frames are read in order to get sensor time
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/*! Macro to read sensortime byte in FIFO */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_hc_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile
deleted file mode 100644
index bd842a8170..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
deleted file mode 100644
index bb0bfd1118..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
+++ /dev/null
@@ -1,331 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
- * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameter according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_hc_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile
deleted file mode 100644
index cb6bfaa3e1..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c
deleted file mode 100644
index c7c50277fd..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/gyro/gyro.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print gyro data. */
-    uint8_t limit = 10;
-
-    uint8_t indx = 0;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Assign gyro sensor to variable. */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Initialize the interrupt status of gyro. */
-    uint16_t int_status = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_hc_sensor_enable(&sens_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Gyro configuration settings. */
-            rslt = set_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Select gyro sensor. */
-            sensor_data.type = BMI2_GYRO;
-            printf("Gyro and DPS data\n");
-            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
-
-            /* Loop to print gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_GYR_DRDY_INT_MASK)
-                {
-                    /* Get gyro data for x, y and z axis. */
-                    rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
-                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(&config, 1, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the gyro configurations. */
-        rslt = bmi270_hc_set_sensor_config(&config, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile
deleted file mode 100644
index fc47b9bb1d..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_counter.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_hc.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c
deleted file mode 100644
index 785dc28ffc..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/step_counter/step_counter.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_hc.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step counter feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
-
-    /* Variable to get step counter interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
-
-    /* Type of sensor to get step counter data. */
-    sensor_data.type = BMI2_STEP_COUNTER;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_hc. */
-    rslt = bmi270_hc_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the feature configuration for step counter. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("Step counter watermark level set to 1 (20 steps)\n");
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the step counter feature interrupt. */
-                rslt = bmi270_hc_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* Move the board in steps for 20 times to get step counter interrupt. */
-                printf("Move the board in steps\n");
-
-                /* Loop to get number of steps counted. */
-                do
-                {
-                    /* To get the interrupt status of the step counter. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the step counter. */
-                    if (int_status & BMI270_HC_STEP_CNT_STATUS_MASK)
-                    {
-                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
-
-                        /* Get step counter output. */
-                        rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step counter output. */
-                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for step counter.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of sensor. */
-    config.type = BMI2_STEP_COUNTER;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_hc_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
-         * output triggers. */
-        config.cfg.step_counter.watermark_level = 1;
-
-        /* Set new configuration. */
-        rslt = bmi270_hc_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile
deleted file mode 100644
index e4400a45ba..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c
deleted file mode 100644
index c32a43a41f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel/accel.c
+++ /dev/null
@@ -1,200 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 20;
-
-    /* Assign accel sensor to variable. */
-    uint8_t sensor_list = BMI2_ACCEL;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Initialize the interrupt status of accel. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 0;
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_maximum_fifo. */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel sensor. */
-        rslt = bmi2_sensor_enable(&sensor_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel configuration settings. */
-            rslt = set_accel_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel sensor. */
-            sensor_data.type = BMI2_ACCEL;
-            printf("Accel and m/s2 data \n");
-            printf("Accel data collected at 2G Range with 16-bit resolution\n");
-
-            /* Loop to print the accel data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the status of accel data ready interrupt. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the accel data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_ACC_DRDY_INT_MASK)
-                {
-                    /* Get accelerometer data for x, y and z axis. */
-                    rslt = bmi2_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
-                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
-                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer configuration. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ACCEL;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi2_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel configurations. */
-        rslt = bmi2_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile
deleted file mode 100644
index a33f36617a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c
deleted file mode 100644
index b77ea1d810..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/accel_gyro/accel_gyro.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 10;
-
-    /* Assign accel and gyro sensor to variable. */
-    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
-
-    /* Initialize the interrupt status of accel and gyro. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 1;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_maximum_fifo. */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel and gyro sensor. */
-        rslt = bmi2_sensor_enable(sensor_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel and gyro configuration settings. */
-            rslt = set_accel_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel and gyro sensor. */
-            sensor_data[ACCEL].type = BMI2_ACCEL;
-            sensor_data[GYRO].type = BMI2_GYRO;
-
-            /* Loop to print accel and gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of accel and gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
-                {
-                    /* Get accel and gyro data for x, y and z axis. */
-                    rslt = bmi2_get_sensor_data(sensor_data, 2, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
-
-                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer and gyro configuration. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi2_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel and gyro configurations. */
-        rslt = bmi2_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c
deleted file mode 100644
index afff37bc84..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.c
+++ /dev/null
@@ -1,372 +0,0 @@
-/**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "bmi2_defs.h"
-
-/******************************************************************************/
-/*!                 Macro definitions                                         */
-#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
-
-/*! Macro that defines read write length */
-#define READ_WRITE_LEN     UINT8_C(46)
-
-/******************************************************************************/
-/*!                Static variable definition                                 */
-
-/*! Variable that holds the I2C device address or SPI chip selection */
-static uint8_t dev_addr;
-
-/******************************************************************************/
-/*!                User interface functions                                   */
-
-/*!
- * I2C read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * I2C write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *  Also to initialize coines platform
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
-{
-    int8_t rslt = BMI2_OK;
-    struct coines_board_info board_info;
-
-    if (bmi != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        result = coines_get_board_info(&board_info);
-
-#if defined(PC)
-        setbuf(stdout, NULL);
-#endif
-
-        if (result == COINES_SUCCESS)
-        {
-            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
-            {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
-                exit(COINES_E_FAILURE);
-            }
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        /* Bus configuration : I2C */
-        if (intf == BMI2_I2C_INTF)
-        {
-            printf("I2C Interface \n");
-
-            /* To initialize the user I2C function */
-            dev_addr = BMI2_I2C_PRIM_ADDR;
-            bmi->intf = BMI2_I2C_INTF;
-            bmi->read = bmi2_i2c_read;
-            bmi->write = bmi2_i2c_write;
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
-        }
-        /* Bus configuration : SPI */
-        else if (intf == BMI2_SPI_INTF)
-        {
-            printf("SPI Interface \n");
-
-            /* To initialize the user SPI function */
-            dev_addr = COINES_SHUTTLE_PIN_7;
-            bmi->intf = BMI2_SPI_INTF;
-            bmi->read = bmi2_spi_read;
-            bmi->write = bmi2_spi_write;
-            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
-            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-        }
-
-        /* Assign device address to interface pointer */
-        bmi->intf_ptr = &dev_addr;
-
-        /* Configure delay in microseconds */
-        bmi->delay_us = bmi2_delay_us;
-
-        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
-        bmi->read_write_len = READ_WRITE_LEN;
-
-        /* Assign to NULL to load the default config file. */
-        bmi->config_file_ptr = NULL;
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-
-}
-
-/*!
- *  @brief Prints the execution status of the APIs.
- */
-void bmi2_error_codes_print_result(int8_t rslt)
-{
-    switch (rslt)
-    {
-        case BMI2_OK:
-
-            /* Do nothing */
-            break;
-
-        case BMI2_W_FIFO_EMPTY:
-            printf("Warning [%d] : FIFO empty\r\n", rslt);
-            break;
-        case BMI2_W_PARTIAL_READ:
-            printf("Warning [%d] : FIFO partial read\r\n", rslt);
-            break;
-        case BMI2_E_NULL_PTR:
-            printf(
-                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_COM_FAIL:
-            printf(
-                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DEV_NOT_FOUND:
-            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
-                   rslt);
-            break;
-
-        case BMI2_E_INVALID_SENSOR:
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_FAIL:
-            printf(
-                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INT_PIN:
-            printf(
-                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_OUT_OF_RANGE:
-            printf(
-                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYRO_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_GYR_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CONFIG_LOAD:
-            printf(
-                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_PAGE:
-            printf(
-                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SET_APS_FAIL:
-            printf(
-                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_BUSY:
-            printf(
-                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_REMAP_ERROR:
-            printf(
-                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
-            printf(
-                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_NOT_DONE:
-            printf(
-                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INPUT:
-            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_INVALID_STATUS:
-            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_CRT_ERROR:
-            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
-            break;
-
-        case BMI2_E_ST_ALREADY_RUNNING:
-            printf(
-                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
-            printf(
-                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DL_ERROR:
-            printf(
-                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_PRECON_ERROR:
-            printf(
-                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ABORT_ERROR:
-            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
-            break;
-
-        case BMI2_E_WRITE_CYCLE_ONGOING:
-            printf(
-                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ST_NOT_RUNING:
-            printf(
-                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DATA_RDY_INT_FAILED:
-            printf(
-                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_FOC_POSITION:
-            printf(
-                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
-                rslt);
-            break;
-
-        default:
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-            break;
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h
deleted file mode 100644
index 763983da4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/common/common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *  @param[in] intf : Interface selection parameter
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_error_codes_print_result(int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile
deleted file mode 100644
index 0729972a20..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= component_retrim.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c
deleted file mode 100644
index ea24ab2e9f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/component_retrim/component_retrim.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_maximum_fifo. */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* This API runs the CRT process. */
-        rslt = bmi2_do_crt(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Do not move the board while doing CRT. If so, it will throw an abort error. */
-        if (rslt == BMI2_OK)
-        {
-            printf("CRT successfully completed.");
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile
deleted file mode 100644
index 131538f30c..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c
deleted file mode 100644
index f031379f78..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_header_mode/fifo_watermark_header_mode.c
+++ /dev/null
@@ -1,335 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
- * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
- * NOTE: Extra frames are read in order to get sensor time
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/*! Macro to read sensortime byte in FIFO */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_maximum_fifo. */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi2_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi2_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi2_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile
deleted file mode 100644
index 9790a92d4b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
deleted file mode 100644
index 541ff11163..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
+++ /dev/null
@@ -1,331 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
- * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi2_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi2_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameter according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi2_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile
deleted file mode 100644
index 5ab6e7fd76..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_maximum_fifo.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c
deleted file mode 100644
index 8b56f08429..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_maximum_fifo/gyro/gyro.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_maximum_fifo.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print gyro data. */
-    uint8_t limit = 10;
-
-    uint8_t indx = 0;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Assign gyro sensor to variable. */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Initialize the interrupt status of gyro. */
-    uint16_t int_status = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_maximum_fifo_init */
-    rslt = bmi270_maximum_fifo_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi2_sensor_enable(&sens_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Gyro configuration settings. */
-            rslt = set_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Select gyro sensor. */
-            sensor_data.type = BMI2_GYRO;
-            printf("Gyro and DPS data\n");
-            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
-
-            /* Loop to print gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_GYR_DRDY_INT_MASK)
-                {
-                    /* Get gyro data for x, y and z axis. */
-                    rslt = bmi2_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
-                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi2_get_sensor_config(&config, 1, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the gyro configurations. */
-        rslt = bmi2_set_sensor_config(&config, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile
deleted file mode 100644
index 3ab55f00e4..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c
deleted file mode 100644
index cf6825229e..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel/accel.c
+++ /dev/null
@@ -1,201 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 20;
-
-    /* Assign accel sensor to variable. */
-    uint8_t sensor_list = BMI2_ACCEL;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Initialize the interrupt status of accel. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 0;
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel sensor. */
-        rslt = bmi270_wh_sensor_enable(&sensor_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel configuration settings. */
-            rslt = set_accel_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel sensor. */
-            sensor_data.type = BMI2_ACCEL;
-            printf("Accel and m/s2 data \n");
-            printf("Accel data collected at 2G Range with 16-bit resolution\n");
-
-            /* Loop to print the accel data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the status of accel data ready interrupt. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the accel data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_ACC_DRDY_INT_MASK)
-                {
-                    /* Get accelerometer data for x, y and z axis. */
-                    rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-                    printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
-                    printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
-                    printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
-{
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer configuration. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ACCEL;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config.cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel configurations. */
-        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile
deleted file mode 100644
index 1d3ea28c5f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c
deleted file mode 100644
index e543cca7cf..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/accel_gyro/accel_gyro.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print accel data. */
-    uint8_t limit = 10;
-
-    /* Assign accel and gyro sensor to variable. */
-    uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data[2] = { { 0 } };
-
-    /* Initialize the interrupt status of accel and gyro. */
-    uint16_t int_status = 0;
-
-    uint8_t indx = 1;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the accel and gyro sensor. */
-        rslt = bmi270_wh_sensor_enable(sensor_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Accel and gyro configuration settings. */
-            rslt = set_accel_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Assign accel and gyro sensor. */
-            sensor_data[ACCEL].type = BMI2_ACCEL;
-            sensor_data[GYRO].type = BMI2_GYRO;
-
-            /* Loop to print accel and gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of accel and gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
-                {
-                    /* Get accel and gyro data for x, y and z axis. */
-                    rslt = bmi270_wh_get_sensor_data(sensor_data, 2, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\n*******  Accel(Raw and m/s2) Gyro(Raw and dps) data : %d  *******\n", indx);
-
-                    printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                    printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                    printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                    /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                    x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                    y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                    z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                    /* Print the data in m/s2. */
-                    printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                    printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                    printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accelerometer and gyro configuration. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples.
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the accel and gyro configurations. */
-        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile
deleted file mode 100644
index 1598c62cbf..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= any_motion_interrupt.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c
deleted file mode 100644
index d1953e322c..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/any_motion_interrupt/any_motion_interrupt.c
+++ /dev/null
@@ -1,134 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for any-motion.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and any-motion feature are listed in array. */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_ANY_MOTION };
-
-    /* Variable to get any-motion interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_wh_sensor_enable(sens_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set feature configurations for any-motion. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for any-motion. */
-                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Move the board\n");
-
-                /* Loop to get any-motion interrupt. */
-                do
-                {
-                    /* Clear buffer. */
-                    int_status = 0;
-
-                    /* To get the interrupt status of any-motion. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of any-motion. */
-                    if (int_status & BMI270_WH_ANY_MOT_STATUS_MASK)
-                    {
-                        printf("Any-motion interrupt is generated\n");
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for any-motion.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_ANY_MOTION;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
-        config.cfg.any_motion.duration = 0x04;
-
-        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
-        config.cfg.any_motion.threshold = 0x68;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c
deleted file mode 100644
index afff37bc84..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.c
+++ /dev/null
@@ -1,372 +0,0 @@
-/**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "bmi2_defs.h"
-
-/******************************************************************************/
-/*!                 Macro definitions                                         */
-#define BMI2XY_SHUTTLE_ID  UINT16_C(0x1B8)
-
-/*! Macro that defines read write length */
-#define READ_WRITE_LEN     UINT8_C(46)
-
-/******************************************************************************/
-/*!                Static variable definition                                 */
-
-/*! Variable that holds the I2C device address or SPI chip selection */
-static uint8_t dev_addr;
-
-/******************************************************************************/
-/*!                User interface functions                                   */
-
-/*!
- * I2C read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * I2C write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI read function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *  Also to initialize coines platform
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
-{
-    int8_t rslt = BMI2_OK;
-    struct coines_board_info board_info;
-
-    if (bmi != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        result = coines_get_board_info(&board_info);
-
-#if defined(PC)
-        setbuf(stdout, NULL);
-#endif
-
-        if (result == COINES_SUCCESS)
-        {
-            if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
-            {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
-                exit(COINES_E_FAILURE);
-            }
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        /* Bus configuration : I2C */
-        if (intf == BMI2_I2C_INTF)
-        {
-            printf("I2C Interface \n");
-
-            /* To initialize the user I2C function */
-            dev_addr = BMI2_I2C_PRIM_ADDR;
-            bmi->intf = BMI2_I2C_INTF;
-            bmi->read = bmi2_i2c_read;
-            bmi->write = bmi2_i2c_write;
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
-        }
-        /* Bus configuration : SPI */
-        else if (intf == BMI2_SPI_INTF)
-        {
-            printf("SPI Interface \n");
-
-            /* To initialize the user SPI function */
-            dev_addr = COINES_SHUTTLE_PIN_7;
-            bmi->intf = BMI2_SPI_INTF;
-            bmi->read = bmi2_spi_read;
-            bmi->write = bmi2_spi_write;
-            coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
-            coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-        }
-
-        /* Assign device address to interface pointer */
-        bmi->intf_ptr = &dev_addr;
-
-        /* Configure delay in microseconds */
-        bmi->delay_us = bmi2_delay_us;
-
-        /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
-        bmi->read_write_len = READ_WRITE_LEN;
-
-        /* Assign to NULL to load the default config file. */
-        bmi->config_file_ptr = NULL;
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-    }
-    else
-    {
-        rslt = BMI2_E_NULL_PTR;
-    }
-
-    return rslt;
-
-}
-
-/*!
- *  @brief Prints the execution status of the APIs.
- */
-void bmi2_error_codes_print_result(int8_t rslt)
-{
-    switch (rslt)
-    {
-        case BMI2_OK:
-
-            /* Do nothing */
-            break;
-
-        case BMI2_W_FIFO_EMPTY:
-            printf("Warning [%d] : FIFO empty\r\n", rslt);
-            break;
-        case BMI2_W_PARTIAL_READ:
-            printf("Warning [%d] : FIFO partial read\r\n", rslt);
-            break;
-        case BMI2_E_NULL_PTR:
-            printf(
-                "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_COM_FAIL:
-            printf(
-                "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DEV_NOT_FOUND:
-            printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
-                   rslt);
-            break;
-
-        case BMI2_E_INVALID_SENSOR:
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_FAIL:
-            printf(
-                "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INT_PIN:
-            printf(
-                "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_OUT_OF_RANGE:
-            printf(
-                "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYRO_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ACC_GYR_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CONFIG_LOAD:
-            printf(
-                "Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_PAGE:
-            printf(
-                "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SET_APS_FAIL:
-            printf(
-                "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_INVALID_CFG:
-            printf(
-                "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_AUX_BUSY:
-            printf(
-                "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_REMAP_ERROR:
-            printf(
-                "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
-            printf(
-                "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_SELF_TEST_NOT_DONE:
-            printf(
-                "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_INPUT:
-            printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_INVALID_STATUS:
-            printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
-            break;
-
-        case BMI2_E_CRT_ERROR:
-            printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
-            break;
-
-        case BMI2_E_ST_ALREADY_RUNNING:
-            printf(
-                "Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
-            printf(
-                "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DL_ERROR:
-            printf(
-                "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_PRECON_ERROR:
-            printf(
-                "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ABORT_ERROR:
-            printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
-            break;
-
-        case BMI2_E_WRITE_CYCLE_ONGOING:
-            printf(
-                "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_ST_NOT_RUNING:
-            printf(
-                "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_DATA_RDY_INT_FAILED:
-            printf(
-                "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
-                rslt);
-            break;
-
-        case BMI2_E_INVALID_FOC_POSITION:
-            printf(
-                "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
-                rslt);
-            break;
-
-        default:
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-            break;
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h
deleted file mode 100644
index 763983da4a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/common/common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through I2C bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose value is to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to select the interface between SPI and I2C.
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *  @param[in] intf : Interface selection parameter
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_error_codes_print_result(int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile
deleted file mode 100644
index bde7c19627..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c
deleted file mode 100644
index ab331eaeed..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_header_mode/fifo_full_header_mode.c
+++ /dev/null
@@ -1,316 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data. */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO. */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO. */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
- * totaling to 13) which equals to 157.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(157)
-
-/*! Number of gyro frames to be extracted from FIFO. */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(157)
-
-/*! Macro to read sensortime byte in FIFO. */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-    uint16_t fifo_length = 0;
-    uint16_t config = 0;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer. */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-    uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    int8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-    * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 157 * (6 axes + 1 header bytes) = 1099 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is in FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
-
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile
deleted file mode 100644
index 5c407e9094..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_full_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c
deleted file mode 100644
index 14b0b22b3d..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_full_headerless_mode/fifo_full_headerless_mode.c
+++ /dev/null
@@ -1,304 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
- * 12) which equals to 170.
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(169)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(169)
-
-/******************************************************************************/
-/*!                 Static Function Declaration                               */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint8_t try = 1;
-
-    /* Variable to get fifo full interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 170 * (6 axes bytes) = 1020 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* Map FIFO full interrupt. */
-    fifoframe.data_int_map = BMI2_FFULL_INT;
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExtracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(config, 2, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile
deleted file mode 100644
index e0a42e369a..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_header_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c
deleted file mode 100644
index f33bb5ebff..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_header_mode/fifo_watermark_header_mode.c
+++ /dev/null
@@ -1,335 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
- * fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
- * NOTE: Extra frames are read in order to get sensor time
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/*! Macro to read sensortime byte in FIFO */
-#define SENSORTIME_OVERHEAD_BYTE        UINT8_C(3)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* To read sensortime, extra 3 bytes are added to fifo buffer */
-    uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[fifo_buffer_size];
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 55 * (6 axes bytes) = 330 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    /* To read sensortime, extra 3 bytes are added to fifo user length. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
-
-    /* Set FIFO configuration by enabling accel, gyro and timestamp.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode.
-     * NOTE 3: Sensortime is enabled by default */
-    printf("FIFO is configured in header mode\n");
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-
-                /* Print control frames like sensor time and skipped frame count. */
-                printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
-                printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
-
-                try++;
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel and gyro.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile
deleted file mode 100644
index ce97737eab..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
deleted file mode 100644
index 160c01de5b..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c
+++ /dev/null
@@ -1,331 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                  Macros                                                   */
-
-/*! Buffer size allocated to store raw FIFO data */
-#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(2048)
-
-/*! Length of data to be read from FIFO */
-#define BMI2_FIFO_RAW_DATA_USER_LENGTH  UINT16_C(2048)
-
-/*! Number of accel frames to be extracted from FIFO */
-
-/*!
- * Calculation:
- * fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
- * fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
- */
-#define BMI2_FIFO_ACCEL_FRAME_COUNT     UINT8_C(55)
-
-/*! Number of gyro frames to be extracted from FIFO */
-#define BMI2_FIFO_GYRO_FRAME_COUNT      UINT8_C(55)
-
-/*! Setting a watermark level in FIFO */
-#define BMI270_FIFO_WATERMARK_LEVEL     UINT16_C(650)
-
-/******************************************************************************/
-/*!           Static Function Declaration                                     */
-
-/*!
- *  @brief This internal API is used to set configurations for accel and gyro.
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *  @return Status of execution.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
-
-/******************************************************************************/
-/*!            Functions                                                      */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to index bytes. */
-    uint16_t index = 0;
-
-    /* Variable to store the available frame length count in FIFO */
-    uint8_t frame_count;
-
-    uint16_t fifo_length = 0;
-
-    uint16_t accel_frame_length;
-
-    uint16_t gyro_frame_length;
-
-    uint8_t try = 1;
-
-    /* Number of bytes of FIFO data. */
-    uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Array of accelerometer frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
-
-    /* Array of gyro frames -> Total bytes =
-     * 50 * (6 axes bytes) = 300 bytes */
-    struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
-
-    /* Initialize FIFO frame structure. */
-    struct bmi2_fifo_frame fifoframe = { 0 };
-
-    /* Accel and gyro sensor are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
-
-    /* Variable to get fifo water-mark interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t watermark = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable accel and gyro sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configuration settings for accel and gyro. */
-    rslt = set_accel_gyro_config(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Before setting FIFO, disable the advance power save mode. */
-    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initially disable all configurations in fifo. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Update FIFO structure. */
-    /* Mapping the buffer to store the fifo data. */
-    fifoframe.data = fifo_data;
-
-    /* Length of FIFO frame. */
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set FIFO configuration by enabling accel, gyro.
-     * NOTE 1: The header mode is enabled by default.
-     * NOTE 2: By default the FIFO operating mode is FIFO mode. */
-    rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("FIFO is configured in headerless mode\n");
-
-    /* To enable headerless mode, disable the header. */
-    if (rslt == BMI2_OK)
-    {
-        rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
-    }
-
-    /* FIFO water-mark interrupt is enabled. */
-    fifoframe.data_int_map = BMI2_FWM_INT;
-
-    /* Map water-mark interrupt to the required interrupt pin. */
-    rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set water-mark level. */
-    fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
-
-    fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
-
-    /* Set the water-mark level if water-mark interrupt is mapped. */
-    rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    printf("\nFIFO watermark level is %d\n", watermark);
-
-    while (try <= 10)
-    {
-        /* Read FIFO data on interrupt. */
-        rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* To check the status of FIFO watermark interrupt. */
-        if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
-        {
-            printf("\nIteration : %d\n", try);
-
-            printf("\nWatermark interrupt occurred\n");
-
-            rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
-            gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
-
-            printf("\nFIFO data bytes available : %d \n", fifo_length);
-            printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
-
-            /* Read FIFO data. */
-            rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Read FIFO data on interrupt. */
-            rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
-
-                /* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
-                rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
-
-                printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
-
-                /* Parse the FIFO data to extract gyro data from the FIFO buffer. */
-                rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
-                printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
-
-                /* Calculating the frame count from the available bytes in FIFO
-                 * frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
-                frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
-                printf("\nAvailable frame count from available bytes: %d\n", frame_count);
-
-                printf("\nExracted accel frames\n");
-
-                if (accel_frame_length > frame_count)
-                {
-                    accel_frame_length = frame_count;
-                }
-
-                /* Print the parsed accelerometer data from the FIFO buffer. */
-                for (index = 0; index < accel_frame_length; index++)
-                {
-                    printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
-                           fifo_accel_data[index].y, fifo_accel_data[index].z);
-                }
-
-                printf("\nExtracted gyro frames\n");
-
-                if (gyro_frame_length > frame_count)
-                {
-                    gyro_frame_length = frame_count;
-                }
-
-                /* Print the parsed gyro data from the FIFO buffer. */
-                for (index = 0; index < gyro_frame_length; index++)
-                {
-                    printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
-                           index,
-                           fifo_gyro_data[index].x,
-                           fifo_gyro_data[index].y,
-                           fifo_gyro_data[index].z);
-                }
-            }
-
-            try++;
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for accel.
- */
-static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define accel and gyro configurations. */
-    struct bmi2_sens_config config[2];
-
-    /* Configure the type of feature. */
-    config[0].type = BMI2_ACCEL;
-    config[1].type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* NOTE: The user can change the following configuration parameter according to their requirement. */
-        /* Accel configuration settings. */
-        /* Set Output Data Rate */
-        config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-
-        /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
-        config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-        /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
-         * if it is set to 2, then 2^(bandwidth parameter) samples
-         * are averaged, resulting in 4 averaged samples
-         * Note1 : For more information, refer the datasheet.
-         * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
-         * this has an adverse effect on the power consumed.
-         */
-        config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
-
-        /* Enable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         * For more info refer datasheet.
-         */
-        config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Gyro configuration settings. */
-        /* Set Output Data Rate */
-        config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(config, 2, dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile
deleted file mode 100644
index 9192877d58..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c
deleted file mode 100644
index d1ce9fe16f..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/gyro/gyro.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- *
- *  @param[in] dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to define limit to print gyro data. */
-    uint8_t limit = 10;
-
-    uint8_t indx = 0;
-
-    float x = 0, y = 0, z = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Create an instance of sensor data structure. */
-    struct bmi2_sensor_data sensor_data = { 0 };
-
-    /* Assign gyro sensor to variable. */
-    uint8_t sens_list = BMI2_GYRO;
-
-    /* Initialize the interrupt status of gyro. */
-    uint16_t int_status = 0;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_wh_sensor_enable(&sens_list, 1, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Gyro configuration settings. */
-            rslt = set_gyro_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            /* Select gyro sensor. */
-            sensor_data.type = BMI2_GYRO;
-            printf("Gyro and DPS data\n");
-            printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
-
-            /* Loop to print gyro data when interrupt occurs. */
-            while (indx <= limit)
-            {
-                /* To get the data ready interrupt status of gyro. */
-                rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* To check the data ready interrupt status and print the status for 10 samples. */
-                if (int_status & BMI2_GYR_DRDY_INT_MASK)
-                {
-                    /* Get gyro data for x, y and z axis. */
-                    rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
-                    printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
-                    printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
-
-                    /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                    x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                    y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                    z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                    /* Print the data in dps. */
-                    printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
-
-                    indx++;
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- *  @brief This internal API is used to set configurations for gyro.
- */
-static int8_t set_gyro_config(struct bmi2_dev *dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_GYRO;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(&config, 1, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Map data ready interrupt to interrupt pin. */
-    rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* The user can change the following configuration parameters according to their requirement. */
-        /* Set Output Data Rate */
-        config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
-
-        /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
-        config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
-
-        /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
-        config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
-
-        /* Enable/Disable the noise performance mode for precision yaw rate sensing
-         * There are two modes
-         *  0 -> Ultra low power mode(Default)
-         *  1 -> High performance mode
-         */
-        config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
-
-        /* Enable/Disable the filter performance mode where averaging of samples
-         * will be done based on above set bandwidth and ODR.
-         * There are two modes
-         *  0 -> Ultra low power mode
-         *  1 -> High performance mode(Default)
-         */
-        config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-
-        /* Set the gyro configurations. */
-        rslt = bmi270_wh_set_sensor_config(&config, 1, dev);
-    }
-
-    return rslt;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile
deleted file mode 100644
index 61b7016bb2..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= no_motion_interrupt.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c
deleted file mode 100644
index 5f584de28c..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/no_motion_interrupt/no_motion_interrupt.c
+++ /dev/null
@@ -1,135 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static Function Declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for no-motion.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and no-motion feature are listed in array. */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
-
-    /* Variable to get no-motion interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensors. */
-        rslt = bmi270_wh_sensor_enable(sens_list, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set feature configurations for no-motion. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for no-motion. */
-                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Do not move the board\n");
-
-                /* Loop to get no-motion interrupt. */
-                do
-                {
-                    /* Clear buffer. */
-                    int_status = 0;
-
-                    /* To get the interrupt status of no-motion. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of no-motion. */
-                    if (int_status & BMI270_WH_NO_MOT_STATUS_MASK)
-                    {
-                        printf("No-motion interrupt is generated\n");
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for no-motion.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of feature. */
-    config.type = BMI2_NO_MOTION;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-    if (rslt == BMI2_OK)
-    {
-
-        /* NOTE: The user can change the following configuration parameters according to their requirement. */
-        /* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
-        config.cfg.no_motion.duration = 0x04;
-
-        /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
-        config.cfg.no_motion.threshold = 0x68;
-
-        /* Set new configurations. */
-        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile
deleted file mode 100644
index b995b42dd9..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= read_aux_data_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-BMM150_SOURCE ?= ../../../bmm150
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(BMM150_SOURCE)/bmm150.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(BMM150_SOURCE) \
-$(COMMON_LOCATION)/common 
-
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c
deleted file mode 100644
index 6d8cd67f35..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_data_mode/read_aux_data_mode.c
+++ /dev/null
@@ -1,327 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "bmm150.h"
-#include "coines.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-#define AUX            UINT8_C(0x02)
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*****************************************************************************/
-/*!         Structure declaration                                            */
-
-/* Sensor initialization configuration. */
-struct bmi2_dev bmi2_dev;
-
-/*******************************************************************************/
-/*!                 Functions                                                  */
-
-/**
- * user_aux_read - Reads data from auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/**
- * user_aux_write - Writes data to the auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the data being written.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- */
-static void user_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to select the pull-up resistor which is set to trim register */
-    uint8_t regdata;
-
-    /* Variable to define limit to print aux data. */
-    uint8_t limit = 20;
-
-    /* Accel, Gyro and Aux sensors are listed in array. */
-    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
-
-    /* Structure to define the type of the sensor and its configurations. */
-    struct bmi2_sens_config config[3];
-
-    /* Sensor initialization configuration. */
-    struct bmm150_dev bmm150_dev;
-
-    /* bmm150 settings configuration */
-    struct bmm150_settings settings;
-
-    /* bmm150 magnetometer data */
-    struct bmm150_mag_data mag_data;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data[3];
-
-    /* Variables to define read the accel and gyro data in float */
-    float x = 0, y = 0, z = 0;
-
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-    config[AUX].type = BMI2_AUX;
-
-    /* To enable the i2c interface settings for bmm150. */
-    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    bmm150_dev.intf_ptr = &bmm150_dev_addr;
-    bmm150_dev.read = user_aux_read;
-    bmm150_dev.write = user_aux_write;
-    bmm150_dev.delay_us = user_delay_us;
-
-    /* As per datasheet, aux interface with bmi270_wh will support only for I2C */
-    bmm150_dev.intf = BMM150_I2C_INTF;
-
-    sensor_data[ACCEL].type = BMI2_ACCEL;
-    sensor_data[GYRO].type = BMI2_GYRO;
-    sensor_data[AUX].type = BMI2_AUX;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Pull-up resistor 2k is set to the trim regiter */
-    regdata = BMI2_ASDA_PUPSEL_2K;
-    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable the accel, gyro and aux sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_list, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configurations for accel. */
-    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
-    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-    /* Configurations for gyro. */
-    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
-    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
-
-    /* Configurations for aux. */
-    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
-    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
-    config[AUX].cfg.aux.read_addr = BMM150_REG_DATA_X_LSB;
-
-    /* Set new configurations for accel, gyro and aux. */
-    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmm150. */
-    rslt = bmm150_init(&bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set the power mode to normal mode. */
-    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
-    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Disable manual mode so that the data mode is enabled. */
-    config[AUX].cfg.aux.manual_en = BMI2_DISABLE;
-
-    /* Set the aux configurations. */
-    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("MAGNETOMETER, ACCEL, AND GYRO DATA IN DATA MODE\n");
-
-    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
-    {
-        while (limit--)
-        {
-            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
-            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
-
-            rslt = bmi270_wh_get_sensor_data(sensor_data, 3, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                /* Print the data in m/s2. */
-                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                printf("Gyr_Z= %d", sensor_data[GYRO].sens_data.gyr.z);
-
-                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                /* Print the data in dps. */
-                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-
-                /* Compensating the raw auxiliary data available from the BMM150 API. */
-                rslt = bmm150_aux_mag_data(sensor_data[AUX].sens_data.aux_data, &mag_data, &bmm150_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("\nMag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n",
-                       mag_data.x,
-                       mag_data.y,
-                       mag_data.z);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This function reads the data from auxiliary sensor in manual mode.
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This function writes the data to auxiliary sensor in manual mode.
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * Delay function map to COINES platform
- */
-static void user_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile
deleted file mode 100644
index 843a2ce8c7..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= read_aux_manual_mode.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-BMM150_SOURCE ?= ../../../bmm150
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(BMM150_SOURCE)/bmm150.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(BMM150_SOURCE) \
-$(COMMON_LOCATION)/common 
-
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c
deleted file mode 100644
index 524eb8d2ff..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/read_aux_manual_mode/read_aux_manual_mode.c
+++ /dev/null
@@ -1,322 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "bmm150.h"
-#include "coines.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Macros to select the sensors                   */
-#define ACCEL          UINT8_C(0x00)
-#define GYRO           UINT8_C(0x01)
-#define AUX            UINT8_C(0x02)
-
-/*! Earth's gravity in m/s^2 */
-#define GRAVITY_EARTH  (9.80665f)
-
-/*****************************************************************************/
-/*!         Structure declaration                                            */
-
-/* Sensor initialization configuration. */
-struct bmi2_dev bmi2_dev;
-
-/******************************************************************************/
-/*!                 Functions                                                 */
-
-/**
- * user_aux_read - Reads data from auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/**
- * user_aux_write - Writes data to the auxiliary sensor in manual mode.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] aux_data    : Aux data pointer to store the data being written.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- */
-static void user_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- *  range 2G, 4G, 8G or 16G.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] g_range   : Gravity range.
- *  @param[in] bit_width : Resolution for accel.
- *
- *  @return Gravity.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
-
-/*!
- *  @brief This function converts lsb to degree per second for 16 bit gyro at
- *  range 125, 250, 500, 1000 or 2000dps.
- *
- *  @param[in] val       : LSB from each axis.
- *  @param[in] dps       : Degree per second.
- *  @param[in] bit_width : Resolution for gyro.
- *
- *  @return Degree per second.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Variable to select the pull-up resistor which is set to trim register */
-    uint8_t regdata;
-
-    /* Variable to define limit to print aux data. */
-    uint8_t limit = 20;
-
-    /* Accel, Gyro and Aux sensors are listed in array. */
-    uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
-
-    /* Sensor initialization configuration. */
-    struct bmm150_dev bmm150_dev;
-
-    /* bmm150 settings configuration */
-    struct bmm150_settings settings;
-
-    /* bmm150 magnetometer data */
-    struct bmm150_mag_data mag_data;
-
-    /* Structure to define the type of the sensor and its configurations. */
-    struct bmi2_sens_config config[3];
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data[2];
-
-    /* Variables to define read the accel and gyro data in float */
-    float x = 0, y = 0, z = 0;
-
-    config[ACCEL].type = BMI2_ACCEL;
-    config[GYRO].type = BMI2_GYRO;
-    config[AUX].type = BMI2_AUX;
-
-    sensor_data[ACCEL].type = BMI2_ACCEL;
-    sensor_data[GYRO].type = BMI2_GYRO;
-
-    /* Array of eight bytes to store x, y, z and r axis aux data. */
-    uint8_t aux_data[8] = { 0 };
-
-    /* To enable the i2c interface settings for bmm150. */
-    uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    bmm150_dev.intf_ptr = &bmm150_dev_addr;
-    bmm150_dev.read = user_aux_read;
-    bmm150_dev.write = user_aux_write;
-    bmm150_dev.delay_us = user_delay_us;
-
-    /* As per datasheet, aux interface with bmi270_wh will support only for I2C */
-    bmm150_dev.intf = BMM150_I2C_INTF;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_SPI_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Pull-up resistor 2k is set to the trim register */
-    regdata = BMI2_ASDA_PUPSEL_2K;
-    rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Enable the accel, gyro and aux sensor. */
-    rslt = bmi270_wh_sensor_enable(sensor_list, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Configurations for accel. */
-    config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
-    config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
-    config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
-    config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
-
-    /* Configurations for gyro. */
-    config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
-    config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
-    config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
-    config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
-    config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
-
-    /* Configurations for aux. */
-    config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
-    config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
-    config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
-    config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
-
-    /* Set new configurations for accel, gyro and aux. */
-    rslt = bmi270_wh_set_sensor_config(config, 3, &bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmm150. */
-    rslt = bmm150_init(&bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Set the power mode to normal mode. */
-    settings.pwr_mode = BMM150_POWERMODE_NORMAL;
-    rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    printf("MAGNETOMETER, ACCEL AND GYRO DATA IN MANUAL MODE\n");
-
-    if (bmm150_dev.chip_id == BMM150_CHIP_ID)
-    {
-        while (limit--)
-        {
-            /* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
-            bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
-
-            rslt = bmi270_wh_get_sensor_data(sensor_data, 2, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
-                printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
-                printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
-
-                /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
-                x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
-                y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
-                z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
-
-                /* Print the data in m/s2. */
-                printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
-
-                printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
-                printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
-                printf("Gyr_Z = %d", sensor_data[GYRO].sens_data.gyr.z);
-
-                /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
-                x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
-                y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
-                z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
-
-                /* Print the data in dps. */
-                printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
-            }
-
-            /* Read aux data from the bmm150 data registers. */
-            rslt = bmi2_read_aux_man_mode(BMM150_REG_DATA_X_LSB, aux_data, 8, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-            if (rslt == BMI2_OK)
-            {
-                /* Compensating the raw auxiliary data available from the BMM150 API. */
-                rslt = bmm150_aux_mag_data(aux_data, &mag_data, &bmm150_dev);
-                bmi2_error_codes_print_result(rslt);
-                printf("Mag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n", mag_data.x, mag_data.y,
-                       mag_data.z);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This function reads the data from auxiliary sensor in manual mode.
- */
-int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * @brief This function writes the data to auxiliary sensor in manual mode.
- */
-int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
-{
-    int8_t rslt;
-
-    /* Discarding the parameter id as it is redundant */
-    rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
-
-    return rslt;
-}
-
-/*!
- * Delay function map to COINES platform
- */
-static void user_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/*!
- * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
- * range 2G, 4G, 8G or 16G.
- */
-static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (GRAVITY_EARTH * val * g_range) / half_scale;
-}
-
-/*!
- * @brief This function converts lsb to degree per second for 16 bit gyro at
- * range 125, 250, 500, 1000 or 2000dps.
- */
-static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
-{
-    float half_scale = ((float)(1 << bit_width) / 2.0f);
-
-    return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile
deleted file mode 100644
index a4fcf100cd..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_activity.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c
deleted file mode 100644
index 0c3e9c7558..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_activity/step_activity.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!            Functions                                        */
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define the type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step activity feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_ACTIVITY };
-
-    /* Type of sensor to get step activity data. */
-    sensor_data.type = BMI2_STEP_ACTIVITY;
-
-    /* Variable to get step activity interrupt status. */
-    uint16_t int_status = 0;
-
-    uint16_t loop = 10;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_ACTIVITY, .hw_int_pin = BMI2_INT2 };
-
-    /* The step activities are listed in array. */
-    const char *activity_output[4] = { "BMI2_STILL", "BMI2_WALK", "BMI2_RUN", "BMI2_UNKNOWN" };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        /* Configure the type of sensor. */
-        config.type = BMI2_STEP_ACTIVITY;
-
-        if (rslt == BMI2_OK)
-        {
-            /* Get default configurations for the type of feature selected. */
-            rslt = bmi270_wh_get_sensor_config(&config, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the feature interrupt for step activity. */
-                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                printf("\nMove the board in steps to perform step activity:\n");
-
-                /* Loop to get step activity. */
-                while (loop)
-                {
-                    /* To get the interrupt status of step detector. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of step detector. */
-                    if (int_status & BMI270_WH_STEP_ACT_STATUS_MASK)
-                    {
-                        printf("Step detected\n");
-
-                        /* Get step activity output. */
-                        rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step activity output. */
-                        printf("Step activity = %s\n", activity_output[sensor_data.sens_data.activity_output]);
-
-                        loop--;
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile
deleted file mode 100644
index 1c16cc62a2..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= step_counter.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c
deleted file mode 100644
index 8d5f968fb7..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/step_counter/step_counter.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!                 Header Files                                              */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set configurations for step counter.
- *
- *  @param[in] bmi2_dev       : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program. */
-int main(void)
-{
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Structure to define type of sensor and their respective data. */
-    struct bmi2_sensor_data sensor_data;
-
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Accel sensor and step counter feature are listed in array. */
-    uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
-
-    /* Variable to get step counter interrupt status. */
-    uint16_t int_status = 0;
-
-    /* Select features and their pins to be mapped to. */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
-
-    /* Type of sensor to get step counter data. */
-    sensor_data.type = BMI2_STEP_COUNTER;
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Enable the selected sensor. */
-        rslt = bmi270_wh_sensor_enable(sensor_sel, 2, &bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the feature configuration for step counter. */
-            rslt = set_feature_config(&bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            printf("Step counter watermark level set to 1 (20 steps)\n");
-
-            if (rslt == BMI2_OK)
-            {
-                /* Map the step counter feature interrupt. */
-                rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
-                bmi2_error_codes_print_result(rslt);
-
-                /* Move the board in steps for 20 times to get step counter interrupt. */
-                printf("Move the board in steps\n");
-
-                /* Loop to get number of steps counted. */
-                do
-                {
-                    /* To get the interrupt status of the step counter. */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the step counter. */
-                    if (int_status & BMI270_WH_STEP_CNT_STATUS_MASK)
-                    {
-                        printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
-
-                        /* Get step counter output. */
-                        rslt = bmi270_wh_get_sensor_data(&sensor_data, 1, &bmi2_dev);
-                        bmi2_error_codes_print_result(rslt);
-
-                        /* Print the step counter output. */
-                        printf("No of steps counted  = %ld", sensor_data.sens_data.step_counter_output);
-                        break;
-                    }
-                } while (rslt == BMI2_OK);
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API is used to set configurations for step counter.
- */
-static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Status of api are returned to this variable. */
-    int8_t rslt;
-
-    /* Structure to define the type of sensor and its configurations. */
-    struct bmi2_sens_config config;
-
-    /* Configure the type of sensor. */
-    config.type = BMI2_STEP_COUNTER;
-
-    /* Get default configurations for the type of feature selected. */
-    rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
-         * output triggers. */
-        config.cfg.step_counter.watermark_level = 1;
-
-        /* Set new configuration. */
-        rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile
deleted file mode 100644
index 65d3561d83..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= wrist_wear_wakeup.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi270_wh.c \
-$(COMMON_LOCATION)/common/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c
deleted file mode 100644
index bee1191d94..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_wh/wrist_wear_wakeup/wrist_wear_wakeup.c
+++ /dev/null
@@ -1,131 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-/*!            Header Files                                  */
-#include <stdio.h>
-#include "bmi270_wh.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!         Static function declaration                                       */
-
-/*!
- *  @brief This internal API is used to set the sensor configuration.
- *
- *  @param[in] bmi2_dev     : Structure instance of bmi2_dev.
- *
- *  @return Status of execution.
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
-
-/******************************************************************************/
-/*!            Functions                                        */
-
-/* This function starts the execution of program */
-int main(void)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* Initialize status of wrist wear wakeup interrupt */
-    uint16_t int_status = 0;
-
-    /* Sensor initialization configuration. */
-    struct bmi2_dev bmi2_dev;
-
-    /* Select features and their pins to be mapped to */
-    struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .hw_int_pin = BMI2_INT1 };
-
-    /* Interface reference is given as a parameter
-     * For I2C : BMI2_I2C_INTF
-     * For SPI : BMI2_SPI_INTF
-     */
-    rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
-    bmi2_error_codes_print_result(rslt);
-
-    /* Initialize bmi270_wh. */
-    rslt = bmi270_wh_init(&bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Set the sensor configuration */
-        rslt = bmi2_set_config(&bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Map the feature interrupt */
-            rslt = bmi270_wh_map_feat_int(&sens_int, 1, &bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-
-            if (rslt == BMI2_OK)
-            {
-                printf("Tilt the board in landscape position to trigger wrist wear wakeup\n");
-
-                /* Loop to print the wrist wear wakeup data when interrupt occurs */
-                while (1)
-                {
-                    int_status = 0;
-
-                    /* To get the interrupt status of the wrist wear wakeup */
-                    rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
-                    bmi2_error_codes_print_result(rslt);
-
-                    /* To check the interrupt status of the wrist gesture */
-                    if ((rslt == BMI2_OK) && (int_status & BMI270_WH_WRIST_WEAR_WAKEUP_WH_STATUS_MASK))
-                    {
-                        printf("Wrist wear wakeup detected\n");
-                        break;
-                    }
-                }
-            }
-        }
-    }
-
-    bmi2_coines_deinit();
-
-    return rslt;
-}
-
-/*!
- * @brief This internal API sets the sensor configuration
- */
-static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
-{
-    /* Variable to define result */
-    int8_t rslt;
-
-    /* List the sensors which are required to enable */
-    uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP_WH };
-
-    /* Structure to define the type of the sensor and its configurations */
-    struct bmi2_sens_config config;
-
-    /* Configure type of feature */
-    config.type = BMI2_WRIST_WEAR_WAKE_UP_WH;
-
-    /* Enable the selected sensors */
-    rslt = bmi270_wh_sensor_enable(sens_list, 2, bmi2_dev);
-    bmi2_error_codes_print_result(rslt);
-
-    if (rslt == BMI2_OK)
-    {
-        /* Get default configurations for the type of feature selected */
-        rslt = bmi270_wh_get_sensor_config(&config, 1, bmi2_dev);
-        bmi2_error_codes_print_result(rslt);
-
-        if (rslt == BMI2_OK)
-        {
-            /* Set the new configuration */
-            rslt = bmi270_wh_set_sensor_config(&config, 1, bmi2_dev);
-            bmi2_error_codes_print_result(rslt);
-        }
-    }
-
-    return rslt;
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c
deleted file mode 100644
index 1a43947a99..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.c
+++ /dev/null
@@ -1,153 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "coines.h"
-#include "common.h"
-
-/******************************************************************************/
-/*!                     Global declaration                                    */
-
-/*! Device address for primary and secondary interface */
-static uint8_t ois_dev_addr;
-
-/******************************************************************************/
-/*!                        Functions                                          */
-
-/*!
- * SPI read function map to COINES platform
- */
-int8_t bmi2_ois_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
-}
-
-/*!
- * SPI write function map to COINES platform
- */
-int8_t bmi2_ois_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
-{
-    uint8_t dev_addr = *(uint8_t*)intf_ptr;
-
-    return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
-}
-
-/*!
- * Delay function map to COINES platform
- */
-void bmi2_ois_delay_us(uint32_t period, void *intf_ptr)
-{
-    coines_delay_usec(period);
-}
-
-/******************************************************************************/
-int8_t bmi2_ois_init(struct bmi2_ois_dev *ois_dev)
-{
-    int8_t rslt;
-
-    if (ois_dev != NULL)
-    {
-        int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
-        if (result < COINES_SUCCESS)
-        {
-            printf(
-                "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
-                " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
-            exit(result);
-        }
-
-        coines_set_shuttleboard_vdd_vddio_config(0, 0);
-        coines_delay_msec(100);
-
-        printf("SPI Interface \n");
-
-        /* To initialize the user SPI function */
-        ois_dev_addr = COINES_SHUTTLE_PIN_8; /*COINES_SHUTTLE_PIN_7 */
-        ois_dev->ois_read = bmi2_ois_spi_read;
-        ois_dev->ois_write = bmi2_ois_spi_write;
-
-        /* Assign device address to interface pointer */
-        ois_dev->intf_ptr = &ois_dev_addr;
-
-        /* Configure delay in microseconds */
-        ois_dev->ois_delay_us = bmi2_ois_delay_us;
-
-        /* SDO pin is made low for selecting I2C address 0x76*/
-        coines_set_pin_config(COINES_SHUTTLE_PIN_8, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
-
-        /*        coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3); */
-        coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_7_5_MHZ, COINES_SPI_MODE0);
-        coines_delay_msec(10);
-
-        /* PS pin is made high for selecting I2C protocol (gyroscope)*/
-        coines_set_pin_config(COINES_SHUTTLE_PIN_9, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
-
-        coines_delay_usec(10000);
-
-        coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
-
-        coines_delay_usec(10000);
-
-    }
-    else
-    {
-        rslt = BMI2_OIS_E_NULL_PTR;
-    }
-
-    return rslt;
-}
-
-/******************************************************************************/
-
-/*!
- * @brief This internal API prints the execution status
- */
-void bmi2_ois_error_codes_print_result(const char api_name[], int8_t rslt)
-{
-    if (rslt != BMI2_OIS_OK)
-    {
-        printf("%s\t", api_name);
-
-        if (rslt == BMI2_OIS_E_NULL_PTR)
-        {
-            printf("Error [%d] : Null pointer error.\r\n", rslt);
-            printf(
-                "It occurs when the user tries to assign value (not address) to a pointer, which has been initialized to NULL.\r\n");
-        }
-        else if (rslt == BMI2_OIS_E_COM_FAIL)
-        {
-            printf("Error [%d] : Communication failure error.\r\n", rslt);
-            printf(
-                "It occurs due to read/write operation failure and also due to power failure during communication\r\n");
-        }
-        else if (rslt == BMI2_OIS_E_INVALID_SENSOR)
-        {
-            printf(
-                "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the available one\r\n",
-                rslt);
-        }
-        else
-        {
-            printf("Error [%d] : Unknown error code\r\n", rslt);
-        }
-    }
-}
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_ois_coines_deinit(void)
-{
-    coines_close_comm_intf(COINES_COMM_INTF_USB);
-}
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h
deleted file mode 100644
index 82a843bbf5..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/common/common.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-#ifndef _COMMON_H
-#define _COMMON_H
-
-/*! CPP guard */
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include "bmi2_ois.h"
-
-/*!
- *  @brief Function for reading the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[out] reg_data    : Pointer to the data buffer to store the read data.
- *  @param[in] length       : No of bytes to read.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-int8_t bmi2_ois_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- *  @brief Function for writing the sensor's registers through SPI bus.
- *
- *  @param[in] reg_addr     : Register address.
- *  @param[in] reg_data     : Pointer to the data buffer whose data has to be written.
- *  @param[in] length       : No of bytes to write.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return Status of execution
- *  @retval = BMI2_INTF_RET_SUCCESS -> Success
- *  @retval != BMI2_INTF_RET_SUCCESS  -> Failure Info
- *
- */
-int8_t bmi2_ois_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
-
-/*!
- * @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
- * APIs.
- *
- *  @param[in] period_us    : The required wait time in microsecond.
- *  @param[in] intf_ptr     : Interface pointer
- *
- *  @return void.
- *
- */
-void bmi2_ois_delay_us(uint32_t period, void *intf_ptr);
-
-/*!
- *  @brief Function to initialize device structure and coines platform
- *
- *  @param[in] bma  : Structure instance of bmi2_dev
- *
- *  @return Status of execution
- *  @retval 0 -> Success
- *  @retval < 0 -> Failure Info
- */
-int8_t bmi2_ois_init(struct bmi2_ois_dev *ois_dev);
-
-/*!
- *  @brief Prints the execution status of the APIs.
- *
- *  @param[in] api_name : API name with return status
- *  @param[in] rslt     : Error code returned by the API whose execution status has to be printed.
- *
- *  @return void.
- */
-void bmi2_ois_error_codes_print_result(const char api_name[], int8_t rslt);
-
-/*!
- *  @brief Deinitializes coines platform
- *
- *  @return void.
- */
-void bmi2_ois_coines_deinit(void);
-
-#ifdef __cplusplus
-}
-#endif /* End of CPP guard */
-
-#endif /* End _COMMON_H */
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile
deleted file mode 100644
index 65cd946442..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-COINES_INSTALL_PATH ?= ../../../..
-
-EXAMPLE_FILE ?= ois_accel_gyro.c
-
-API_LOCATION ?= ../..
-
-COMMON_LOCATION ?= ..
-
-C_SRCS += \
-$(API_LOCATION)/bmi2.c \
-$(API_LOCATION)/bmi2_ois.c \
-$(COMMON_LOCATION)/common.c
-
-INCLUDEPATHS += \
-$(API_LOCATION) \
-$(COMMON_LOCATION)/common
-
-include $(COINES_INSTALL_PATH)/coines.mk
\ No newline at end of file
diff --git a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c b/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c
deleted file mode 100644
index bdb9d8f936..0000000000
--- a/lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi2_ois/ois_accel_gyro/ois_accel_gyro.c
+++ /dev/null
@@ -1,118 +0,0 @@
-/**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- **/
-
-/******************************************************************************/
-#include <stdio.h>
-
-#include "bmi2_ois.h"
-#include "bmi2_ois_common.h"
-
-/******************************************************************************/
-/*!                Macro definition                                           */
-
-/*! Macro that holds the total number of accel x,y and z axes sample counts to be printed */
-#define ACCEL_GYRO_SAMPLE_COUNT  UINT8_C(50)
-
-/******************************************************************************/
-/*!                         Functions                                         */
-
-int main(void)
-{
-    int8_t rslt;
-
-    struct bmi2_ois_dev ois_dev;
-
-    int8_t idx;
-
-    /* To store the gyroscope cross sensitivity value */
-    int16_t ois_gyr_cross_sens_zx = 0;
-
-    /* Array to enable sensor through OIS interface */
-    uint8_t sens_sel[2] = { BMI2_OIS_ACCEL, BMI2_OIS_GYRO };
-
-    /* Variable that holds the accel and gyro sample count */
-    uint8_t n_data = ACCEL_GYRO_SAMPLE_COUNT;
-
-    /* Initialize the device structure */
-    rslt = bmi2_ois_init(&ois_dev);
-    bmi2_ois_error_codes_print_result("bmi2_ois_init", rslt);
-
-    /* Get configurations for OIS */
-    rslt = bmi2_ois_get_config(&ois_dev);
-    bmi2_ois_error_codes_print_result("bmi2_ois_get_config", rslt);
-
-    /* OIS configurations */
-    ois_dev.acc_en = BMI2_OIS_ENABLE;
-    ois_dev.gyr_en = BMI2_OIS_ENABLE;
-    ois_dev.lp_filter_en = BMI2_OIS_ENABLE;
-
-    /* Set configurations for OIS */
-    rslt = bmi2_ois_set_config(&ois_dev);
-    bmi2_ois_error_codes_print_result("bmi2_ois_set_config", rslt);
-
-    /* Get configurations for OIS */
-    rslt = bmi2_ois_get_config(&ois_dev);
-    bmi2_ois_error_codes_print_result("bmi2_ois_get_config", rslt);
-
-    if (rslt == BMI2_OIS_OK)
-    {
-        for (idx = 0; idx < n_data; idx++)
-        {
-            ois_dev.ois_delay_us(156, ois_dev.intf_ptr);
-
-            /* Accel ODR is 1600hz and gyro ODR is 6400hz.Delay required for
-             * accel 156us and 625us for gyro.
-             * taken modules from accel and gyro ODR which results every 4th sample accel and gyro
-             * read happens, rest of three samples gyro data alone will be read */
-            if (idx % 4 == 0)
-            {
-                /* Get OIS accelerometer and gyro data through OIS interface
-                 * @note for sensor which support gyro cross axes sensitivity pass the
-                 * gyr_cross_sens_zx from the bmi2_dev structure */
-                rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev, ois_gyr_cross_sens_zx);
-                bmi2_ois_error_codes_print_result("bmi2_ois_read_data", rslt);
-
-                if (rslt == BMI2_OIS_OK)
-                {
-                    printf("\n");
-
-                    /* Print accelerometer data */
-                    printf("OIS Accel x-axis = %d ", ois_dev.acc_data.x);
-                    printf("OIS Accel y-axis = %d ", ois_dev.acc_data.y);
-                    printf("OIS Accel z-axis = %d \n", ois_dev.acc_data.z);
-
-                    /* Print gyro data */
-                    printf("OIS Gyro x-axis = %d ", ois_dev.gyr_data.x);
-                    printf("OIS Gyro y-axis = %d ", ois_dev.gyr_data.y);
-                    printf("OIS Gyro z-axis = %d \n", ois_dev.gyr_data.z);
-
-                    printf("\n");
-                }
-            }
-            else
-            {
-                /* Get OIS gyro data through OIS interface
-                 * @note for sensor which support gyro cross axes sensitivity pass the
-                 * gyr_cross_sens_zx from the bmi2_dev structure */
-                rslt = bmi2_ois_read_data(&sens_sel[1], 1, &ois_dev, ois_gyr_cross_sens_zx);
-                bmi2_ois_error_codes_print_result("bmi2_ois_read_data", rslt);
-                if (rslt == BMI2_OIS_OK)
-                {
-                    /* Print gyro data */
-                    printf("OIS Gyro x-axis = %d ", ois_dev.gyr_data.x);
-                    printf("OIS Gyro y-axis = %d ", ois_dev.gyr_data.y);
-                    printf("OIS Gyro z-axis = %d ", ois_dev.gyr_data.z);
-
-                    printf("\n");
-                }
-            }
-        }
-    }
-
-    bmi2_ois_coines_deinit();
-
-    return rslt;
-}

From cb6636895d397e42034a8a315d8a49b1cf84e327 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Wed, 4 Aug 2021 11:29:06 -0700
Subject: [PATCH 213/336] BMI270: Add busdev

---
 src/main/target/common_hardware.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index 6ed05a930f..a02d8b683d 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -93,6 +93,10 @@
         BUSDEV_REGISTER_I2C(busdev_bmi088,      DEVHW_BMI088,       BMI088_I2C_BUS,     0x68,               GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_BMI088_ALIGN);
         #endif
     #endif
+
+    #if defined(USE_IMU_BMI270)
+        BUSDEV_REGISTER_SPI(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+    #endif
 #endif
 
 

From 5051dd44629759000d809506d1c698df206d8d9a Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 18 Aug 2021 21:49:55 +0100
Subject: [PATCH 214/336] Initial code for max speed OSD elements

---
 src/main/drivers/osd_symbols.h |  1 +
 src/main/io/osd.c              | 49 +++++++++++++++++++++++++---------
 src/main/io/osd.h              |  4 ++-
 src/main/io/osd_hud.c          |  2 +-
 4 files changed, 41 insertions(+), 15 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index e7a4551f55..6a856889a2 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -158,6 +158,7 @@
 #define SYM_HEADING_W               0xCB  // 203 Heading Graphic west
 #define SYM_HEADING_DIVIDED_LINE    0xCC  // 204 Heading Graphic
 #define SYM_HEADING_LINE            0xCD  // 205 Heading Graphic
+#define SYM_MAX                     0xCE  // 206 MAX symbol
 
 
 #define SYM_LOGO_START              0x101 // 257 to 280, INAV logo
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 05c87dba47..f672425656 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -156,6 +156,7 @@ static float GForce, GForceAxis[XYZ_AXIS_COUNT];
 
 typedef struct statistic_s {
     uint16_t max_speed;
+    uint16_t max_3D_speed;
     uint16_t min_voltage; // /100
     int16_t max_current;
     int32_t max_power;
@@ -421,7 +422,7 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
  * Converts velocity into a string based on the current unit system.
  * @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
  */
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
 {
     switch ((osd_unit_e)osdConfig()->units) {
     case OSD_UNIT_UK:
@@ -429,13 +430,25 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D)
     case OSD_UNIT_METRIC_MPH:
         FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
-        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
+        if (_max) { 
+            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_MPH : SYM_MPH));
+        } else {
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
+        }
         break;
     case OSD_UNIT_METRIC:
-        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
+        if (_max) { 
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
+        } else {
+            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_KMH : SYM_KMH));
+        }
         break;
     case OSD_UNIT_GA:
-        tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
+        if (_max) { 
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
+        } else {
+            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_KT : SYM_KT));
+        }
         break;
     }
 }
@@ -1569,14 +1582,20 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_GPS_SPEED:
-        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false);
+        osdFormatVelocityStr(buff, gpsSol.groundSpeed, false, false);
+        break;
+
+    case OSD_GPS_MAX_SPEED:
+        osdFormatVelocityStr(buff, stats.max_speed, false, true);
         break;
 
     case OSD_3D_SPEED:
-        {
-            osdFormatVelocityStr(buff, osdGet3DSpeed(), true);
-            break;
-        }
+        osdFormatVelocityStr(buff, osdGet3DSpeed(), true, false);
+        break;
+    
+    case OSD_3D_MAX_SPEED:
+        osdFormatVelocityStr(buff, stats.max_3D_speed, true, true);
+        break;
 
     case OSD_GLIDESLOPE:
         {
@@ -2406,7 +2425,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
         #ifdef USE_PITOT
             buff[0] = SYM_AIR;
-            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false);
+            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false, false);
         #else
             return false;
         #endif
@@ -3434,6 +3453,7 @@ static void osdResetStats(void)
     stats.max_current = 0;
     stats.max_power = 0;
     stats.max_speed = 0;
+    stats.max_3D_speed = 0;
     stats.min_voltage = 5000;
     stats.min_rssi = 99;
     stats.min_lq = 300;
@@ -3447,8 +3467,11 @@ static void osdUpdateStats(void)
 
     if (feature(FEATURE_GPS)) {
         value = osdGet3DSpeed();
-        if (stats.max_speed < value)
-            stats.max_speed = value;
+        if (stats.max_3D_speed < value)
+            stats.max_3D_speed = value;
+
+        if (stats.max_speed < gpsSol.groundSpeed)
+            stats.max_speed = gpsSol.groundSpeed;
 
         if (stats.max_distance < GPS_distanceToHome)
             stats.max_distance = GPS_distanceToHome;
@@ -3497,7 +3520,7 @@ static void osdShowStatsPage1(void)
 
     if (feature(FEATURE_GPS)) {
         displayWrite(osdDisplayPort, statNameX, top, "MAX SPEED        :");
-        osdFormatVelocityStr(buff, stats.max_speed, true);
+        osdFormatVelocityStr(buff, stats.max_3D_speed, true, false);
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 30ab31d9d6..463624944c 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -231,6 +231,8 @@ typedef enum {
     OSD_PLIMIT_ACTIVE_CURRENT_LIMIT,
     OSD_PLIMIT_ACTIVE_POWER_LIMIT,
     OSD_GLIDESLOPE,
+    OSD_GPS_MAX_SPEED,
+    OSD_3D_MAX_SPEED,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 
@@ -412,7 +414,7 @@ int32_t osdGetAltitude(void);
 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
-void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D);
+void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 
diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index 81b86e946d..f2283a7811 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -351,7 +351,7 @@ void osdHudDrawExtras(uint8_t poi_id)
 
     displayWrite(osdGetDisplayPort(), minX + 4, lineY, buftmp);
 
-    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false);
+    osdFormatVelocityStr(buftmp, radar_pois[poi_id].speed, false, false);
     displayWrite(osdGetDisplayPort(), maxX - 9, lineY, buftmp);
 
     tfp_sprintf(buftmp, "%3d%c", radar_pois[poi_id].heading, SYM_HEADING);

From 6dc04a257be3a98d4e3c80450018afa7435f55bf Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 19 Aug 2021 17:47:06 +0100
Subject: [PATCH 215/336] Moved MAX symbol before number as it looks better

---
 src/main/io/osd.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f672425656..52aa9e3367 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -431,23 +431,23 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
         FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
         if (_max) { 
-            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_MPH : SYM_MPH));
+            tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
         } else {
             tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
         }
         break;
     case OSD_UNIT_METRIC:
         if (_max) { 
-            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
+            tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         } else {
-            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_KMH : SYM_KMH));
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         }
         break;
     case OSD_UNIT_GA:
         if (_max) { 
-            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
+            tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
         } else {
-            tfp_sprintf(buff, "%3d%c%c", (int)osdConvertVelocityToUnit(vel), SYM_MAX, (_3D ? SYM_3D_KT : SYM_KT));
+            tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
         }
         break;
     }

From 69015a548ea38c5a4a949bb321ff01ff560223b5 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 19 Aug 2021 21:27:01 +0100
Subject: [PATCH 216/336] Added max airspeed for completeness

---
 src/main/io/osd.c | 17 +++++++++++++++++
 src/main/io/osd.h |  1 +
 2 files changed, 18 insertions(+)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 52aa9e3367..9ec57c372d 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -157,6 +157,7 @@ static float GForce, GForceAxis[XYZ_AXIS_COUNT];
 typedef struct statistic_s {
     uint16_t max_speed;
     uint16_t max_3D_speed;
+    uint16_t max_air_speed;
     uint16_t min_voltage; // /100
     int16_t max_current;
     int32_t max_power;
@@ -2432,6 +2433,18 @@ static bool osdDrawSingleElement(uint8_t item)
             break;
         }
 
+    case OSD_AIR_MAX_SPEED:
+        {
+        #ifdef USE_PITOT
+            buff[0] = SYM_MAX;
+            buff[1] = SYM_AIR;
+            osdFormatVelocityStr(buff + 2, stats.max_air_speed, false, false);
+        #else
+            return false;
+        #endif
+            break;
+        }
+
     case OSD_RTC_TIME:
         {
             // RTC not configured will show 00:00
@@ -3454,6 +3467,7 @@ static void osdResetStats(void)
     stats.max_power = 0;
     stats.max_speed = 0;
     stats.max_3D_speed = 0;
+    stats.max_air_speed = 0;
     stats.min_voltage = 5000;
     stats.min_rssi = 99;
     stats.min_lq = 300;
@@ -3473,6 +3487,9 @@ static void osdUpdateStats(void)
         if (stats.max_speed < gpsSol.groundSpeed)
             stats.max_speed = gpsSol.groundSpeed;
 
+        if (stats.max_air_speed < pitot.airSpeed)
+            stats.max_air_speed = pitot.airSpeed;
+
         if (stats.max_distance < GPS_distanceToHome)
             stats.max_distance = GPS_distanceToHome;
     }
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 463624944c..e46a3bc0bb 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -233,6 +233,7 @@ typedef enum {
     OSD_GLIDESLOPE,
     OSD_GPS_MAX_SPEED,
     OSD_3D_MAX_SPEED,
+    OSD_AIR_MAX_SPEED,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

From 2802a206b5a348328d5a418f7e6e9fe30c2e3795 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 20 Aug 2021 00:07:46 +0100
Subject: [PATCH 217/336] Initial build

---
 docs/Settings.md                         |  8 +--
 src/main/fc/settings.yaml                | 10 ++--
 src/main/flight/failsafe.c               | 69 +++++++++++++++++++-----
 src/main/flight/failsafe.h               | 31 +++++++----
 src/main/flight/mixer.c                  |  2 +
 src/main/navigation/navigation.c         | 40 +++++++++++++-
 src/main/navigation/navigation.h         |  7 ++-
 src/main/navigation/navigation_private.h |  2 +
 8 files changed, 136 insertions(+), 33 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index b25ecff5eb..7d7827c29c 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -914,7 +914,7 @@ Time in deciseconds to wait before activating failsafe when signal is lost. See
 
 ### failsafe_fw_pitch_angle
 
-Amount of dive/climb when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
+Amount of dive/climb when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -924,7 +924,7 @@ Amount of dive/climb when `SET-THR` failsafe is active on a fixed-wing machine.
 
 ### failsafe_fw_roll_angle
 
-Amount of banking when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
+Amount of banking when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -934,7 +934,7 @@ Amount of banking when `SET-THR` failsafe is active on a fixed-wing machine. In
 
 ### failsafe_fw_yaw_rate
 
-Requested yaw rate to execute when `SET-THR` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
+Requested yaw rate to execute when `LAND` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -1018,7 +1018,7 @@ What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Fai
 
 | Default | Min | Max |
 | --- | --- | --- |
-| SET-THR |  |  |
+| LAND |  |  |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b0ee6f16c8..47907479c2 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -39,7 +39,7 @@ tables:
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
-    values: ["SET-THR", "DROP", "RTH", "NONE"]
+    values: ["LAND", "DROP", "RTH", "NONE"]
   - name: current_sensor
     values: ["NONE", "ADC", "VIRTUAL", "ESC"]
     enum: currentSensor_e
@@ -901,7 +901,7 @@ groups:
         max: 300
       - name: failsafe_procedure
         description: "What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
-        default_value: "SET-THR"
+        default_value: "LAND"
         table: failsafe_procedure
       - name: failsafe_stick_threshold
         description: "Threshold for stick motion to consider failsafe condition resolved. If non-zero failsafe won't clear even if RC link is restored - you have to move sticks to exit failsafe."
@@ -910,17 +910,17 @@ groups:
         min: 0
         max: 500
       - name: failsafe_fw_roll_angle
-        description: "Amount of banking when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
+        description: "Amount of banking when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
         default_value: -200
         min: -800
         max: 800
       - name: failsafe_fw_pitch_angle
-        description: "Amount of dive/climb when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
+        description: "Amount of dive/climb when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
         default_value: 100
         min: -800
         max: 800
       - name: failsafe_fw_yaw_rate
-        description: "Requested yaw rate to execute when `SET-THR` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
+        description: "Requested yaw rate to execute when `LAND` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
         default_value: -45
         min: -1000
         max: 1000
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index fa1d31c34f..7fdeb1042a 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -87,7 +87,9 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
 typedef enum {
     FAILSAFE_CHANNEL_HOLD,      // Hold last known good value
     FAILSAFE_CHANNEL_NEUTRAL,   // RPY = zero, THR = zero
+#if !defined(USE_NAV)
     FAILSAFE_CHANNEL_AUTO,      // Defined by failsafe configured values
+#endif
 } failsafeChannelBehavior_e;
 
 typedef struct {
@@ -98,14 +100,24 @@ typedef struct {
 
 static const failsafeProcedureLogic_t failsafeProcedureLogic[] = {
     [FAILSAFE_PROCEDURE_AUTO_LANDING] = {
-            .bypassNavigation = true,
             .forceAngleMode = true,
+#if defined(USE_NAV)
+            .bypassNavigation = false,
+            .channelBehavior = {
+                FAILSAFE_CHANNEL_NEUTRAL,       // ROLL
+                FAILSAFE_CHANNEL_NEUTRAL,       // PITCH
+                FAILSAFE_CHANNEL_NEUTRAL,       // YAW
+                FAILSAFE_CHANNEL_HOLD           // THROTTLE
+            }
+#else
+            .bypassNavigation = true,
             .channelBehavior = {
                 FAILSAFE_CHANNEL_AUTO,          // ROLL
                 FAILSAFE_CHANNEL_AUTO,          // PITCH
                 FAILSAFE_CHANNEL_AUTO,          // YAW
                 FAILSAFE_CHANNEL_AUTO           // THROTTLE
             }
+#endif
     },
 
     [FAILSAFE_PROCEDURE_DROP_IT] = {
@@ -214,12 +226,14 @@ bool failsafeRequiresAngleMode(void)
            failsafeProcedureLogic[failsafeState.activeProcedure].forceAngleMode;
 }
 
+#if !defined(USE_NAV)
 bool failsafeRequiresMotorStop(void)
 {
     return failsafeState.active &&
            failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
            currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
 }
+#endif
 
 void failsafeStartMonitoring(void)
 {
@@ -258,6 +272,7 @@ void failsafeUpdateRcCommandValues(void)
 
 void failsafeApplyControlInput(void)
 {
+#if !defined(USE_NAV)
     // Prepare FAILSAFE_CHANNEL_AUTO values for rcCommand
     int16_t autoRcCommand[4];
     if (STATE(FIXED_WING_LEGACY)) {
@@ -272,7 +287,7 @@ void failsafeApplyControlInput(void)
         }
         autoRcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
     }
-
+#endif
     // Apply channel values
     for (int idx = 0; idx < 4; idx++) {
         switch (failsafeProcedureLogic[failsafeState.activeProcedure].channelBehavior[idx]) {
@@ -293,10 +308,11 @@ void failsafeApplyControlInput(void)
                         break;
                 }
                 break;
-
+#if !defined(USE_NAV)
             case FAILSAFE_CHANNEL_AUTO:
                 rcCommand[idx] = autoRcCommand[idx];
                 break;
+#endif
         }
     }
 }
@@ -438,8 +454,11 @@ void failsafeUpdateState(void)
 
                     switch (failsafeState.activeProcedure) {
                         case FAILSAFE_PROCEDURE_AUTO_LANDING:
-                            // Stabilize, and set Throttle to specified level
+                            // Use Emergency Landing if Nav defined. Ootherwise stabilize, and set Throttle to specified level.
                             failsafeActivate(FAILSAFE_LANDING);
+#if defined(USE_NAV)
+                            activateForcedEmergLanding();
+#endif
                             break;
 
                         case FAILSAFE_PROCEDURE_DROP_IT:
@@ -513,16 +532,42 @@ void failsafeUpdateState(void)
 
             case FAILSAFE_LANDING:
                 if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
+#if defined(USE_NAV)
+                    abortForcedEmergLanding();
+#endif
                     failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                     reprocessState = true;
-                }
-                if (armed) {
-                    beeperMode = BEEPER_RX_LOST_LANDING;
-                }
-                if (failsafeShouldHaveCausedLandingByNow() || !armed) {
-                    failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
-                    failsafeState.phase = FAILSAFE_LANDED;
-                    reprocessState = true;
+                } else {
+                    if (armed) {
+                        beeperMode = BEEPER_RX_LOST_LANDING;
+                    }
+#if defined(USE_NAV)
+                    bool emergLanded = false;
+                    switch (getStateOfForcedEmergLanding()) {
+                        case EMERG_LAND_IN_PROGRESS:
+                            break;
+
+                        case EMERG_LAND_HAS_LANDED:
+                            emergLanded = true;
+                            break;
+
+                        case EMERG_LAND_IDLE:
+                        default:
+                            // If emergency landing was somehow aborted during failsafe - fallback to FAILSAFE_PROCEDURE_DROP_IT
+                            abortForcedEmergLanding();
+                            failsafeSetActiveProcedure(FAILSAFE_PROCEDURE_DROP_IT);
+                            failsafeActivate(FAILSAFE_LANDED);
+                            reprocessState = true;
+                            break;
+                    }
+                    if (emergLanded || failsafeShouldHaveCausedLandingByNow() || !armed) {
+#else
+                    if (failsafeShouldHaveCausedLandingByNow() || !armed) {
+#endif
+                        failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
+                        failsafeState.phase = FAILSAFE_LANDED;
+                        reprocessState = true;
+                    }
                 }
                 break;
 
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index e2ab280ac1..f2e0b3bd85 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -48,11 +48,12 @@ typedef struct failsafeConfig_s {
 PG_DECLARE(failsafeConfig_t, failsafeConfig);
 
 typedef enum {
+    FAILSAFE_IDLE = 0,
     /* Failsafe mode is not active. All other
      * phases indicate that the failsafe flight
      * mode is active.
      */
-    FAILSAFE_IDLE = 0,
+    FAILSAFE_RX_LOSS_DETECTED,
     /* In this phase, the connection from the receiver
      * has been confirmed as lost and it will either
      * transition into FAILSAFE_RX_LOSS_RECOVERED if the
@@ -61,7 +62,7 @@ typedef enum {
      * failsafe_procedure) or into FAILSAFE_RX_LOSS_IDLE
      * if failsafe_procedure is NONE.
      */
-    FAILSAFE_RX_LOSS_DETECTED,
+    FAILSAFE_RX_LOSS_IDLE,
     /* This phase will just do nothing else than wait
      * until the RX connection is re-established and the
      * sticks are moved more than the failsafe_stick_threshold
@@ -69,8 +70,8 @@ typedef enum {
      * Note that this phase is only used when
      * failsafe_procedure = NONE.
      */
-    FAILSAFE_RX_LOSS_IDLE,
 #if defined(USE_NAV)
+    FAILSAFE_RETURN_TO_HOME,
     /* Failsafe is executing RTH. This phase is the first one
      * enabled when failsafe_procedure = RTH if an RTH is
      * deemed possible (RTH might not be activated if e.g.
@@ -78,36 +79,36 @@ typedef enum {
      * sensors are not working at the moment). If RTH can't
      * be started, this phase will transition to FAILSAFE_LANDING.
      */
-    FAILSAFE_RETURN_TO_HOME,
 #endif
-    /* Failsafe mode is performing a simplified landing procedure.
+    FAILSAFE_LANDING,
+    /* Pergorms NAV Emergency Landing if USE_NAV defined.
+     * Otherwise Failsafe mode performs a simplified landing procedure.
      * This is done by setting throttle and roll/pitch/yaw controls
      * to a pre-configured values that will allow aircraft
      * to reach ground in somewhat safe "controlled crash" way.
      * This is the first recovery phase enabled when
-     * failsafe_procedure = SET-THR. Once timeout expires or if a
+     * failsafe_procedure = LAND. Once timeout expires or if a
      * "controlled crash" can't be executed, this phase will
      * transition to FAILSAFE_LANDED.
      */
-    FAILSAFE_LANDING,
+    FAILSAFE_LANDED,
     /* Failsafe has either detected that the model has landed and disabled
      * the motors or either decided to drop the model because it couldn't
      * perform an emergency landing. It will disarm, prevent re-arming
      * and transition into FAILSAFE_RX_LOSS_MONITORING immediately. This is
      * the first recovery phase enabled when failsafe_procedure = DROP.
      */
-    FAILSAFE_LANDED,
+    FAILSAFE_RX_LOSS_MONITORING,
     /* This phase will wait until the RX connection is
      * working for some time and if and only if switch arming
      * is used and the switch is in the unarmed position
      * will allow rearming again.
      */
-    FAILSAFE_RX_LOSS_MONITORING,
+    FAILSAFE_RX_LOSS_RECOVERED
     /* This phase indicates that the RX link has been re-established and
      * it will immediately transition out of failsafe mode (phase will
      * transition to FAILSAFE_IDLE.)
      */
-    FAILSAFE_RX_LOSS_RECOVERED
 } failsafePhase_e;
 
 typedef enum {
@@ -122,12 +123,20 @@ typedef enum {
     FAILSAFE_PROCEDURE_NONE
 } failsafeProcedure_e;
 
+#if defined(USE_NAV)
 typedef enum {
     RTH_IDLE = 0,               // RTH is waiting
     RTH_IN_PROGRESS,            // RTH is active
     RTH_HAS_LANDED              // RTH is active and has landed.
 } rthState_e;
 
+typedef enum {
+    EMERG_LAND_IDLE = 0,        // Emergency landing is waiting
+    EMERG_LAND_IN_PROGRESS,     // Emergency landing is active
+    EMERG_LAND_HAS_LANDED       // Emergency landing is active and has landed.
+} emergLandState_e;
+#endif
+
 typedef struct failsafeState_s {
     int16_t events;
     bool monitoring;                        // Flag that failsafe is monitoring RC link
@@ -163,7 +172,9 @@ void failsafeOnRxResume(void);
 bool failsafeMayRequireNavigationMode(void);
 void failsafeApplyControlInput(void);
 bool failsafeRequiresAngleMode(void);
+#if !defined(USE_NAV)
 bool failsafeRequiresMotorStop(void);
+#endif
 bool failsafeShouldApplyControlInput(void);
 bool failsafeBypassNavigation(void);
 void failsafeUpdateRcCommandValues(void);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 43d399a13f..8a86b72248 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -610,9 +610,11 @@ int16_t getThrottlePercent(void)
 
 motorStatus_e getMotorStatus(void)
 {
+#if !defined(USE_NAV)
     if (failsafeRequiresMotorStop()) {
         return MOTOR_STOPPED_AUTO;
     }
+#endif
 
     if (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE)) {
         return MOTOR_STOPPED_AUTO;
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d5694cfaf4..9274ecd4dc 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3083,8 +3083,9 @@ void applyWaypointNavigationAndAltitudeHold(void)
 
     // No navigation when disarmed
     if (!ARMING_FLAG(ARMED)) {
-        // If we are disarmed, abort forced RTH
+        // If we are disarmed, abort forced RTH or Emergency Landing
         posControl.flags.forcedRTHActivated = false;
+        posControl.flags.forcedEmergLandingActivated = false;
         return;
     }
 
@@ -3175,6 +3176,10 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         const bool isExecutingRTH        = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
         checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
 
+        if (posControl.flags.forcedEmergLandingActivated) {
+            return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
+        }
+
         // Keep canActivateWaypoint flag at FALSE if there is no mission loaded
         // Also block WP mission if we are executing RTH
         if (!isWaypointMissionValid() || isExecutingRTH) {
@@ -3575,6 +3580,7 @@ void navigationInit(void)
     posControl.flags.estAglStatus = EST_NONE;
 
     posControl.flags.forcedRTHActivated = 0;
+    posControl.flags.forcedEmergLandingActivated = false;
     posControl.waypointCount = 0;
     posControl.activeWaypointIndex = 0;
     posControl.waypointListValid = false;
@@ -3653,6 +3659,38 @@ rthState_e getStateOfForcedRTH(void)
     }
 }
 
+/*-----------------------------------------------------------
+ * Ability to execute Emergency Landing on external event
+ *-----------------------------------------------------------*/
+void activateForcedEmergLanding(void)
+{
+    abortFixedWingLaunch();
+    posControl.flags.forcedEmergLandingActivated = true;
+    navProcessFSMEvents(selectNavEventFromBoxModeInput());
+}
+
+void abortForcedEmergLanding(void)
+{
+    // Disable failsafe emergency landing and make sure we back out of navigation mode to IDLE
+    // If any navigation mode was active prior to emergency landing it will be re-enabled with next RX update
+    posControl.flags.forcedEmergLandingActivated = false;
+    navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
+}
+
+emergLandState_e getStateOfForcedEmergLanding(void)
+{
+    /* If forced emergency landing activated and in EMERG state */
+    if (posControl.flags.forcedEmergLandingActivated && (navGetStateFlags(posControl.navState) & NAV_CTL_EMERG)) {
+        if (posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
+            return EMERG_LAND_HAS_LANDED;
+        } else {
+            return EMERG_LAND_IN_PROGRESS;
+        }
+    } else {
+        return EMERG_LAND_IDLE;
+    }
+}
+
 bool isWaypointMissionRTHActive(void)
 {
     return FLIGHT_MODE(NAV_RTH_MODE) && IS_RC_MODE_ACTIVE(BOXNAVWP) && !(IS_RC_MODE_ACTIVE(BOXNAVRTH) || posControl.flags.forcedRTHActivated);
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 3ca1b1a4e7..aa04b4f6ad 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -515,6 +515,11 @@ void activateForcedRTH(void);
 void abortForcedRTH(void);
 rthState_e getStateOfForcedRTH(void);
 
+/* Failsafe-forced Emergency Landing mode */
+void activateForcedEmergLanding(void);
+void abortForcedEmergLanding(void);
+emergLandState_e getStateOfForcedEmergLanding(void);
+
 /* Getter functions which return data about the state of the navigation system */
 bool navigationInAutomaticThrottleMode(void);
 bool navigationIsControllingThrottle(void);
@@ -570,6 +575,6 @@ extern int16_t navAccNEU[3];
 #define getEstimatedActualVelocity(axis) (0)
 #define navigationIsControllingThrottle() (0)
 #define navigationRTHAllowsLanding() (0)
-#define navigationGetHomeHeading(0)
+#define navigationGetHomeHeading() (0)
 
 #endif
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index e87547567d..87b8324eca 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -91,7 +91,9 @@ typedef struct navigationFlags_s {
     bool isGCSAssistedNavigationReset;      // GCS control was disabled - indicate that so code could take action accordingly
     bool isTerrainFollowEnabled;            // Does iNav use rangefinder for terrain following (adjusting baro altitude target according to rangefinders readings)
 
+    // Failsafe actions
     bool forcedRTHActivated;
+    bool forcedEmergLandingActivated;
 } navigationFlags_t;
 
 typedef struct {

From a5fc09b1312df97b5327b9e39e947bcf1e2b01bf Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 20 Aug 2021 08:49:06 +0100
Subject: [PATCH 218/336] Update Building in Windows 10 or 11 with Linux
 Subsystem.md

Added details to speed up slow builds.
---
 ...ng in Windows 10 or 11 with Linux Subsystem.md | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
index b03797d8c4..24ab2be06a 100644
--- a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
+++ b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
@@ -138,3 +138,18 @@ appendWindowsPath=false
 8. `cd build`
 9. `cmake ..`
 9. `make {TARGET}` should be working again 
+
+### Building targets is very slow
+I was pretty shocked when my new i7 -10750 laptop took 25 minutes to build a single target. My old i3-4030 could do the same job in about 2.5 minutes. If you're also suffering from slow builds. Open an elevated PowerShell window and type
+```
+wsl -l -v
+```
+If you see your Linux distribution is using WSL 2, this is the problem. WSL 2 is quicker than WSL 1 for a lot of things. However, if your files are on a windows mounted drive in Linux, it is extremely slow. There are two options:
+1. Put your files on the Linux file system
+2. Change to WSL 1
+
+I opted for the latter. To do this, in the elevated PowerShell window, you can see the name of your distro. Mine is **Ubuntu-20.04**, so I'll use that in this example. Simply type
+```
+wsl --set-version Ubuntu-20.04 1
+```
+and your distro will be converted to WSL 1. Once finished, reboot your system. Next time you compile a build, it will be faster.

From 35cf5e89a3e7f39003287bad167e9738fc48110b Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 21 Aug 2021 11:00:30 +0100
Subject: [PATCH 219/336] Update navigation_fixedwing.c

Add fixed wing Emergency Landing vertical descent rate control if altitude sensors working
---
 src/main/navigation/navigation_fixedwing.c | 22 ++++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 484529944a..c738d22f29 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -243,18 +243,18 @@ static int8_t loiterDirection(void) {
 
     if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
 
-        if (rcCommand[YAW] < -250) { 
+        if (rcCommand[YAW] < -250) {
             loiterDirYaw = 1; //RIGHT //yaw is contrariwise
         }
 
-        if (rcCommand[YAW] > 250) { 
+        if (rcCommand[YAW] > 250) {
             loiterDirYaw = -1; //LEFT  //see annexCode in fc_core.c
         }
 
         dir = loiterDirYaw;
     }
 
-    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) { 
+    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
         dir *= -1;
     }
 
@@ -612,13 +612,23 @@ bool isFixedWingLandingDetected(void)
 /*-----------------------------------------------------------
  * FixedWing emergency landing
  *-----------------------------------------------------------*/
-void applyFixedWingEmergencyLandingController(void)
+void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
 {
-    // FIXME: Use altitude controller if available (similar to MC code)
     rcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
-    rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
     rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
     rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
+
+    if (posControl.flags.estAltStatus >= EST_USABLE) {
+        updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL);
+        applyFixedWingAltitudeAndThrottleController(currentTimeUs);
+
+        if (isPitchAdjustmentValid) {
+            int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
+            rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
+        }
+    } else {
+        rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
+    }
 }
 
 /*-----------------------------------------------------------

From b485a6d1169b8d2a81065583e534c500f0e324dd Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 21 Aug 2021 13:42:22 +0100
Subject: [PATCH 220/336] Update navigation_fixedwing.c

---
 src/main/navigation/navigation_fixedwing.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index c738d22f29..a870e83ec9 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -651,7 +651,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
         applyFixedWingLaunchController(currentTimeUs);
     }
     else if (navStateFlags & NAV_CTL_EMERG) {
-        applyFixedWingEmergencyLandingController();
+        applyFixedWingEmergencyLandingController(currentTimeUs);
     }
     else {
 #ifdef NAV_FW_LIMIT_MIN_FLY_VELOCITY

From 885021f55df4876e6028d4b7c2fd8bcf7dc87a0d Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 23 Aug 2021 18:48:55 +0100
Subject: [PATCH 221/336] added battery symbol in front of battery percentage

---
 src/main/io/osd.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 05c87dba47..d7cb977338 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1542,7 +1542,8 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_BATTERY_REMAINING_PERCENT:
-        tfp_sprintf(buff, "%3d%%", calculateBatteryPercentage());
+        osdFormatBatteryChargeSymbol(buff);
+        tfp_sprintf(buff + 1, "%3d%%", calculateBatteryPercentage());
         osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
         break;
 

From d7dba6c86c2d7052f08e6ceaea6dc1cf16fad91d Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 23 Aug 2021 22:17:33 +0100
Subject: [PATCH 222/336] Update Controls.md

Added a link to a page showing the stick positions graphically. The visitor can select their transmitter mode to see the correct deflections.
---
 docs/Controls.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/Controls.md b/docs/Controls.md
index de5d18b45c..bad602e472 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -39,6 +39,7 @@ The stick positions are combined to activate different functions:
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | CENTER |
 
+For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).
 ![Stick Positions](assets/images/StickPositions.png)
 
 ## Yaw control

From 95ecc454fe0ba47aca5b3aa0f5941f4976f18e87 Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Tue, 24 Aug 2021 22:14:07 +0200
Subject: [PATCH 223/336] ahrs: more trust in gyro

---
 docs/Settings.md          | 4 ++--
 src/main/fc/settings.yaml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index b25ecff5eb..ed3b2cac12 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1948,7 +1948,7 @@ Inertial Measurement Unit KP Gain for accelerometer measurements
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 2500 |  | 65535 |
+| 1000 |  | 65535 |
 
 ---
 
@@ -1958,7 +1958,7 @@ Inertial Measurement Unit KP Gain for compass measurements
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 10000 |  | 65535 |
+| 5000 |  | 65535 |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b0ee6f16c8..b4fd0601c0 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1493,7 +1493,7 @@ groups:
     members:
       - name: imu_dcm_kp
         description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
-        default_value: 2500
+        default_value: 1000
         field: dcm_kp_acc
         max: UINT16_MAX
       - name: imu_dcm_ki
@@ -1503,7 +1503,7 @@ groups:
         max: UINT16_MAX
       - name: imu_dcm_kp_mag
         description: "Inertial Measurement Unit KP Gain for compass measurements"
-        default_value: 10000
+        default_value: 5000
         field: dcm_kp_mag
         max: UINT16_MAX
       - name: imu_dcm_ki_mag

From 0d5ed781081db2ed860eaa0f4821cde60e1d51dd Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 25 Aug 2021 08:46:29 +0100
Subject: [PATCH 224/336] Improvements

---
 src/main/flight/failsafe.c       | 11 ++++++++---
 src/main/flight/failsafe.h       |  2 --
 src/main/flight/mixer.c          |  2 --
 src/main/navigation/navigation.c |  3 ++-
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 7fdeb1042a..0c7f195ef2 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -226,14 +226,19 @@ bool failsafeRequiresAngleMode(void)
            failsafeProcedureLogic[failsafeState.activeProcedure].forceAngleMode;
 }
 
-#if !defined(USE_NAV)
 bool failsafeRequiresMotorStop(void)
 {
+#if defined(USE_NAV)
+    return failsafeState.active &&
+           failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
+           posControl.flags.estAltStatus < EST_USABLE &&
+           currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
+#else
     return failsafeState.active &&
            failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
            currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
-}
 #endif
+}
 
 void failsafeStartMonitoring(void)
 {
@@ -454,7 +459,7 @@ void failsafeUpdateState(void)
 
                     switch (failsafeState.activeProcedure) {
                         case FAILSAFE_PROCEDURE_AUTO_LANDING:
-                            // Use Emergency Landing if Nav defined. Ootherwise stabilize, and set Throttle to specified level.
+                            // Use Emergency Landing if Nav defined. otherwise stabilize and set Throttle to specified level.
                             failsafeActivate(FAILSAFE_LANDING);
 #if defined(USE_NAV)
                             activateForcedEmergLanding();
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index f2e0b3bd85..be324b29f6 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -172,9 +172,7 @@ void failsafeOnRxResume(void);
 bool failsafeMayRequireNavigationMode(void);
 void failsafeApplyControlInput(void);
 bool failsafeRequiresAngleMode(void);
-#if !defined(USE_NAV)
 bool failsafeRequiresMotorStop(void);
-#endif
 bool failsafeShouldApplyControlInput(void);
 bool failsafeBypassNavigation(void);
 void failsafeUpdateRcCommandValues(void);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 8a86b72248..43d399a13f 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -610,11 +610,9 @@ int16_t getThrottlePercent(void)
 
 motorStatus_e getMotorStatus(void)
 {
-#if !defined(USE_NAV)
     if (failsafeRequiresMotorStop()) {
         return MOTOR_STOPPED_AUTO;
     }
-#endif
 
     if (!failsafeIsActive() && STATE(NAV_MOTOR_STOP_OR_IDLE)) {
         return MOTOR_STOPPED_AUTO;
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 9274ecd4dc..e7b06fd5ea 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3176,6 +3176,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         const bool isExecutingRTH        = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
         checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
 
+        /* Emergency landing triggered by failsafe when Failsafe procedure set to Landing */
         if (posControl.flags.forcedEmergLandingActivated) {
             return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
         }
@@ -3671,7 +3672,7 @@ void activateForcedEmergLanding(void)
 
 void abortForcedEmergLanding(void)
 {
-    // Disable failsafe emergency landing and make sure we back out of navigation mode to IDLE
+    // Disable emergency landing and make sure we back out of navigation mode to IDLE
     // If any navigation mode was active prior to emergency landing it will be re-enabled with next RX update
     posControl.flags.forcedEmergLandingActivated = false;
     navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);

From cc0edb47f2e6a6158608c00e0a9a019b06985309 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 25 Aug 2021 10:39:58 +0100
Subject: [PATCH 225/336] Update failsafe.c

---
 src/main/flight/failsafe.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 0c7f195ef2..4b5f75f501 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -459,7 +459,7 @@ void failsafeUpdateState(void)
 
                     switch (failsafeState.activeProcedure) {
                         case FAILSAFE_PROCEDURE_AUTO_LANDING:
-                            // Use Emergency Landing if Nav defined. otherwise stabilize and set Throttle to specified level.
+                            // Use Emergency Landing if Nav defined (otherwise stabilize and set Throttle to specified level).
                             failsafeActivate(FAILSAFE_LANDING);
 #if defined(USE_NAV)
                             activateForcedEmergLanding();

From b525ab1bea2b5d11bc75ceb8b2bdefc819ccffbd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 25 Aug 2021 16:53:30 +0200
Subject: [PATCH 226/336] Basic CLI interface for setting BB fields

---
 src/main/blackbox/blackbox.c | 13 +++++-
 src/main/blackbox/blackbox.h |  8 ++++
 src/main/fc/cli.c            | 87 ++++++++++++++++++++++++++++++++++++
 src/main/fc/config.h         |  2 +-
 4 files changed, 108 insertions(+), 2 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 77225d905f..3b265b3bb7 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -97,15 +97,26 @@
 #define BLACKBOX_INVERTED_CARD_DETECTION 0
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 2);
 
 PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .device = DEFAULT_BLACKBOX_DEVICE,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
+    .includeFlags = BLACBOX_FEATURE_NAV,
 );
 
+void blackboxIncludeFlagSet(uint32_t mask)
+{
+    blackboxConfigMutable()->includeFlags |= mask;
+}
+
+void blackboxIncludeFlagClear(uint32_t mask)
+{
+    blackboxConfigMutable()->includeFlags &= ~(mask);
+}
+
 #define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
 static const int32_t blackboxSInterval = 4096;
 
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 0b180e9f7c..d06bff90f4 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -21,11 +21,17 @@
 
 #include "config/parameter_group.h"
 
+typedef enum {
+    BLACBOX_FEATURE_NAV = 1 << 0,
+} blackboxFeatureMask_e;
+
+
 typedef struct blackboxConfig_s {
     uint16_t rate_num;
     uint16_t rate_denom;
     uint8_t device;
     uint8_t invertedCardDetection;
+    uint32_t includeFlags;
 } blackboxConfig_t;
 
 PG_DECLARE(blackboxConfig_t, blackboxConfig);
@@ -37,3 +43,5 @@ void blackboxUpdate(timeUs_t currentTimeUs);
 void blackboxStart(void);
 void blackboxFinish(void);
 bool blackboxMayEditConfig(void);
+void blackboxIncludeFlagSet(uint32_t mask);
+void blackboxIncludeFlagClear(uint32_t mask);
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index bc9d1fd934..2cabfd0a3c 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -162,6 +162,12 @@ static const char * const featureNames[] = {
     "OSD", "FW_LAUNCH", "FW_AUTOTRIM", NULL
 };
 
+#ifdef USE_BLACKBOX
+static const char * const blackboxIncludeFlagNames[] = {
+    "NAV", NULL
+};
+#endif
+
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
 // sync with gyroSensor_e
 static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"};
@@ -2504,6 +2510,77 @@ static void cliFeature(char *cmdline)
     }
 }
 
+#ifdef USE_BLACKBOX
+static void printBlackbox(uint8_t dumpMask, const blackboxConfig_t *config, const blackboxConfig_t *configDefault)
+{
+    uint32_t mask = config->includeFlags;
+    uint32_t defaultMask = configDefault->includeFlags;
+
+    for (uint8_t i = 0; ; i++) {
+        const char *formatOff = "blackbox -%s";
+        const char *formatOn = "blackbox %s";
+        cliDefaultPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOn : formatOff, blackboxIncludeFlagNames[i]);
+        cliDumpPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOff : formatOn, blackboxIncludeFlagNames[i]);
+    }
+}
+
+static void cliBlackbox(char *cmdline)
+{
+    uint32_t len = strlen(cmdline);
+    uint32_t mask = blackboxConfig()->includeFlags;
+
+    if (len == 0) {
+        cliPrint("Enabled: ");
+        for (uint8_t i = 0; ; i++) {
+            if (blackboxIncludeFlagNames[i] == NULL)
+                break;
+            if (mask & (1 << i))
+                cliPrintf("%s ", blackboxIncludeFlagNames[i]);
+        }
+        cliPrintLinefeed();
+    } else if (sl_strncasecmp(cmdline, "list", len) == 0) {
+        cliPrint("Available: ");
+        for (uint32_t i = 0; ; i++) {
+            if (blackboxIncludeFlagNames[i] == NULL)
+                break;
+            cliPrintf("%s ", blackboxIncludeFlagNames[i]);
+        }
+        cliPrintLinefeed();
+        return;
+    } else {
+        bool remove = false;
+        if (cmdline[0] == '-') {
+            // remove feature
+            remove = true;
+            cmdline++; // skip over -
+            len--;
+        }
+
+        for (uint32_t i = 0; ; i++) {
+            if (blackboxIncludeFlagNames[i] == NULL) {
+                cliPrintErrorLine("Invalid name");
+                break;
+            }
+
+            if (sl_strncasecmp(cmdline, blackboxIncludeFlagNames[i], len) == 0) {
+
+                mask = 1 << i;
+
+                if (remove) {
+                    blackboxIncludeFlagClear(mask);
+                    cliPrint("Disabled");
+                } else {
+                    blackboxIncludeFlagSet(mask);
+                    cliPrint("Enabled");
+                }
+                cliPrintLinef(" %s", blackboxIncludeFlagNames[i]);
+                break;
+            }
+        }
+    }
+}
+#endif
+
 #if defined(BEEPER) || defined(USE_DSHOT)
 static void printBeeper(uint8_t dumpMask, const beeperConfig_t *beeperConfig, const beeperConfig_t *beeperConfigDefault)
 {
@@ -3505,6 +3582,11 @@ static void printConfig(const char *cmdline, bool doDiff)
         printBeeper(dumpMask, &beeperConfig_Copy, beeperConfig());
 #endif
 
+#ifdef USE_BLACKBOX
+        cliPrintHashLine("blackbox");
+        printBlackbox(dumpMask, &blackboxConfig_Copy, blackboxConfig());
+#endif
+
         cliPrintHashLine("map");
         printMap(dumpMask, &rxConfig_Copy, rxConfig());
 
@@ -3698,6 +3780,11 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("feature", "configure features",
         "list\r\n"
         "\t<+|->[name]", cliFeature),
+#ifdef USE_BLACKBOX
+    CLI_COMMAND_DEF("blackbox", "configure blackbox fields",
+        "list\r\n"
+        "\t<+|->[name]", cliBlackbox),
+#endif
 #ifdef USE_FLASHFS
     CLI_COMMAND_DEF("flash_erase", "erase flash chip", NULL, cliFlashErase),
     CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 90d7b0d298..acd8fdf603 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -30,7 +30,7 @@
 #define MAX_NAME_LENGTH 16
 
 #define TASK_GYRO_LOOPTIME 250 // Task gyro always runs at 4kHz
- typedef enum {
+typedef enum {
     FEATURE_THR_VBAT_COMP = 1 << 0,
     FEATURE_VBAT = 1 << 1,
     FEATURE_TX_PROF_SEL = 1 << 2,       // Profile selection by TX stick command

From 094488ed60be9ae2e2dcd984832fe675d636749b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 25 Aug 2021 18:45:27 +0200
Subject: [PATCH 227/336] Fix diff/dump behavior

---
 src/main/fc/cli.c | 33 +++++++++++++++++++++++++--------
 1 file changed, 25 insertions(+), 8 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 2cabfd0a3c..bb24b50c31 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -2513,15 +2513,28 @@ static void cliFeature(char *cmdline)
 #ifdef USE_BLACKBOX
 static void printBlackbox(uint8_t dumpMask, const blackboxConfig_t *config, const blackboxConfig_t *configDefault)
 {
-    uint32_t mask = config->includeFlags;
-    uint32_t defaultMask = configDefault->includeFlags;
 
-    for (uint8_t i = 0; ; i++) {
-        const char *formatOff = "blackbox -%s";
+    UNUSED(configDefault);
+
+    uint32_t mask = config->includeFlags;
+
+    for (uint8_t i = 0; ; i++) {  // reenable what we want.
+        if (blackboxIncludeFlagNames[i] == NULL) {
+            break;
+        }
+        
         const char *formatOn = "blackbox %s";
-        cliDefaultPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOn : formatOff, blackboxIncludeFlagNames[i]);
-        cliDumpPrintLinef(dumpMask, ~(mask ^ defaultMask) & (1 << i), mask & (1 << i) ? formatOff : formatOn, blackboxIncludeFlagNames[i]);
+        const char *formatOff = "blackbox -%s";
+        
+        if (mask & (1 << i)) {
+            cliDumpPrintLinef(dumpMask, false, formatOn, blackboxIncludeFlagNames[i]);
+            cliDefaultPrintLinef(dumpMask, false, formatOn, blackboxIncludeFlagNames[i]);
+        } else {
+            cliDumpPrintLinef(dumpMask, false, formatOff, blackboxIncludeFlagNames[i]);
+            cliDefaultPrintLinef(dumpMask, false, formatOff, blackboxIncludeFlagNames[i]);
+        }
     }
+
 }
 
 static void cliBlackbox(char *cmdline)
@@ -2532,8 +2545,10 @@ static void cliBlackbox(char *cmdline)
     if (len == 0) {
         cliPrint("Enabled: ");
         for (uint8_t i = 0; ; i++) {
-            if (blackboxIncludeFlagNames[i] == NULL)
+            if (blackboxIncludeFlagNames[i] == NULL) {
                 break;
+            }
+
             if (mask & (1 << i))
                 cliPrintf("%s ", blackboxIncludeFlagNames[i]);
         }
@@ -2541,8 +2556,10 @@ static void cliBlackbox(char *cmdline)
     } else if (sl_strncasecmp(cmdline, "list", len) == 0) {
         cliPrint("Available: ");
         for (uint32_t i = 0; ; i++) {
-            if (blackboxIncludeFlagNames[i] == NULL)
+            if (blackboxIncludeFlagNames[i] == NULL) {
                 break;
+            }
+
             cliPrintf("%s ", blackboxIncludeFlagNames[i]);
         }
         cliPrintLinefeed();

From 1ee5ed366e4cfad03434a3b63edb05be953780a6 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 26 Aug 2021 09:37:18 +0200
Subject: [PATCH 228/336] Add flag check

---
 src/main/blackbox/blackbox.c | 4 ++++
 src/main/blackbox/blackbox.h | 1 +
 2 files changed, 5 insertions(+)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 3b265b3bb7..e952f1090f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -117,6 +117,10 @@ void blackboxIncludeFlagClear(uint32_t mask)
     blackboxConfigMutable()->includeFlags &= ~(mask);
 }
 
+bool blackboxIncludeFlag(uint32_t mask) {
+    return (blackboxConfig()->includeFlags & mask) != 0;
+}
+
 #define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
 static const int32_t blackboxSInterval = 4096;
 
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index d06bff90f4..60732edf92 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -45,3 +45,4 @@ void blackboxFinish(void);
 bool blackboxMayEditConfig(void);
 void blackboxIncludeFlagSet(uint32_t mask);
 void blackboxIncludeFlagClear(uint32_t mask);
+bool blackboxIncludeFlag(uint32_t mask);
\ No newline at end of file

From 2e84ca62c55d8bfa5585bb771dca4c05b8cf65e9 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 26 Aug 2021 09:43:35 +0200
Subject: [PATCH 229/336] Drop NAV_BLACKBOX define

---
 src/main/blackbox/blackbox.c                  | 12 -----------
 src/main/navigation/navigation.c              | 20 +++++++------------
 src/main/navigation/navigation.h              |  3 ---
 src/main/navigation/navigation_multicopter.c  |  4 ----
 .../navigation/navigation_pos_estimator.c     |  5 +----
 5 files changed, 8 insertions(+), 36 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index e952f1090f..4a49412a84 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -325,7 +325,6 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"servo",       14, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
     {"servo",       15, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
 
-#ifdef NAV_BLACKBOX
     {"navState",  -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navFlags",  -1, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navEPH",    -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@@ -346,7 +345,6 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"navTgtPos",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navTgtPos",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navSurf",    0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-#endif
 };
 
 #ifdef USE_GPS
@@ -476,7 +474,6 @@ typedef struct blackboxMainState_s {
     int32_t surfaceRaw;
 #endif
     uint16_t rssi;
-#ifdef NAV_BLACKBOX
     int16_t navState;
     uint16_t navFlags;
     uint16_t navEPH;
@@ -489,7 +486,6 @@ typedef struct blackboxMainState_s {
     int16_t navHeading;
     int16_t navTargetHeading;
     int16_t navSurface;
-#endif
 } blackboxMainState_t;
 
 typedef struct blackboxGpsState_s {
@@ -849,7 +845,6 @@ static void writeIntraframe(void)
         }
     }
 
-#ifdef NAV_BLACKBOX
     blackboxWriteSignedVB(blackboxCurrent->navState);
 
     blackboxWriteSignedVB(blackboxCurrent->navFlags);
@@ -877,7 +872,6 @@ static void writeIntraframe(void)
     }
 
     blackboxWriteSignedVB(blackboxCurrent->navSurface);
-#endif
 
     //Rotate our history buffers:
 
@@ -1065,7 +1059,6 @@ static void writeInterframe(void)
         blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo),     MAX_SUPPORTED_SERVOS);
     }
 
-#ifdef NAV_BLACKBOX
     blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState);
 
     blackboxWriteSignedVB(blackboxCurrent->navFlags - blackboxLast->navFlags);
@@ -1093,7 +1086,6 @@ static void writeInterframe(void)
     }
 
     blackboxWriteSignedVB(blackboxCurrent->navSurface - blackboxLast->navSurface);
-#endif
 
     //Rotate our history buffers
     blackboxHistory[2] = blackboxHistory[1];
@@ -1494,7 +1486,6 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->servo[i] = servo[i];
     }
 
-#ifdef NAV_BLACKBOX
     blackboxCurrent->navState = navCurrentState;
     blackboxCurrent->navFlags = navFlags;
     blackboxCurrent->navEPH = navEPH;
@@ -1507,7 +1498,6 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->navTargetPos[i] = navTargetPosition[i];
     }
     blackboxCurrent->navSurface = navActualSurface;
-#endif
 }
 
 /**
@@ -1764,9 +1754,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  motorConfig()->motorPwmRate);
         BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
-#ifdef NAV_BLACKBOX
         BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d",                    getWaypointCount(),isWaypointListValid());
-#endif
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d",                    accelerometerConfig()->acc_notch_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d",                accelerometerConfig()->acc_notch_cutoff);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d",                     pidProfile()->pidSumLimit);
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d5694cfaf4..f2c4273d66 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -199,7 +199,7 @@ navigationPosControl_t  posControl;
 navSystemStatus_t       NAV_Status;
 EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
 
-#if defined(NAV_BLACKBOX)
+// Blackbox states
 int16_t navCurrentState;
 int16_t navActualVelocity[3];
 int16_t navDesiredVelocity[3];
@@ -212,7 +212,7 @@ uint16_t navFlags;
 uint16_t navEPH;
 uint16_t navEPV;
 int16_t navAccNEU[3];
-#endif
+//End of blackbox states
 
 static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode);
 static void updateDesiredRTHAltitude(void);
@@ -1950,12 +1950,11 @@ void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelVali
         posControl.flags.horizontalPositionDataNew = 0;
     }
 
-#if defined(NAV_BLACKBOX)
+    //Update blackbox data
     navLatestActualPosition[X] = newX;
     navLatestActualPosition[Y] = newY;
     navActualVelocity[X] = constrain(newVelX, -32678, 32767);
     navActualVelocity[Y] = constrain(newVelY, -32678, 32767);
-#endif
 }
 
 /*-----------------------------------------------------------
@@ -2005,10 +2004,9 @@ void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, flo
         posControl.actualState.surfaceMin = -1;
     }
 
-#if defined(NAV_BLACKBOX)
+    //Update blackbox data
     navLatestActualPosition[Z] = navGetCurrentActualPositionAndVelocity()->pos.z;
     navActualVelocity[Z] = constrain(navGetCurrentActualPositionAndVelocity()->vel.z, -32678, 32767);
-#endif
 }
 
 /*-----------------------------------------------------------
@@ -3066,7 +3064,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
 {
     const timeUs_t currentTimeUs = micros();
 
-#if defined(NAV_BLACKBOX)
+    //Updata blackbox data
     navFlags = 0;
     if (posControl.flags.estAltStatus == EST_TRUSTED)       navFlags |= (1 << 0);
     if (posControl.flags.estAglStatus == EST_TRUSTED)       navFlags |= (1 << 1);
@@ -3076,7 +3074,6 @@ void applyWaypointNavigationAndAltitudeHold(void)
     if (isGPSGlitchDetected())                              navFlags |= (1 << 4);
 #endif
     if (posControl.flags.estHeadingStatus == EST_TRUSTED)   navFlags |= (1 << 5);
-#endif
 
     // Reset all navigation requests - NAV controllers will set them if necessary
     DISABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
@@ -3110,8 +3107,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
     if (posControl.flags.verticalPositionDataConsumed)
         posControl.flags.verticalPositionDataNew = 0;
 
-
-#if defined(NAV_BLACKBOX)
+    //Update blackbox data
     if (posControl.flags.isAdjustingPosition)       navFlags |= (1 << 6);
     if (posControl.flags.isAdjustingAltitude)       navFlags |= (1 << 7);
     if (posControl.flags.isAdjustingHeading)        navFlags |= (1 << 8);
@@ -3119,7 +3115,6 @@ void applyWaypointNavigationAndAltitudeHold(void)
     navTargetPosition[X] = lrintf(posControl.desiredState.pos.x);
     navTargetPosition[Y] = lrintf(posControl.desiredState.pos.y);
     navTargetPosition[Z] = lrintf(posControl.desiredState.pos.z);
-#endif
 }
 
 /*-----------------------------------------------------------
@@ -3463,9 +3458,8 @@ void updateWaypointsAndNavigationMode(void)
     // Map navMode back to enabled flight modes
     switchNavigationFlightModes();
 
-#if defined(NAV_BLACKBOX)
+    //Update Blackbox data
     navCurrentState = (int16_t)posControl.navPersistentId;
-#endif
 }
 
 /*-----------------------------------------------------------
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 3ca1b1a4e7..37dfe2766e 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -69,9 +69,6 @@ bool findNearestSafeHome(void);                  // Find nearest safehome
 #endif // defined(USE_SAFE_HOME)
 
 #if defined(USE_NAV)
-#if defined(USE_BLACKBOX)
-#define NAV_BLACKBOX
-#endif
 
 #ifndef NAV_MAX_WAYPOINTS
 #define NAV_MAX_WAYPOINTS 15
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index b35146edfa..2f5028716f 100755
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -98,9 +98,7 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
         posControl.desiredState.vel.z = targetVel;
     }
 
-#if defined(NAV_BLACKBOX)
     navDesiredVelocity[Z] = constrain(lrintf(posControl.desiredState.vel.z), -32678, 32767);
-#endif
 }
 
 static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
@@ -467,10 +465,8 @@ static void updatePositionVelocityController_MC(const float maxSpeed)
     posControl.desiredState.vel.x = newVelX * velHeadFactor * velExpoFactor;
     posControl.desiredState.vel.y = newVelY * velHeadFactor * velExpoFactor;
 
-#if defined(NAV_BLACKBOX)
     navDesiredVelocity[X] = constrain(lrintf(posControl.desiredState.vel.x), -32678, 32767);
     navDesiredVelocity[Y] = constrain(lrintf(posControl.desiredState.vel.y), -32678, 32767);
-#endif
 }
 
 static float computeNormalizedVelocity(const float value, const float maxValue)
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index 377638a804..e11ab12beb 100755
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -443,12 +443,10 @@ static void updateIMUTopic(timeUs_t currentTimeUs)
             posEstimator.imu.accelNEU.z = 0;
         }
 
-#if defined(NAV_BLACKBOX)
         /* Update blackbox values */
         navAccNEU[X] = posEstimator.imu.accelNEU.x;
         navAccNEU[Y] = posEstimator.imu.accelNEU.y;
         navAccNEU[Z] = posEstimator.imu.accelNEU.z;
-#endif
     }
 }
 
@@ -785,10 +783,9 @@ static void publishEstimatedTopic(timeUs_t currentTimeUs)
             updateActualAltitudeAndClimbRate(false, posEstimator.est.pos.z, 0, posEstimator.est.aglAlt, 0, EST_NONE);
         }
 
-#if defined(NAV_BLACKBOX)
+        //Update Blackbox states
         navEPH = posEstimator.est.eph;
         navEPV = posEstimator.est.epv;
-#endif
     }
 }
 

From 33b7025a88d37b9e62221b29a3b2812e57b371b8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 26 Aug 2021 15:42:41 +0200
Subject: [PATCH 230/336] Changes

---
 src/main/blackbox/blackbox.c           | 91 +++++++++++++++-----------
 src/main/blackbox/blackbox.h           |  6 +-
 src/main/blackbox/blackbox_fielddefs.h |  5 ++
 src/main/fc/cli.c                      |  2 +-
 4 files changed, 64 insertions(+), 40 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 4a49412a84..edd94d35b7 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -104,7 +104,7 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
-    .includeFlags = BLACBOX_FEATURE_NAV,
+    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC,
 );
 
 void blackboxIncludeFlagSet(uint32_t mask)
@@ -118,7 +118,7 @@ void blackboxIncludeFlagClear(uint32_t mask)
 }
 
 bool blackboxIncludeFlag(uint32_t mask) {
-    return (blackboxConfig()->includeFlags & mask) != 0;
+    return (blackboxConfig()->includeFlags & mask) == mask;
 }
 
 #define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
@@ -327,24 +327,24 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
 
     {"navState",  -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navFlags",  -1, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navEPH",    -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navEPV",    -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navPos",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navPos",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navPos",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navVel",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navVel",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navVel",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"navEPH",    -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navEPV",    -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navPos",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navPos",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navPos",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navVel",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navVel",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navVel",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtVel",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtVel",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtVel",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtPos",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtPos",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navTgtPos",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
+    {"navSurf",   -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
     {"navAcc",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navAcc",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navAcc",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtVel",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtVel",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtVel",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtPos",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtPos",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navTgtPos",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navSurf",    0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
 };
 
 #ifdef USE_GPS
@@ -611,7 +611,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
 
     case FLIGHT_LOG_FIELD_CONDITION_MAG:
 #ifdef USE_MAG
-        return sensors(SENSOR_MAG);
+        return sensors(SENSOR_MAG) && blackboxIncludeFlag(BLACKBOX_FEATURE_MAG);
 #else
         return false;
 #endif
@@ -645,14 +645,14 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
 
     case FLIGHT_LOG_FIELD_CONDITION_FIXED_WING_NAV:
 #ifdef USE_NAV
-        return STATE(FIXED_WING_LEGACY);
+        return STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
 #else
         return false;
 #endif
 
     case FLIGHT_LOG_FIELD_CONDITION_MC_NAV:
 #ifdef USE_NAV
-        return !STATE(FIXED_WING_LEGACY);
+        return !STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
 #else
         return false;
 #endif
@@ -668,9 +668,19 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
         return debugMode != DEBUG_NONE;
 
+    case FLIGHT_LOG_FIELD_CONDITION_NAV_ACC:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_ACC);
+
+    case FLIGHT_LOG_FIELD_CONDITION_NAV_POS:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_POS);
+
+    case FLIGHT_LOG_FIELD_CONDITION_ACC:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_ACC);
+
     case FLIGHT_LOG_FIELD_CONDITION_NEVER:
         return false;
 
+
     default:
         return false;
     }
@@ -846,33 +856,38 @@ static void writeIntraframe(void)
     }
 
     blackboxWriteSignedVB(blackboxCurrent->navState);
-
     blackboxWriteSignedVB(blackboxCurrent->navFlags);
-    blackboxWriteSignedVB(blackboxCurrent->navEPH);
-    blackboxWriteSignedVB(blackboxCurrent->navEPV);
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navPos[x]);
-    }
+    /*
+     * NAV_POS fields
+     */
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NAV_POS)) {
+        blackboxWriteSignedVB(blackboxCurrent->navEPH);
+        blackboxWriteSignedVB(blackboxCurrent->navEPV);
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navRealVel[x]);
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navPos[x]);
+        }
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navRealVel[x]);
+        }
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navTargetVel[x]);
+        }
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navTargetPos[x]);
+        }
+
+        blackboxWriteSignedVB(blackboxCurrent->navSurface);
     }
 
     for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
         blackboxWriteSignedVB(blackboxCurrent->navAccNEU[x]);
     }
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navTargetVel[x]);
-    }
-
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navTargetPos[x]);
-    }
-
-    blackboxWriteSignedVB(blackboxCurrent->navSurface);
-
     //Rotate our history buffers:
 
     //The current state becomes the new "before" state
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 60732edf92..37781f62f7 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -22,7 +22,11 @@
 #include "config/parameter_group.h"
 
 typedef enum {
-    BLACBOX_FEATURE_NAV = 1 << 0,
+    BLACKBOX_FEATURE_NAV_ACC     = 1 << 0,
+    BLACKBOX_FEATURE_NAV_POS     = 1 << 1,
+    BLACKBOX_FEATURE_NAV_PID     = 1 << 2,
+    BLACKBOX_FEATURE_MAG         = 1 << 3,
+    BLACKBOX_FEATURE_ACC         = 1 << 4,
 } blackboxFeatureMask_e;
 
 
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index f7f3dd7148..62039da5f1 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -52,6 +52,11 @@ typedef enum FlightLogFieldCondition {
 
     FLIGHT_LOG_FIELD_CONDITION_DEBUG,
 
+    FLIGHT_LOG_FIELD_CONDITION_NAV_ACC,
+    FLIGHT_LOG_FIELD_CONDITION_NAV_POS,
+    FLIGHT_LOG_FIELD_CONDITION_NAV_PID,
+    FLIGHT_LOG_FIELD_CONDITION_ACC,
+
     FLIGHT_LOG_FIELD_CONDITION_NEVER,
 
     FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index bb24b50c31..e262c1bf8f 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 #ifdef USE_BLACKBOX
 static const char * const blackboxIncludeFlagNames[] = {
-    "NAV", NULL
+    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", NULL
 };
 #endif
 

From 369c1079ce851462d505eb1d4868eae10603e006 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 26 Aug 2021 15:56:06 +0200
Subject: [PATCH 231/336] Correctly implement NAV_POS blackbox data

---
 src/main/blackbox/blackbox.c | 43 +++++++++++++++++++++---------------
 1 file changed, 25 insertions(+), 18 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index edd94d35b7..67ffe5fc2d 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1077,31 +1077,38 @@ static void writeInterframe(void)
     blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState);
 
     blackboxWriteSignedVB(blackboxCurrent->navFlags - blackboxLast->navFlags);
-    blackboxWriteSignedVB(blackboxCurrent->navEPH - blackboxLast->navEPH);
-    blackboxWriteSignedVB(blackboxCurrent->navEPV - blackboxLast->navEPV);
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navPos[x] - blackboxLast->navPos[x]);
-    }
+    /*
+     * NAV_POS fields
+     */
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NAV_POS)) {
+        blackboxWriteSignedVB(blackboxCurrent->navEPH - blackboxLast->navEPH);
+        blackboxWriteSignedVB(blackboxCurrent->navEPV - blackboxLast->navEPV);
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxHistory[0]->navRealVel[x] - (blackboxHistory[1]->navRealVel[x] + blackboxHistory[2]->navRealVel[x]) / 2);
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navPos[x] - blackboxLast->navPos[x]);
+        }
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxHistory[0]->navRealVel[x] - (blackboxHistory[1]->navRealVel[x] + blackboxHistory[2]->navRealVel[x]) / 2);
+        }
+
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxHistory[0]->navTargetVel[x] - (blackboxHistory[1]->navTargetVel[x] + blackboxHistory[2]->navTargetVel[x]) / 2);
+        }
+
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxHistory[0]->navTargetPos[x] - blackboxLast->navTargetPos[x]);
+        }
+
+        blackboxWriteSignedVB(blackboxCurrent->navSurface - blackboxLast->navSurface);
     }
 
     for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
         blackboxWriteSignedVB(blackboxHistory[0]->navAccNEU[x] - (blackboxHistory[1]->navAccNEU[x] + blackboxHistory[2]->navAccNEU[x]) / 2);
     }
-
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxHistory[0]->navTargetVel[x] - (blackboxHistory[1]->navTargetVel[x] + blackboxHistory[2]->navTargetVel[x]) / 2);
-    }
-
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxHistory[0]->navTargetPos[x] - blackboxLast->navTargetPos[x]);
-    }
-
-    blackboxWriteSignedVB(blackboxCurrent->navSurface - blackboxLast->navSurface);
-
+    
     //Rotate our history buffers
     blackboxHistory[2] = blackboxHistory[1];
     blackboxHistory[1] = blackboxHistory[0];

From 4eff7680642abb24a7fb95b8d7d0e6260237134b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 26 Aug 2021 16:31:09 +0200
Subject: [PATCH 232/336] Configure NAV_ACC

---
 src/main/blackbox/blackbox.c | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 67ffe5fc2d..f25e6bf7ec 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -342,9 +342,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"navTgtPos",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
     {"navTgtPos",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
     {"navSurf",   -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_POS},
-    {"navAcc",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navAcc",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"navAcc",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"navAcc",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_ACC},
+    {"navAcc",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_ACC},
+    {"navAcc",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_NAV_ACC},
 };
 
 #ifdef USE_GPS
@@ -884,8 +884,10 @@ static void writeIntraframe(void)
         blackboxWriteSignedVB(blackboxCurrent->navSurface);
     }
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->navAccNEU[x]);
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NAV_ACC)) {
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->navAccNEU[x]);
+        }
     }
 
     //Rotate our history buffers:
@@ -1105,10 +1107,12 @@ static void writeInterframe(void)
         blackboxWriteSignedVB(blackboxCurrent->navSurface - blackboxLast->navSurface);
     }
 
-    for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxHistory[0]->navAccNEU[x] - (blackboxHistory[1]->navAccNEU[x] + blackboxHistory[2]->navAccNEU[x]) / 2);
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NAV_ACC)) {
+        for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
+            blackboxWriteSignedVB(blackboxHistory[0]->navAccNEU[x] - (blackboxHistory[1]->navAccNEU[x] + blackboxHistory[2]->navAccNEU[x]) / 2);
+        }
     }
-    
+
     //Rotate our history buffers
     blackboxHistory[2] = blackboxHistory[1];
     blackboxHistory[1] = blackboxHistory[0];

From 5973bccb5498067cf98965f06780e0cb9e7b4dfe Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 27 Aug 2021 07:31:54 +0200
Subject: [PATCH 233/336] Selectable ATTITUDE and ACC

---
 src/main/blackbox/blackbox.c           | 36 +++++++++++++++++++-------
 src/main/blackbox/blackbox.h           |  1 +
 src/main/blackbox/blackbox_fielddefs.h |  1 +
 src/main/fc/cli.c                      |  2 +-
 4 files changed, 29 insertions(+), 11 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index f25e6bf7ec..911abb5f87 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -282,12 +282,12 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"gyroADC",     0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"gyroADC",     1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"gyroADC",     2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"accSmooth",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"accSmooth",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"accSmooth",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"attitude",    0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"attitude",    1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"attitude",    2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"accSmooth",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
+    {"accSmooth",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
+    {"accSmooth",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
+    {"attitude",    0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
+    {"attitude",    1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
+    {"attitude",    2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ATTITUDE},
     {"debug",       0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
     {"debug",       1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
     {"debug",       2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
@@ -677,6 +677,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_ACC:
         return blackboxIncludeFlag(BLACKBOX_FEATURE_ACC);
 
+    case FLIGHT_LOG_FIELD_CONDITION_ATTITUDE:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_ATTITUDE);
+
     case FLIGHT_LOG_FIELD_CONDITION_NEVER:
         return false;
 
@@ -832,8 +835,14 @@ static void writeIntraframe(void)
     }
 
     blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
-    blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
-    blackboxWriteSigned16VBArray(blackboxCurrent->attitude, XYZ_AXIS_COUNT);
+    
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
+        blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
+    }
+
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ATTITUDE)) {
+        blackboxWriteSigned16VBArray(blackboxCurrent->attitude, XYZ_AXIS_COUNT);
+    }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
         blackboxWriteSignedVBArray(blackboxCurrent->debug, DEBUG32_VALUE_COUNT);
@@ -1065,8 +1074,15 @@ static void writeInterframe(void)
 
     //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
     blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroADC),   XYZ_AXIS_COUNT);
-    blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
-    blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
+
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
+        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
+    }
+
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ATTITUDE)) {
+        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
+    }
+    
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
         blackboxWriteArrayUsingAveragePredictor32(offsetof(blackboxMainState_t, debug), DEBUG32_VALUE_COUNT);
     }
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 37781f62f7..bdb727a7c9 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -27,6 +27,7 @@ typedef enum {
     BLACKBOX_FEATURE_NAV_PID     = 1 << 2,
     BLACKBOX_FEATURE_MAG         = 1 << 3,
     BLACKBOX_FEATURE_ACC         = 1 << 4,
+    BLACKBOX_FEATURE_ATTITUDE    = 1 << 5,
 } blackboxFeatureMask_e;
 
 
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 62039da5f1..854b89354c 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -56,6 +56,7 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_NAV_POS,
     FLIGHT_LOG_FIELD_CONDITION_NAV_PID,
     FLIGHT_LOG_FIELD_CONDITION_ACC,
+    FLIGHT_LOG_FIELD_CONDITION_ATTITUDE,
 
     FLIGHT_LOG_FIELD_CONDITION_NEVER,
 
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index e262c1bf8f..0def0b96ea 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 #ifdef USE_BLACKBOX
 static const char * const blackboxIncludeFlagNames[] = {
-    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", NULL
+    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", "ATTI", NULL
 };
 #endif
 

From ea307624a95f77fbad30f9e8a0403ba8269e51cc Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 27 Aug 2021 07:33:09 +0200
Subject: [PATCH 234/336] Log attitude by default

---
 src/main/blackbox/blackbox.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 911abb5f87..b90580294b 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -104,7 +104,7 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
-    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC,
+    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE,
 );
 
 void blackboxIncludeFlagSet(uint32_t mask)

From cdf28ee2913d2e7dfc0ce8dccd75e5e1409537ec Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 27 Aug 2021 09:01:55 +0200
Subject: [PATCH 235/336] Add FF component to BB logs

---
 src/main/blackbox/blackbox.c |  8 ++++++++
 src/main/build/debug.h       |  2 --
 src/main/fc/config.c         |  2 +-
 src/main/fc/settings.yaml    |  2 +-
 src/main/flight/pid.c        | 10 +++++++---
 src/main/flight/pid.h        |  2 +-
 6 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index b90580294b..7a4b11870b 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -214,6 +214,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"axisD",       0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
     {"axisD",       1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
     {"axisD",       2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
+    {"axisF",       0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ALWAYS},
+    {"axisF",       1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ALWAYS},
+    {"axisF",       2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ALWAYS},
 
     {"fwAltP",     -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(FIXED_WING_NAV)},
     {"fwAltI",     -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(FIXED_WING_NAV)},
@@ -435,6 +438,7 @@ typedef struct blackboxMainState_s {
     int32_t axisPID_P[XYZ_AXIS_COUNT];
     int32_t axisPID_I[XYZ_AXIS_COUNT];
     int32_t axisPID_D[XYZ_AXIS_COUNT];
+    int32_t axisPID_F[XYZ_AXIS_COUNT];
     int32_t axisPID_Setpoint[XYZ_AXIS_COUNT];
 
     int32_t mcPosAxisP[XYZ_AXIS_COUNT];
@@ -757,6 +761,7 @@ static void writeIntraframe(void)
             blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x]);
         }
     }
+    blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
 
     if (testBlackboxCondition(CONDITION(FIXED_WING_NAV))) {
         blackboxWriteSignedVBArray(blackboxCurrent->fwAltPID, 3);
@@ -978,6 +983,8 @@ static void writeInterframe(void)
         }
     }
 
+    blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
+
     if (testBlackboxCondition(CONDITION(FIXED_WING_NAV))) {
 
         arraySubInt32(deltas, blackboxCurrent->fwAltPID, blackboxLast->fwAltPID, 3);
@@ -1445,6 +1452,7 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->axisPID_P[i] = axisPID_P[i];
         blackboxCurrent->axisPID_I[i] = axisPID_I[i];
         blackboxCurrent->axisPID_D[i] = axisPID_D[i];
+        blackboxCurrent->axisPID_F[i] = axisPID_F[i];
         blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
         blackboxCurrent->accADC[i] = lrintf(acc.accADCf[i] * acc.dev.acc_1G);
 #ifdef USE_MAG
diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 197532337d..9fd78f251d 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -72,7 +72,6 @@ typedef enum {
     DEBUG_DYNAMIC_FILTER,
     DEBUG_DYNAMIC_FILTER_FREQUENCY,
     DEBUG_IRLOCK,
-    DEBUG_CD,
     DEBUG_KALMAN_GAIN,
     DEBUG_PID_MEASUREMENT,
     DEBUG_SPM_CELLS,    // Smartport master FLVSS
@@ -81,7 +80,6 @@ typedef enum {
     DEBUG_PCF8574,
     DEBUG_DYNAMIC_GYRO_LPF,
     DEBUG_AUTOLEVEL,
-    DEBUG_FW_D,
     DEBUG_IMU2,
     DEBUG_ALTITUDE,
     DEBUG_GYRO_ALPHA_BETA_GAMMA,
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 2bea10ec0f..a7e9bd6eb3 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -107,7 +107,7 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
     .enabledFeatures = DEFAULT_FEATURES | COMMON_DEFAULT_FEATURES
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 4);
 
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .current_profile_index = 0,
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b0ee6f16c8..479f2022bc 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -93,7 +93,7 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "FW_D", "IMU2", "ALTITUDE",
+      "IRLOCK", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "IMU2", "ALTITUDE",
       "GYRO_ALPHA_BETA_GAMMA", "SMITH_PREDICTOR", "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 3a26bbac00..a32de2ce07 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -123,7 +123,11 @@ STATIC_FASTRAM bool pidGainsUpdateRequired;
 FASTRAM int16_t axisPID[FLIGHT_DYNAMICS_INDEX_COUNT];
 
 #ifdef USE_BLACKBOX
-int32_t axisPID_P[FLIGHT_DYNAMICS_INDEX_COUNT], axisPID_I[FLIGHT_DYNAMICS_INDEX_COUNT], axisPID_D[FLIGHT_DYNAMICS_INDEX_COUNT], axisPID_Setpoint[FLIGHT_DYNAMICS_INDEX_COUNT];
+int32_t axisPID_P[FLIGHT_DYNAMICS_INDEX_COUNT];
+int32_t axisPID_I[FLIGHT_DYNAMICS_INDEX_COUNT];
+int32_t axisPID_D[FLIGHT_DYNAMICS_INDEX_COUNT];
+int32_t axisPID_F[FLIGHT_DYNAMICS_INDEX_COUNT];
+int32_t axisPID_Setpoint[FLIGHT_DYNAMICS_INDEX_COUNT];
 #endif
 
 static EXTENDED_FASTRAM pidState_t pidState[FLIGHT_DYNAMICS_INDEX_COUNT];
@@ -747,7 +751,6 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     const float newDTerm = dTermProcess(pidState, dT);
     const float newFFTerm = pidState->rateTarget * pidState->kFF;
 
-    DEBUG_SET(DEBUG_FW_D, axis, newDTerm);
     /*
      * Integral should be updated only if axis Iterm is not frozen
      */
@@ -773,6 +776,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     axisPID_P[axis] = newPTerm;
     axisPID_I[axis] = pidState->errorGyroIf;
     axisPID_D[axis] = newDTerm;
+    axisPID_F[axis] = newFFTerm;
     axisPID_Setpoint[axis] = pidState->rateTarget;
 #endif
 
@@ -809,7 +813,6 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
      * Compute Control Derivative
      */
     const float newCDTerm = rateTargetDeltaFiltered * (pidState->kCD / dT);
-    DEBUG_SET(DEBUG_CD, axis, newCDTerm);
 
     // TODO: Get feedback from mixer on available correction range for each axis
     const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
@@ -833,6 +836,7 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
     axisPID_P[axis] = newPTerm;
     axisPID_I[axis] = pidState->errorGyroIf;
     axisPID_D[axis] = newDTerm;
+    axisPID_F[axis] = newCDTerm;
     axisPID_Setpoint[axis] = pidState->rateTarget;
 #endif
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index f547bb5626..8520ff5d0d 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -189,7 +189,7 @@ const pidBank_t * pidBank(void);
 pidBank_t * pidBankMutable(void);
 
 extern int16_t axisPID[];
-extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_Setpoint[];
+extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_F[], axisPID_Setpoint[];
 
 void pidInit(void);
 bool pidInitFilters(void);

From 9f2d843e7373639fef48cc5bd3a931bb3d4002e2 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 27 Aug 2021 22:14:25 +0200
Subject: [PATCH 236/336] Drop not required conditions

---
 src/main/blackbox/blackbox.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 7a4b11870b..8da7360376 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -611,7 +611,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
         // D output can be set by either the D or the FF term
-        return pidBank()->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0 || pidBank()->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].FF != 0;
+        return pidBank()->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0;
 
     case FLIGHT_LOG_FIELD_CONDITION_MAG:
 #ifdef USE_MAG

From b049941c5670948cf7a57eb9404d658f8f420088 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 27 Aug 2021 22:25:47 +0200
Subject: [PATCH 237/336] Add FF to header

---
 src/main/blackbox/blackbox.c | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 8da7360376..a16f075d6e 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1745,15 +1745,18 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlRateProfile->stabilized.rates[ROLL],
                                                                             currentControlRateProfile->stabilized.rates[PITCH],
                                                                             currentControlRateProfile->stabilized.rates[YAW]);
-        BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d",                   pidBank()->pid[PID_ROLL].P,
+        BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d,%d",                pidBank()->pid[PID_ROLL].P,
                                                                             pidBank()->pid[PID_ROLL].I,
-                                                                            pidBank()->pid[PID_ROLL].D);
-        BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d",                  pidBank()->pid[PID_PITCH].P,
+                                                                            pidBank()->pid[PID_ROLL].D,
+                                                                            pidBank()->pid[PID_ROLL].FF);
+        BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d,%d",               pidBank()->pid[PID_PITCH].P,
                                                                             pidBank()->pid[PID_PITCH].I,
-                                                                            pidBank()->pid[PID_PITCH].D);
-        BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d",                    pidBank()->pid[PID_YAW].P,
+                                                                            pidBank()->pid[PID_PITCH].D,
+                                                                            pidBank()->pid[PID_PITCH].FF);
+        BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d,%d",                 pidBank()->pid[PID_YAW].P,
                                                                             pidBank()->pid[PID_YAW].I,
-                                                                            pidBank()->pid[PID_YAW].D);
+                                                                            pidBank()->pid[PID_YAW].D,
+                                                                            pidBank()->pid[PID_YAW].FF);
         BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d",                    pidBank()->pid[PID_POS_Z].P,
                                                                             pidBank()->pid[PID_POS_Z].I,
                                                                             pidBank()->pid[PID_POS_Z].D);

From 13c1cbaf052cd77159adde89a6715e46a90201fa Mon Sep 17 00:00:00 2001
From: Alexander van Saase <avsaase@gmail.com>
Date: Sat, 28 Aug 2021 10:28:37 +0200
Subject: [PATCH 238/336] add 50mW CRSF tx power level

---
 src/main/rx/crsf.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index 64e5a13d98..ef9fd9864f 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -58,8 +58,8 @@ static timeUs_t crsfFrameStartAt = 0;
 static uint8_t telemetryBuf[CRSF_FRAME_SIZE_MAX];
 static uint8_t telemetryBufLen = 0;
 
-// The power levels represented by uplinkTXPower above in mW (250mW added to full TX in v4.00 firmware)
-const uint16_t crsfPowerStates[] = {0, 10, 25, 100, 500, 1000, 2000, 250};
+// The power levels represented by uplinkTXPower above in mW (250mW added to full TX in v4.00 firmware, 50mW added for ExpressLRS)
+const uint16_t crsfPowerStates[] = {0, 10, 25, 100, 500, 1000, 2000, 250, 50};
 
 /*
  * CRSF protocol

From 28527fb97038b79847cb6107bd7cf454459cb702 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 28 Aug 2021 15:08:02 +0200
Subject: [PATCH 239/336] Change to PT3 and test logging

---
 src/main/flight/pid.c | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a32de2ce07..0e2ce26a74 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -107,7 +107,7 @@ typedef struct {
     bool itermLimitActive;
     bool itermFreezeActive;
 
-    pt2Filter_t rateTargetFilter;
+    pt3Filter_t rateTargetFilter;
 
     smithPredictor_t smithPredictor;
 } pidState_t;
@@ -343,7 +343,7 @@ bool pidInitFilters(void)
 
     if (pidProfile()->controlDerivativeLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            pt2FilterInit(&pidState[axis].rateTargetFilter, pt2FilterGain(pidProfile()->controlDerivativeLpfHz, refreshRate * 1e-6f));
+            pt3FilterInit(&pidState[axis].rateTargetFilter, pt3FilterGain(pidProfile()->controlDerivativeLpfHz, refreshRate * 1e-6f));
         }
     }
 
@@ -807,13 +807,25 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
     const float newDTerm = dTermProcess(pidState, dT);
 
     const float rateTargetDelta = pidState->rateTarget - pidState->previousRateTarget;
-    const float rateTargetDeltaFiltered = pt2FilterApply(&pidState->rateTargetFilter, rateTargetDelta);
+    const float rateTargetDeltaFiltered = pt3FilterApply(&pidState->rateTargetFilter, rateTargetDelta);
+
+    if (axis == FD_ROLL) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, pidState->rateTarget);
+        DEBUG_SET(DEBUG_ALWAYS, 1, rateTargetDelta);
+        DEBUG_SET(DEBUG_ALWAYS, 2, rateTargetDeltaFiltered * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 3, dT * 1000000.0f);
+    }
+
 
     /*
      * Compute Control Derivative
      */
     const float newCDTerm = rateTargetDeltaFiltered * (pidState->kCD / dT);
 
+    if (axis == FD_ROLL) {
+        DEBUG_SET(DEBUG_ALWAYS, 7, newCDTerm);
+    }
+
     // TODO: Get feedback from mixer on available correction range for each axis
     const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
     const float newOutputLimited = constrainf(newOutput, -pidState->pidSumLimit, +pidState->pidSumLimit);

From 240b6eb27c4202ee0febfcab9e52f72c53901dc6 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 28 Aug 2021 15:20:32 +0200
Subject: [PATCH 240/336] Fix FF logging

---
 src/main/blackbox/blackbox.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a16f075d6e..0df11e2109 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -983,7 +983,8 @@ static void writeInterframe(void)
         }
     }
 
-    blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
+    arraySubInt32(deltas, blackboxCurrent->axisPID_F, blackboxLast->axisPID_F, XYZ_AXIS_COUNT);
+    blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
 
     if (testBlackboxCondition(CONDITION(FIXED_WING_NAV))) {
 

From d33489e89d68459290e4c31a8a9e8e1a3f0bd360 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 28 Aug 2021 16:10:14 +0200
Subject: [PATCH 241/336] Compute CD with expected looptime

---
 src/main/flight/pid.c | 16 ++--------------
 1 file changed, 2 insertions(+), 14 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0e2ce26a74..cee8231c5f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -544,7 +544,7 @@ void updatePIDCoefficients()
             pidState[axis].kP  = pidBank()->pid[axis].P / FP_PID_RATE_P_MULTIPLIER * axisTPA;
             pidState[axis].kI  = pidBank()->pid[axis].I / FP_PID_RATE_I_MULTIPLIER;
             pidState[axis].kD  = pidBank()->pid[axis].D / FP_PID_RATE_D_MULTIPLIER * axisTPA;
-            pidState[axis].kCD = pidBank()->pid[axis].FF / FP_PID_RATE_D_FF_MULTIPLIER * axisTPA;
+            pidState[axis].kCD = (pidBank()->pid[axis].FF / FP_PID_RATE_D_FF_MULTIPLIER * axisTPA) / (getLooptime() * 0.000001f);
             pidState[axis].kFF = 0.0f;
 
             // Tracking anti-windup requires P/I/D to be all defined which is only true for MC
@@ -809,22 +809,10 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
     const float rateTargetDelta = pidState->rateTarget - pidState->previousRateTarget;
     const float rateTargetDeltaFiltered = pt3FilterApply(&pidState->rateTargetFilter, rateTargetDelta);
 
-    if (axis == FD_ROLL) {
-        DEBUG_SET(DEBUG_ALWAYS, 0, pidState->rateTarget);
-        DEBUG_SET(DEBUG_ALWAYS, 1, rateTargetDelta);
-        DEBUG_SET(DEBUG_ALWAYS, 2, rateTargetDeltaFiltered * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 3, dT * 1000000.0f);
-    }
-
-
     /*
      * Compute Control Derivative
      */
-    const float newCDTerm = rateTargetDeltaFiltered * (pidState->kCD / dT);
-
-    if (axis == FD_ROLL) {
-        DEBUG_SET(DEBUG_ALWAYS, 7, newCDTerm);
-    }
+    const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD;
 
     // TODO: Get feedback from mixer on available correction range for each axis
     const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;

From 55fe20ec0ce79ae33843a118ba87f495ca08f89d Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 28 Aug 2021 17:49:50 +0200
Subject: [PATCH 242/336] Drop PPM receivers

---
 src/main/CMakeLists.txt                 |   4 -
 src/main/config/config_master.h         |   2 -
 src/main/drivers/pwm_mapping.c          |   1 -
 src/main/drivers/rx_pwm.c               | 248 ------------------------
 src/main/drivers/rx_pwm.h               |  32 ---
 src/main/fc/cli.c                       |   1 -
 src/main/fc/config.c                    |   7 -
 src/main/fc/config.h                    |   1 -
 src/main/fc/fc_init.c                   |  11 +-
 src/main/fc/settings.yaml               |   2 +-
 src/main/io/serial.c                    |   8 +-
 src/main/io/serial.h                    |   2 +-
 src/main/rx/pwm.c                       |  90 ---------
 src/main/rx/pwm.h                       |  20 --
 src/main/rx/rx.c                        |  57 +-----
 src/main/rx/rx.h                        |  11 +-
 src/main/target/AIRBOTF4/target.h       |   2 +-
 src/main/target/ALIENFLIGHTF3/target.h  |   1 -
 src/main/target/ANYFC/target.h          |   2 +-
 src/main/target/ASGARD32F4/target.h     |   4 -
 src/main/target/ASGARD32F7/target.h     |   4 -
 src/main/target/BLUEJAYF4/target.h      |   2 +-
 src/main/target/F4BY/target.h           |   2 +-
 src/main/target/FALCORE/target.h        |   1 -
 src/main/target/FRSKYF4/target.h        |   3 -
 src/main/target/FURYF3/target.h         |   2 +-
 src/main/target/KISSFC/target.h         |   2 -
 src/main/target/KROOZX/target.h         |   2 +-
 src/main/target/LUX_RACE/target.h       |   2 +-
 src/main/target/OMNIBUS/target.h        |   2 +-
 src/main/target/OMNIBUSF4/target.h      |   2 +-
 src/main/target/OMNIBUSF7/target.h      |   1 -
 src/main/target/PIXRACER/target.h       |   2 +-
 src/main/target/SPARKY/target.h         |   3 +-
 src/main/target/SPRACINGF3/target.h     |   2 +-
 src/main/target/SPRACINGF3EVO/target.h  |   2 +-
 src/main/target/SPRACINGF3MINI/target.h |   2 +-
 src/main/target/common.h                |   1 -
 38 files changed, 26 insertions(+), 517 deletions(-)
 delete mode 100644 src/main/drivers/rx_pwm.c
 delete mode 100644 src/main/drivers/rx_pwm.h
 delete mode 100644 src/main/rx/pwm.c
 delete mode 100644 src/main/rx/pwm.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 7a2d8f0878..8aa7ea8713 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -252,8 +252,6 @@ main_sources(COMMON_SRC
     drivers/resource.h
     drivers/rcc.c
     drivers/rcc.h
-    drivers/rx_pwm.c
-    drivers/rx_pwm.h
     drivers/rx_spi.c
     drivers/rx_spi.h
     drivers/serial.c
@@ -416,8 +414,6 @@ main_sources(COMMON_SRC
     rx/msp.h
     rx/msp_override.c
     rx/msp_override.h
-    rx/pwm.c
-    rx/pwm.h
     rx/frsky_crc.c
     rx/frsky_crc.h
     rx/rx.c
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index b7c39e4b6e..aaf26ecb32 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -24,8 +24,6 @@
 #include "common/axis.h"
 #include "common/color.h"
 
-#include "drivers/rx_pwm.h"
-
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "flight/servos.h"
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index c8aeb8eb0f..e8e7c0ec9e 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -36,7 +36,6 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
-//#include "drivers/rx_pwm.h"
 
 #include "sensors/rangefinder.h"
 
diff --git a/src/main/drivers/rx_pwm.c b/src/main/drivers/rx_pwm.c
deleted file mode 100644
index c915e58d61..0000000000
--- a/src/main/drivers/rx_pwm.c
+++ /dev/null
@@ -1,248 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#if defined(USE_RX_PPM)
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "common/utils.h"
-
-#include "drivers/time.h"
-
-#include "drivers/nvic.h"
-#include "drivers/io.h"
-#include "timer.h"
-
-#include "pwm_output.h"
-#include "pwm_mapping.h"
-
-#include "rx_pwm.h"
-
-#define PPM_CAPTURE_COUNT       16
-#define INPUT_FILTER_TICKS      10
-#define PPM_TIMER_PERIOD        0x10000
-
-void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
-
-static uint16_t captures[PPM_CAPTURE_COUNT];
-
-static uint8_t ppmFrameCount = 0;
-static uint8_t lastPPMFrameCount = 0;
-static uint8_t ppmCountDivisor = 1;
-
-typedef struct ppmDevice_s {
-    uint8_t  pulseIndex;
-    uint32_t currentCapture;
-    uint32_t currentTime;
-    uint32_t deltaTime;
-    uint32_t captures[PPM_CAPTURE_COUNT];
-    uint32_t largeCounter;
-    int8_t   numChannels;
-    int8_t   numChannelsPrevFrame;
-    uint8_t  stableFramesSeenCount;
-
-    bool     tracking;
-    bool     overflowed;
-} ppmDevice_t;
-
-ppmDevice_t ppmDev;
-
-#define PPM_IN_MIN_SYNC_PULSE_US            2700    // microseconds
-#define PPM_IN_MIN_CHANNEL_PULSE_US         750     // microseconds
-#define PPM_IN_MAX_CHANNEL_PULSE_US         2250    // microseconds
-#define PPM_STABLE_FRAMES_REQUIRED_COUNT    25
-#define PPM_IN_MIN_NUM_CHANNELS             4
-#define PPM_IN_MAX_NUM_CHANNELS             PPM_CAPTURE_COUNT
-
-bool isPPMDataBeingReceived(void)
-{
-    return (ppmFrameCount != lastPPMFrameCount);
-}
-
-void resetPPMDataReceivedState(void)
-{
-    lastPPMFrameCount = ppmFrameCount;
-}
-
-#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
-
-static void ppmInit(void)
-{
-    ppmDev.pulseIndex   = 0;
-    ppmDev.currentCapture = 0;
-    ppmDev.currentTime  = 0;
-    ppmDev.deltaTime    = 0;
-    ppmDev.largeCounter = 0;
-    ppmDev.numChannels  = -1;
-    ppmDev.numChannelsPrevFrame = -1;
-    ppmDev.stableFramesSeenCount = 0;
-    ppmDev.tracking     = false;
-    ppmDev.overflowed   = false;
-}
-
-static void ppmOverflowCallback(struct TCH_s * tch, uint32_t capture)
-{
-    UNUSED(tch);
-
-    ppmDev.largeCounter += capture + 1;
-    if (capture == PPM_TIMER_PERIOD - 1) {
-        ppmDev.overflowed = true;
-    }
-}
-
-static void ppmEdgeCallback(struct TCH_s * tch, uint32_t capture)
-{
-    UNUSED(tch);
-
-    int32_t i;
-
-    uint32_t previousTime = ppmDev.currentTime;
-    uint32_t previousCapture = ppmDev.currentCapture;
-
-    /* Grab the new count */
-    uint32_t currentTime = capture;
-
-    /* Convert to 32-bit timer result */
-    currentTime += ppmDev.largeCounter;
-
-    if (capture < previousCapture) {
-        if (ppmDev.overflowed) {
-            currentTime += PPM_TIMER_PERIOD;
-        }
-    }
-
-    // Divide to match output protocol
-    currentTime = currentTime / ppmCountDivisor;
-
-    /* Capture computation */
-    if (currentTime > previousTime) {
-        ppmDev.deltaTime    = currentTime - (previousTime + (ppmDev.overflowed ? (PPM_TIMER_PERIOD / ppmCountDivisor) : 0));
-    } else {
-        ppmDev.deltaTime    = (PPM_TIMER_PERIOD / ppmCountDivisor) + currentTime - previousTime;
-    }
-
-    ppmDev.overflowed = false;
-
-
-    /* Store the current measurement */
-    ppmDev.currentTime = currentTime;
-    ppmDev.currentCapture = capture;
-
-#if 0
-    static uint32_t deltaTimes[20];
-    static uint8_t deltaIndex = 0;
-
-    deltaIndex = (deltaIndex + 1) % 20;
-    deltaTimes[deltaIndex] = ppmDev.deltaTime;
-    UNUSED(deltaTimes);
-#endif
-
-
-#if 0
-    static uint32_t captureTimes[20];
-    static uint8_t captureIndex = 0;
-
-    captureIndex = (captureIndex + 1) % 20;
-    captureTimes[captureIndex] = capture;
-    UNUSED(captureTimes);
-#endif
-
-    /* Sync pulse detection */
-    if (ppmDev.deltaTime > PPM_IN_MIN_SYNC_PULSE_US) {
-        if (ppmDev.pulseIndex == ppmDev.numChannelsPrevFrame
-            && ppmDev.pulseIndex >= PPM_IN_MIN_NUM_CHANNELS
-            && ppmDev.pulseIndex <= PPM_IN_MAX_NUM_CHANNELS) {
-            /* If we see n simultaneous frames of the same
-               number of channels we save it as our frame size */
-            if (ppmDev.stableFramesSeenCount < PPM_STABLE_FRAMES_REQUIRED_COUNT) {
-                ppmDev.stableFramesSeenCount++;
-            } else {
-                ppmDev.numChannels = ppmDev.pulseIndex;
-            }
-        } else {
-            ppmDev.stableFramesSeenCount = 0;
-        }
-
-        /* Check if the last frame was well formed */
-        if (ppmDev.pulseIndex == ppmDev.numChannels && ppmDev.tracking) {
-            /* The last frame was well formed */
-            for (i = 0; i < ppmDev.numChannels; i++) {
-                captures[i] = ppmDev.captures[i];
-            }
-            for (i = ppmDev.numChannels; i < PPM_IN_MAX_NUM_CHANNELS; i++) {
-                captures[i] = PPM_RCVR_TIMEOUT;
-            }
-            ppmFrameCount++;
-        }
-
-        ppmDev.tracking   = true;
-        ppmDev.numChannelsPrevFrame = ppmDev.pulseIndex;
-        ppmDev.pulseIndex = 0;
-
-        /* We rely on the supervisor to set captureValue to invalid
-           if no valid frame is found otherwise we ride over it */
-    } else if (ppmDev.tracking) {
-        /* Valid pulse duration 0.75 to 2.5 ms*/
-        if (ppmDev.deltaTime > PPM_IN_MIN_CHANNEL_PULSE_US
-            && ppmDev.deltaTime < PPM_IN_MAX_CHANNEL_PULSE_US
-            && ppmDev.pulseIndex < PPM_IN_MAX_NUM_CHANNELS) {
-            ppmDev.captures[ppmDev.pulseIndex] = ppmDev.deltaTime;
-            ppmDev.pulseIndex++;
-        } else {
-            /* Not a valid pulse duration */
-            ppmDev.tracking = false;
-            for (i = 0; i < PPM_CAPTURE_COUNT; i++) {
-                ppmDev.captures[i] = PPM_RCVR_TIMEOUT;
-            }
-        }
-    }
-}
-
-bool ppmInConfig(const timerHardware_t *timerHardwarePtr)
-{
-    static timerCallbacks_t callbacks;
-    TCH_t * tch = timerGetTCH(timerHardwarePtr);
-    if (tch == NULL) {
-        return false;
-    }
-
-    ppmInit();
-
-    IO_t io = IOGetByTag(timerHardwarePtr->tag);
-    IOInit(io, OWNER_PPMINPUT, RESOURCE_INPUT, 0);
-    IOConfigGPIOAF(io, timerHardwarePtr->ioMode, timerHardwarePtr->alternateFunction);
-
-    timerConfigure(tch, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_HZ);
-    timerChInitCallbacks(&callbacks, (void*)&ppmDev, &ppmEdgeCallback, &ppmOverflowCallback);
-    timerChConfigCallbacks(tch, &callbacks);
-    timerChConfigIC(tch, true, INPUT_FILTER_TICKS);
-    timerChCaptureEnable(tch);
-
-    return true;
-}
-
-uint16_t ppmRead(uint8_t channel)
-{
-    return captures[channel];
-}
-#endif
diff --git a/src/main/drivers/rx_pwm.h b/src/main/drivers/rx_pwm.h
deleted file mode 100644
index a80de956fc..0000000000
--- a/src/main/drivers/rx_pwm.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#define PPM_RCVR_TIMEOUT            0
-
-struct timerHardware_s;
-bool ppmInConfig(const struct timerHardware_s *timerHardwarePtr);
-
-void pwmInConfig(const struct timerHardware_s *timerHardwarePtr, uint8_t channel);
-uint16_t pwmRead(uint8_t channel);
-uint16_t ppmRead(uint8_t channel);
-
-bool isPPMDataBeingReceived(void);
-void resetPPMDataReceivedState(void);
-
-bool isPWMDataBeingReceived(void);
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 0def0b96ea..ba8214bc7f 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -60,7 +60,6 @@ uint8_t cliMode = 0;
 #include "drivers/io_impl.h"
 #include "drivers/osd_symbols.h"
 #include "drivers/persistent.h"
-#include "drivers/rx_pwm.h"
 #include "drivers/sdcard/sdcard.h"
 #include "drivers/sensor.h"
 #include "drivers/serial.h"
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index a7e9bd6eb3..f37f9701ea 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -193,13 +193,6 @@ void validateAndFixConfig(void)
     // Disable unused features
     featureClear(FEATURE_UNUSED_1 | FEATURE_UNUSED_3 | FEATURE_UNUSED_4 | FEATURE_UNUSED_5 | FEATURE_UNUSED_6 | FEATURE_UNUSED_7 | FEATURE_UNUSED_8 | FEATURE_UNUSED_9 | FEATURE_UNUSED_10);
 
-#if !defined(USE_RX_PPM)
-    if (rxConfig()->receiverType == RX_TYPE_PPM) {
-        rxConfigMutable()->receiverType = RX_TYPE_NONE;
-    }
-#endif
-
-
 #if defined(USE_LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
     if (featureConfigured(FEATURE_SOFTSERIAL) && featureConfigured(FEATURE_LED_STRIP)) {
         const timerHardware_t *ledTimerHardware = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index acd8fdf603..dda257670c 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -22,7 +22,6 @@
 #include "common/time.h"
 #include "config/parameter_group.h"
 #include "drivers/adc.h"
-#include "drivers/rx_pwm.h"
 #include "fc/stats.h"
 
 #define MAX_PROFILE_COUNT 3
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index a53d1088bc..68c73079f1 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -63,7 +63,6 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_output.h"
-#include "drivers/rx_pwm.h"
 #include "drivers/sensor.h"
 #include "drivers/serial.h"
 #include "drivers/serial_softserial.h"
@@ -277,15 +276,7 @@ void init(void)
 
     timerInit();  // timer must be initialized before any channel is allocated
 
-#if defined(AVOID_UART2_FOR_PWM_PPM)
-    serialInit(feature(FEATURE_SOFTSERIAL),
-            (rxConfig()->receiverType == RX_TYPE_PPM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
-#elif defined(AVOID_UART3_FOR_PWM_PPM)
-    serialInit(feature(FEATURE_SOFTSERIAL),
-            (rxConfig()->receiverType == RX_TYPE_PPM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
-#else
-    serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
-#endif
+    serialInit(feature(FEATURE_SOFTSERIAL));
 
     // Initialize MSP serial ports here so LOG can share a port with MSP.
     // XXX: Don't call mspFcInit() yet, since it initializes the boxes and needs
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 479f2022bc..c541006726 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -25,7 +25,7 @@ tables:
     values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"]
     enum: pitotSensor_e
   - name: receiver_type
-    values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UNUSED"]
+    values: ["NONE", "SERIAL", "MSP", "SPI"]
     enum: rxReceiverType_e
   - name: serial_rx
     values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index 7e4906d521..ddfde27b2c 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -441,7 +441,7 @@ void closeSerialPort(serialPort_t *serialPort)
     serialPortUsage->serialPort = NULL;
 }
 
-void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
+void serialInit(bool softserialEnabled)
 {
     uint8_t index;
 
@@ -451,12 +451,6 @@ void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisab
     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialPortUsageList[index].identifier = serialPortIdentifiers[index];
 
-        if (serialPortToDisable != SERIAL_PORT_NONE) {
-            if (serialPortUsageList[index].identifier == serialPortToDisable) {
-                serialPortUsageList[index].identifier = SERIAL_PORT_NONE;
-                serialPortCount--;
-            }
-        }
         if (!softserialEnabled) {
             if (0
 #ifdef USE_SOFTSERIAL1
diff --git a/src/main/io/serial.h b/src/main/io/serial.h
index 3c76e160b3..20d389048c 100644
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@@ -138,7 +138,7 @@ typedef void serialConsumer(uint8_t);
 //
 // configuration
 //
-void serialInit(bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
+void serialInit(bool softserialEnabled);
 void serialRemovePort(serialPortIdentifier_e identifier);
 uint8_t serialGetAvailablePortCount(void);
 bool serialIsPortAvailable(serialPortIdentifier_e identifier);
diff --git a/src/main/rx/pwm.c b/src/main/rx/pwm.c
deleted file mode 100644
index fa90e3b476..0000000000
--- a/src/main/rx/pwm.c
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#include <string.h>
-
-#include "platform.h"
-
-#if defined(USE_RX_PPM)
-
-#include "build/debug.h"
-#include "common/utils.h"
-
-#include "config/feature.h"
-
-#include "drivers/timer.h"
-#include "drivers/rx_pwm.h"
-#include "drivers/time.h"
-
-#include "fc/config.h"
-
-#include "rx/rx.h"
-#include "rx/pwm.h"
-
-#define RC_PWM_50HZ_UPDATE          (20 * 1000)     // 50Hz update rate period
-
-static uint16_t channelData[MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT];
-
-static uint16_t readRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
-{
-    UNUSED(rxRuntimeConfig);
-    return channelData[channel];
-}
-
-static uint8_t ppmFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
-{
-    UNUSED(rxRuntimeConfig);
-
-    // PPM receiver counts received frames so we actually know if new data is available
-    if (isPPMDataBeingReceived()) {
-        for (int channel = 0; channel < MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT; channel++) {
-            channelData[channel] = ppmRead(channel);
-        }
-
-        resetPPMDataReceivedState();
-        return RX_FRAME_COMPLETE;
-    }
-
-    return RX_FRAME_PENDING;
-}
-
-bool rxPpmInit(rxRuntimeConfig_t *rxRuntimeConfig)
-{
-    const timerHardware_t * timHw = timerGetByUsageFlag(TIM_USE_PPM);
-
-    if (timHw == NULL) {
-        return false;
-    }
-
-    if (!ppmInConfig(timHw)) {
-        return false;
-    }
-
-    rxRuntimeConfig->rxRefreshRate = RC_PWM_50HZ_UPDATE;
-    rxRuntimeConfig->requireFiltering = true;
-    rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
-    rxRuntimeConfig->rcReadRawFn = readRawRC;
-    rxRuntimeConfig->rcFrameStatusFn = ppmFrameStatus;
-
-    return true;
-}
-#endif
-
diff --git a/src/main/rx/pwm.h b/src/main/rx/pwm.h
deleted file mode 100644
index 6c2ef6ca9c..0000000000
--- a/src/main/rx/pwm.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-bool rxPpmInit(rxRuntimeConfig_t *rxRuntimeConfig);
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index f92097befe..fd4e783473 100755
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -37,7 +37,6 @@
 
 
 #include "drivers/adc.h"
-#include "drivers/rx_pwm.h"
 #include "drivers/rx_spi.h"
 #include "drivers/serial.h"
 #include "drivers/time.h"
@@ -60,7 +59,6 @@
 #include "rx/fport2.h"
 #include "rx/msp.h"
 #include "rx/msp_override.h"
-#include "rx/pwm.h"
 #include "rx/rx_spi.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
@@ -110,7 +108,7 @@ rxLinkStatistics_t rxLinkStatistics;
 rxRuntimeConfig_t rxRuntimeConfig;
 static uint8_t rcSampleIndex = 0;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 9);
+PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 10);
 
 #ifndef RX_SPI_DEFAULT_PROTOCOL
 #define RX_SPI_DEFAULT_PROTOCOL 0
@@ -285,7 +283,6 @@ void rxInit(void)
     rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
     rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
     rxRuntimeConfig.rxSignalTimeout = DELAY_10_HZ;
-    rxRuntimeConfig.requireFiltering = false;
     rcSampleIndex = 0;
 
     timeMs_t nowMs = millis();
@@ -317,15 +314,6 @@ void rxInit(void)
     }
 
     switch (rxConfig()->receiverType) {
-#if defined(USE_RX_PPM)
-        case RX_TYPE_PPM:
-            if (!rxPpmInit(&rxRuntimeConfig)) {
-                rxConfigMutable()->receiverType = RX_TYPE_NONE;
-                rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
-                rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
-            }
-            break;
-#endif
 
 #ifdef USE_SERIAL_RX
         case RX_TYPE_SERIAL:
@@ -477,39 +465,6 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
     return result;
 }
 
-#define FILTERING_SAMPLE_COUNT  5
-static uint16_t applyChannelFiltering(uint8_t chan, uint16_t sample)
-{
-    static int16_t rcSamples[MAX_SUPPORTED_RC_CHANNEL_COUNT][FILTERING_SAMPLE_COUNT];
-    static bool rxSamplesCollected = false;
-
-    // Update the recent samples
-    rcSamples[chan][rcSampleIndex % FILTERING_SAMPLE_COUNT] = sample;
-
-    // Until we have enough data - return unfiltered samples
-    if (!rxSamplesCollected) {
-        if (rcSampleIndex < FILTERING_SAMPLE_COUNT) {
-            return sample;
-        }
-        rxSamplesCollected = true;
-    }
-
-    // Assuming a step transition from 1000 -> 2000 different filters will yield the following output:
-    //  No filter:              1000, 2000, 2000, 2000, 2000        - 0 samples delay
-    //  3-point moving average: 1000, 1333, 1667, 2000, 2000        - 2 samples delay
-    //  3-point median:         1000, 1000, 2000, 2000, 2000        - 1 sample delay
-    //  5-point median:         1000, 1000, 1000, 2000, 2000        - 2 sample delay
-
-    // For the same filters - noise rejection capabilities (2 out of 5 outliers
-    //  No filter:              1000, 2000, 1000, 2000, 1000, 1000, 1000
-    //  3-point MA:             1000, 1333, 1333, 1667, 1333, 1333, 1000    - noise has reduced magnitude, but spread over more samples
-    //  3-point median:         1000, 1000, 1000, 2000, 1000, 1000, 1000    - high density noise is not removed
-    //  5-point median:         1000, 1000, 1000, 1000, 1000, 1000, 1000    - only 3 out of 5 outlier noise will get through
-
-    // Apply 5-point median filtering. This filter has the same delay as 3-point moving average, but better noise rejection
-    return quickMedianFilter5_16(rcSamples[chan]);
-}
-
 bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
 {
     int16_t rcStaging[MAX_SUPPORTED_RC_CHANNEL_COUNT];
@@ -576,14 +531,8 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
     // Update channel input value if receiver is not in failsafe mode
     // If receiver is in failsafe (not receiving signal or sending invalid channel values) - last good input values are retained
     if (rxFlightChannelsValid && rxSignalReceived) {
-        if (rxRuntimeConfig.requireFiltering) {
-            for (int channel = 0; channel < rxChannelCount; channel++) {
-                rcChannels[channel].data = applyChannelFiltering(channel, rcStaging[channel]);
-            }
-        } else {
-            for (int channel = 0; channel < rxChannelCount; channel++) {
-                rcChannels[channel].data = rcStaging[channel];
-            }
+        for (int channel = 0; channel < rxChannelCount; channel++) {
+            rcChannels[channel].data = rcStaging[channel];
         }
     }
 
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 883d8594fe..5b00281905 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -51,6 +51,8 @@
 
 #define RSSI_MAX_VALUE 1023
 
+#define PPM_RCVR_TIMEOUT            0
+
 typedef enum {
     RX_FRAME_PENDING = 0,                       // No new data available from receiver
     RX_FRAME_COMPLETE = (1 << 0),               // There is new data available
@@ -61,11 +63,9 @@ typedef enum {
 
 typedef enum {
     RX_TYPE_NONE        = 0,
-    RX_TYPE_PPM         = 1,
-    RX_TYPE_SERIAL      = 2,
-    RX_TYPE_MSP         = 3,
-    RX_TYPE_SPI         = 4,
-    RX_TYPE_UNUSED_1    = 5
+    RX_TYPE_SERIAL      = 1,
+    RX_TYPE_MSP         = 2,
+    RX_TYPE_SPI         = 3
 } rxReceiverType_e;
 
 typedef enum {
@@ -162,7 +162,6 @@ typedef struct rxRuntimeConfig_s {
     uint8_t channelCount;                  // number of rc channels as reported by current input driver
     timeUs_t rxRefreshRate;
     timeUs_t rxSignalTimeout;
-    bool requireFiltering;
     rcReadRawDataFnPtr rcReadRawFn;
     rcFrameStatusFnPtr rcFrameStatusFn;
     rcProcessFrameFnPtr rcProcessFrameFn;
diff --git a/src/main/target/AIRBOTF4/target.h b/src/main/target/AIRBOTF4/target.h
index f2d6d5bfa6..4dbd8476c8 100644
--- a/src/main/target/AIRBOTF4/target.h
+++ b/src/main/target/AIRBOTF4/target.h
@@ -126,7 +126,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DISABLE_RX_PWM_FEATURE
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT)
 
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index d60025155c..7b5349533c 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -74,7 +74,6 @@
 #define USE_UART2 // Receiver - RX (PA3)
 #define USE_UART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
 #define SERIAL_PORT_COUNT       4
-#define AVOID_UART2_FOR_PWM_PPM
 
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PB7
diff --git a/src/main/target/ANYFC/target.h b/src/main/target/ANYFC/target.h
index 3d86866897..dbc23b09d7 100644
--- a/src/main/target/ANYFC/target.h
+++ b/src/main/target/ANYFC/target.h
@@ -116,7 +116,7 @@
 
 #define SENSORS_SET             (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
diff --git a/src/main/target/ASGARD32F4/target.h b/src/main/target/ASGARD32F4/target.h
index ea2699dc2f..ad671e8065 100644
--- a/src/main/target/ASGARD32F4/target.h
+++ b/src/main/target/ASGARD32F4/target.h
@@ -142,10 +142,6 @@
 #define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
-// Disable PWM & PPM inputs
-#undef USE_RX_PWM
-#undef USE_RX_PPM
-
 // Set default UARTs
 #define TELEMETRY_UART                  SERIAL_PORT_SOFTSERIAL1
 #define SERIALRX_UART                   SERIAL_PORT_USART1
diff --git a/src/main/target/ASGARD32F7/target.h b/src/main/target/ASGARD32F7/target.h
index dc82fb74be..0ac92994f9 100644
--- a/src/main/target/ASGARD32F7/target.h
+++ b/src/main/target/ASGARD32F7/target.h
@@ -147,10 +147,6 @@
 #define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
-// Disable PWM & PPM inputs
-#undef USE_RX_PWM
-#undef USE_RX_PPM
-
 // Set default UARTs
 #define TELEMETRY_UART                  SERIAL_PORT_SOFTSERIAL1
 #define SERIALRX_UART                   SERIAL_PORT_USART1
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index 321b5e280a..d40c931411 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -131,7 +131,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index e50a360d41..03fc7c6749 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -134,7 +134,7 @@
 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_BLACKBOX)
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
diff --git a/src/main/target/FALCORE/target.h b/src/main/target/FALCORE/target.h
index 502dfee9ed..094adb7631 100755
--- a/src/main/target/FALCORE/target.h
+++ b/src/main/target/FALCORE/target.h
@@ -56,7 +56,6 @@
 #define USE_UART4
 #define USE_UART5
 #define SERIAL_PORT_COUNT       5
-#define AVOID_UART2_FOR_PWM_PPM
 
 #define UART1_TX_PIN            PC4
 #define UART1_RX_PIN            PC5
diff --git a/src/main/target/FRSKYF4/target.h b/src/main/target/FRSKYF4/target.h
index 9b6cee6b39..222153b964 100755
--- a/src/main/target/FRSKYF4/target.h
+++ b/src/main/target/FRSKYF4/target.h
@@ -91,9 +91,6 @@
 #define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
 #define VBAT_ADC_CHANNEL                ADC_CHN_2
 
-#undef USE_RX_PWM
-#undef USE_RX_PPM
-
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_TELEMETRY)
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index cba4eca303..78fc898cc0 100755
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -130,7 +130,7 @@
 #define USE_RANGEFINDER
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 
 #define USE_SPEKTRUM_BIND
 // UART3,
diff --git a/src/main/target/KISSFC/target.h b/src/main/target/KISSFC/target.h
index a97d2b6166..230be7f66d 100644
--- a/src/main/target/KISSFC/target.h
+++ b/src/main/target/KISSFC/target.h
@@ -76,8 +76,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS    12
 
-#define AVOID_UART2_FOR_PWM_PPM
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
index cde87e45d2..aa90575ecb 100755
--- a/src/main/target/KROOZX/target.h
+++ b/src/main/target/KROOZX/target.h
@@ -134,7 +134,7 @@
 
 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define RX_CHANNELS_TAER
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD)
 
diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h
index 5c64316a83..45acda286a 100644
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@@ -94,7 +94,7 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_VBAT)
 
 // Number of available PWM outputs
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index 273f41097f..19a5c9aaad 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -123,7 +123,7 @@
 
 //#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX | FEATURE_OSD)
 
 #define BUTTONS
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index fd0991fb94..96c0de6244 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -258,7 +258,7 @@
   #define WS2811_PIN                   PA1
 #endif
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DISABLE_RX_PWM_FEATURE
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
 
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index cea5bbd254..65f1fb364d 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -73,7 +73,6 @@
 #define UART1_RX_PIN PA10
 #define UART1_TX_PIN PA9
 
-//#define AVOID_UART2_FOR_PWM_PPM
 #define USE_UART2
 #define UART2_TX_PIN PA2 //not wired
 #define UART2_RX_PIN PA3
diff --git a/src/main/target/PIXRACER/target.h b/src/main/target/PIXRACER/target.h
index 96fcd68237..e700d09aa6 100755
--- a/src/main/target/PIXRACER/target.h
+++ b/src/main/target/PIXRACER/target.h
@@ -154,7 +154,7 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART6
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index f8e60a84ea..f119da56b1 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -55,7 +55,6 @@
 #define USE_UART2 // Input - RX (PA3)
 #define USE_UART3 // Servo out - 10/RX (PB11) 11/TX (PB10)
 #define SERIAL_PORT_COUNT       4
-#define AVOID_UART2_FOR_PWM_PPM
 
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PB7
@@ -94,7 +93,7 @@
 // #define USE_RANGEFINDER
 
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    10
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index a2718f15a9..3d907a99b2 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -101,7 +101,7 @@
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT)
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 
 #define USE_SPEKTRUM_BIND
 #define BIND_PIN                PB11 // UART3
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index aa5336db3d..ea11fcc5ea 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -127,7 +127,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY)
 
 #define USE_SPEKTRUM_BIND
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 5e103d27cf..e40dbd12c1 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -128,7 +128,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define DEFAULT_RX_TYPE         RX_TYPE_PPM
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 
 #define BUTTONS
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 9e900a306f..8416ab194a 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -39,7 +39,6 @@
 #define I2C2_OVERCLOCK false
 #define USE_I2C_PULLUP          // Enable built-in pullups on all boards in case external ones are too week
 
-#define USE_RX_PPM
 #define USE_SERIAL_RX
 #define USE_SERIALRX_SPEKTRUM   // Cheap and fairly common protocol
 #define USE_SERIALRX_SBUS       // Very common protocol

From 229cb63a07aa2c105454016435fc35590bd0574e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 28 Aug 2021 19:10:44 +0200
Subject: [PATCH 243/336] Add trip distance to JETI telemetry

---
 src/main/telemetry/jetiexbus.c | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index 98b797bcb3..170c12d5fe 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -144,7 +144,8 @@ const exBusSensor_t jetiExSensors[] = {
     {"G-Force X",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"G-Force Y",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"G-Force Z",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
-    {"RPM",             "",         EX_TYPE_22b,   DECIMAL_MASK(0)}
+    {"RPM",             "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"Trip Distance",   "m",        EX_TYPE_22b,   DECIMAL_MASK(0)}
 };
 
 // after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@@ -170,6 +171,7 @@ enum exSensors_e {
     EX_GFORCE_Y,
     EX_GFORCE_Z,
     EX_RPM,
+    EX_TRIP_DISTANCE,
 };
 
 union{
@@ -211,6 +213,7 @@ void enableGpsTelemetry(bool enable)
         bitArraySet(&exSensorEnabled, EX_GPS_DIRECTION_TO_HOME);
         bitArraySet(&exSensorEnabled, EX_GPS_HEADING);
         bitArraySet(&exSensorEnabled, EX_GPS_ALTITUDE);
+        bitArraySet(&exSensorEnabled, EX_TRIP_DISTANCE);
     } else {
         bitArrayClr(&exSensorEnabled, EX_GPS_SATS);
         bitArrayClr(&exSensorEnabled, EX_GPS_LONG);
@@ -220,6 +223,7 @@ void enableGpsTelemetry(bool enable)
         bitArrayClr(&exSensorEnabled, EX_GPS_DIRECTION_TO_HOME);
         bitArrayClr(&exSensorEnabled, EX_GPS_HEADING);
         bitArrayClr(&exSensorEnabled, EX_GPS_ALTITUDE);
+        bitArrayClr(&exSensorEnabled, EX_TRIP_DISTANCE);
     }
 }
 
@@ -419,6 +423,9 @@ int32_t getSensorValue(uint8_t sensor)
     break;
 #endif
 
+    case EX_TRIP_DISTANCE:
+        return getTotalTravelDistance() / 100;
+
     default:
         return -1;
     }

From 57852f8a319257bfc0e8a8b3ad8dbcf3f49c99b4 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 28 Aug 2021 23:03:02 +0100
Subject: [PATCH 244/336] Update Failsafe.md

---
 docs/Failsafe.md | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/docs/Failsafe.md b/docs/Failsafe.md
index f9bbfcfde4..78ea87c02d 100644
--- a/docs/Failsafe.md
+++ b/docs/Failsafe.md
@@ -9,12 +9,12 @@ Failsafe is a state the flight controller is meant to enter when the radio recei
 If the failsafe happens while the flight controller is disarmed, it only prevent arming. If it happens while armed, the failsafe policy configured in `failsafe_procedure` is engaged. The available procedures are:
 
 * __DROP:__ Just kill the motors and disarm (crash the craft).
-* __SET-THR:__ Enable auto-level mode (for multirotor) or enter preconfigured roll/pitch/yaw spiral down (for airplanes) and set the throttle to a predefined value (`failsafe_throttle`) for a predefined time (`failsafe_off_delay`). This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), it doesn't require any extra sensor other than gyros and accelerometers.
+* __LAND:__ Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). In both cases the descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than gyros and accelerometers.
 * __RTH:__ (Return To Home) One of the key features of inav, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
 * __NONE:__ Do nothing. This is meant to let the craft perform a fully automated flight (eg. waypoint flight) outside of radio range. Highly unsafe when used with manual flight.
 
 Note that:
-* Should the failsafe disarm the flight controller (**DROP**, **SET-THR** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
+* Should the failsafe disarm the flight controller (**DROP**, **LAND** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
 
 * Prior to starting failsafe it is checked if the throttle position has been below `min_throttle` for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is simply disarmed. This feature can be disabled completely by setting `failsafe_throttle_low_delay` to zero, which may be necessary to do if the craft may fly long with zero throttle (eg. gliders).
 
@@ -22,9 +22,9 @@ Note that:
 
 * If the craft is landed but armed, the failsafe may make the motors and props spin again and even make the craft take off (in case of **RTH** failsafe). Take expecially care of this when using `MOTOR_STOP` feature. **Props will spin up without warning**. Have a look at the `failsafe_throttle_low_delay` setting explained above to learn when this could happen.
 
-* If any required navigation sensor becomes unavailable during a Return to Home (eg. loss of GPS fix), an emergency landing similar to **SET-THR** but with barometer support will be performed after a short timeout. An emergency landing would also be performed right when the failsafe is triggered if any required sensor is reported as unavailable.
+* If any required navigation sensor becomes unavailable during a Return to Home (eg. loss of GPS fix), an emergency landing, as used by the **LAND** procedure, will be performed after a short timeout. An emergency landing would also be performed right when the failsafe is triggered if any required sensor is reported as unavailable.
 
-* **SET-THR** doesn't control the descend in any other way than setting a fixed throttle. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
+* When altitude sensors are unavailable **LAND** doesn't control the descend in any way other than setting a fixed throttle. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
 
 * When the failsafe mode is aborted (RC signal restored/failsafe switch set to OFF), the current stick positions will be enforced immediately. Be ready to react quickly.
 
@@ -48,7 +48,7 @@ Failsafe delays are configured in 0.1 second units. Distances are in centimeters
 
 #### `failsafe_procedure`
 
-Selects the failsafe procedure. Valid procedures are **DROP**, **SET-THR**, **RTH** and **NONE**. See above for a description of each one.
+Selects the failsafe procedure. Valid procedures are **DROP**, **LAND**, **RTH** and **NONE**. See above for a description of each one.
 
 #### `failsafe_delay`
 
@@ -122,12 +122,16 @@ Enables landing when home position is reached. If OFF the craft will hover indef
 
 Instructs the flight controller to disarm the craft when landing is detected
 
-### Parameters relevant to **SET-THR** failsafe procedure
+### Parameters relevant to **LAND** failsafe procedure
 
 #### `failsafe_off_delay`
 
 Delay after failsafe activates before motors finally turn off.  This is the amount of time 'failsafe_throttle' is active.  If you fly at higher altitudes you may need more time to descend safely. Set to zero to keep `failsafe_throttle` active indefinitely.
 
+#### `nav_emerg_landing_speed`
+
+Actively controlled descent speed when altitude sensors are available. If altitude sensors aren't available landing descent falls back to using the fixed thottle setting `failsafe_throttle` so ensure this is also set correctly.
+
 #### `failsafe_throttle`
 
 Throttle level used for landing.  Specify a value that causes the aircraft to descend at about 1M/sec. Default is set to 1000 which should correspond to throttle off.

From 20c21d9fe233ba02319403c0e6d6b78405c46810 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 29 Aug 2021 08:46:00 +0100
Subject: [PATCH 245/336] Update Failsafe.md

---
 docs/Failsafe.md | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/docs/Failsafe.md b/docs/Failsafe.md
index 78ea87c02d..8677adb5de 100644
--- a/docs/Failsafe.md
+++ b/docs/Failsafe.md
@@ -9,12 +9,13 @@ Failsafe is a state the flight controller is meant to enter when the radio recei
 If the failsafe happens while the flight controller is disarmed, it only prevent arming. If it happens while armed, the failsafe policy configured in `failsafe_procedure` is engaged. The available procedures are:
 
 * __DROP:__ Just kill the motors and disarm (crash the craft).
-* __LAND:__ Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). In both cases the descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than gyros and accelerometers.
-* __RTH:__ (Return To Home) One of the key features of inav, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
+* __LAND:__ (replaces **SET-THR** from INAV V3.1.0) Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). The descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than gyros and accelerometers.
+* __SET-THR:__ (Pre INAV V3.1.0) Same as **LAND** except it doesn't use an Emergency Landing but is limited instead to just setting the throttle to a predefined value (`failsafe_throttle`) to perform a descent. It doesn't require any extra sensors other than gyros and accelerometers.
+* __RTH:__ (Return To Home) One of the key features of INAV, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
 * __NONE:__ Do nothing. This is meant to let the craft perform a fully automated flight (eg. waypoint flight) outside of radio range. Highly unsafe when used with manual flight.
 
 Note that:
-* Should the failsafe disarm the flight controller (**DROP**, **LAND** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
+* Should the failsafe disarm the flight controller (**DROP**, **LAND/SET-THR** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
 
 * Prior to starting failsafe it is checked if the throttle position has been below `min_throttle` for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is simply disarmed. This feature can be disabled completely by setting `failsafe_throttle_low_delay` to zero, which may be necessary to do if the craft may fly long with zero throttle (eg. gliders).
 
@@ -24,7 +25,7 @@ Note that:
 
 * If any required navigation sensor becomes unavailable during a Return to Home (eg. loss of GPS fix), an emergency landing, as used by the **LAND** procedure, will be performed after a short timeout. An emergency landing would also be performed right when the failsafe is triggered if any required sensor is reported as unavailable.
 
-* When altitude sensors are unavailable **LAND** doesn't control the descend in any way other than setting a fixed throttle. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
+* The **SET-THR** procedure doesn't control descent in any way other than setting a fixed throttle. This is also the case for the **LAND** procedure when altitude sensors are unavailable. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
 
 * When the failsafe mode is aborted (RC signal restored/failsafe switch set to OFF), the current stick positions will be enforced immediately. Be ready to react quickly.
 
@@ -48,7 +49,7 @@ Failsafe delays are configured in 0.1 second units. Distances are in centimeters
 
 #### `failsafe_procedure`
 
-Selects the failsafe procedure. Valid procedures are **DROP**, **LAND**, **RTH** and **NONE**. See above for a description of each one.
+Selects the failsafe procedure. Valid procedures are **DROP**, **LAND/SET-THR**, **RTH** and **NONE**. See above for a description of each one.
 
 #### `failsafe_delay`
 
@@ -122,7 +123,7 @@ Enables landing when home position is reached. If OFF the craft will hover indef
 
 Instructs the flight controller to disarm the craft when landing is detected
 
-### Parameters relevant to **LAND** failsafe procedure
+### Parameters relevant to **LAND/SET-THR** failsafe procedure
 
 #### `failsafe_off_delay`
 
@@ -130,7 +131,7 @@ Delay after failsafe activates before motors finally turn off.  This is the amou
 
 #### `nav_emerg_landing_speed`
 
-Actively controlled descent speed when altitude sensors are available. If altitude sensors aren't available landing descent falls back to using the fixed thottle setting `failsafe_throttle` so ensure this is also set correctly.
+(**LAND** only) Actively controlled descent speed when altitude sensors are available. If altitude sensors aren't available landing descent falls back to using the fixed thottle setting `failsafe_throttle` so ensure this is also set correctly.
 
 #### `failsafe_throttle`
 

From f89d1935ecd63e4554cd0e2d0b1944b9f0363834 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 29 Aug 2021 09:22:49 +0100
Subject: [PATCH 246/336] Fix SET-THR references

---
 docs/Failsafe.md          | 6 +++---
 docs/Settings.md          | 6 +++---
 src/main/fc/settings.yaml | 6 +++---
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/docs/Failsafe.md b/docs/Failsafe.md
index 8677adb5de..00ea31a730 100644
--- a/docs/Failsafe.md
+++ b/docs/Failsafe.md
@@ -139,13 +139,13 @@ Throttle level used for landing.  Specify a value that causes the aircraft to de
 
 #### `failsafe_fw_roll_angle`
 
-This parameter defines amount of roll angle (in 1/10 deg units) to execute on failsafe. Negative = LEFT
+This parameter defines the amount of roll angle (in 1/10 deg units) to execute on failsafe. Negative = LEFT
 
 #### `failsafe_fw_pitch_angle`
 
-This parameter defines amount of pitch angle (in 1/10 deg units) to execute on `SET-THR` failsafe for an airplane. Negative = CLIMB
+This parameter defines the amount of pitch angle (in 1/10 deg units) to execute on failsafe for an airplane. Negative = CLIMB
 
 #### `failsafe_fw_yaw_rate`
 
-This parameter defines amount of yaw rate (in deg per second units) to execute on `SET-THR` failsafe for an airplane. Negative = LEFT
+This parameter defines the amount of yaw rate (in deg per second units) to execute on failsafe for an airplane. Negative = LEFT
 
diff --git a/docs/Settings.md b/docs/Settings.md
index 7d7827c29c..b41507af68 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -914,7 +914,7 @@ Time in deciseconds to wait before activating failsafe when signal is lost. See
 
 ### failsafe_fw_pitch_angle
 
-Amount of dive/climb when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
+Amount of dive/climb when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -924,7 +924,7 @@ Amount of dive/climb when `LAND` failsafe is active on a fixed-wing machine. In
 
 ### failsafe_fw_roll_angle
 
-Amount of banking when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
+Amount of banking when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -934,7 +934,7 @@ Amount of banking when `LAND` failsafe is active on a fixed-wing machine. In 1/1
 
 ### failsafe_fw_yaw_rate
 
-Requested yaw rate to execute when `LAND` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
+Requested yaw rate to execute when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 47907479c2..8669fc485d 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -910,17 +910,17 @@ groups:
         min: 0
         max: 500
       - name: failsafe_fw_roll_angle
-        description: "Amount of banking when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
+        description: "Amount of banking when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
         default_value: -200
         min: -800
         max: 800
       - name: failsafe_fw_pitch_angle
-        description: "Amount of dive/climb when `LAND` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
+        description: "Amount of dive/climb when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
         default_value: 100
         min: -800
         max: 800
       - name: failsafe_fw_yaw_rate
-        description: "Requested yaw rate to execute when `LAND` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
+        description: "Requested yaw rate to execute when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
         default_value: -45
         min: -1000
         max: 1000

From 942c8f5df517eb1ee72681cd0e3b9efd164cdaa3 Mon Sep 17 00:00:00 2001
From: giacomo892 <giacomo1989@gmail.com>
Date: Tue, 31 Aug 2021 14:54:23 +0200
Subject: [PATCH 247/336] Fix FoxeerF722V2 motor outputs

---
 src/main/target/FOXEERF722DUAL/target.c | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/target/FOXEERF722DUAL/target.c b/src/main/target/FOXEERF722DUAL/target.c
index 6f124321ab..048fc0207e 100644
--- a/src/main/target/FOXEERF722DUAL/target.c
+++ b/src/main/target/FOXEERF722DUAL/target.c
@@ -29,9 +29,14 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,
 #endif
 
 const timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS  
+    DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS
 
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 1),  // S1 - D(2, 1, 6)
+    #if defined(FOXEERF722V2)
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 1),  // S2 - D(2, 1, 6)
+    #else
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 0),  // S2 - D(2, 6, 0)
+    #endif
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 0),  // S2 - D(2, 6, 0)
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S3 - D(2, 7, 7)
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S4 - D(2, 4, 7)

From 8e0c57850dcc1a593a43c01a78ab8f8377fbb13b Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 4 Sep 2021 22:25:27 +0800
Subject: [PATCH 248/336] add icm42605 in MatekH743 as substitution for
 icm20602

---
 src/main/fc/settings.yaml          |  2 +-
 src/main/target/MATEKH743/target.c |  5 +++--
 src/main/target/MATEKH743/target.h | 29 +++++++++++++++++++----------
 3 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 09b66857ab..ad2a2318ce 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -307,7 +307,7 @@ groups:
       - name: gyro_to_use
         condition: USE_DUAL_GYRO
         min: 0
-        max: 1
+        max: 2
         default_value: 0
       - name: gyro_abg_alpha
         description: "Alpha factor for Gyro Alpha-Beta-Gamma filter"
diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
index 17288f9393..e2c31e2592 100644
--- a/src/main/target/MATEKH743/target.c
+++ b/src/main/target/MATEKH743/target.c
@@ -26,8 +26,9 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6000,   DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,    IMU1_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu0,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   MPU6000_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu1,   DEVHW_MPU6500,  MPU6500_SPI_BUS,   MPU6500_CS_PIN,   MPU6500_EXTI_PIN,   1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu2,   DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  ICM42605_EXTI_PIN,  2,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
 
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1
diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
index 126ce22d18..9234a09c5a 100644
--- a/src/main/target/MATEKH743/target.h
+++ b/src/main/target/MATEKH743/target.h
@@ -37,7 +37,7 @@
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
 
-// *************** SPI1 IMU1 *************************
+// *************** SPI1 IMU0 MPU6000 ****************
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 #define SPI1_SCK_PIN            PA5
@@ -46,12 +46,12 @@
 
 #define USE_IMU_MPU6000
 
-#define IMU1_ALIGN              CW0_DEG_FLIP
-#define IMU1_SPI_BUS            BUS_SPI1
-#define IMU1_CS_PIN             PC15
-#define IMU1_EXTI_PIN           PB2
+#define IMU_MPU6000_ALIGN       CW0_DEG_FLIP
+#define MPU6000_SPI_BUS          BUS_SPI1
+#define MPU6000_CS_PIN          PC15
+#define MPU6000_EXTI_PIN        PB2
 
-// *************** SPI4 IMU2 *************************
+// *************** SPI4 IMU1  ICM20602 **************
 #define USE_SPI_DEVICE_4
 #define SPI4_SCK_PIN            PE12
 #define SPI4_MISO_PIN           PE13
@@ -59,10 +59,19 @@
 
 #define USE_IMU_MPU6500
 
-#define IMU2_ALIGN              CW0_DEG_FLIP
-#define IMU2_SPI_BUS            BUS_SPI4
-#define IMU2_CS_PIN             PE11
-#define IMU2_EXTI_PIN           PE15
+#define IMU_MPU6500_ALIGN       CW0_DEG_FLIP
+#define MPU6500_SPI_BUS         BUS_SPI4
+#define MPU6500_CS_PIN          PE11
+#define MPU6500_EXTI_PIN        PE15
+
+// *************** SPI4 IMU2 ICM42605 **************
+#define USE_IMU_ICM42605
+
+#define IMU_ICM42605_ALIGN      CW90_DEG_FLIP
+#define ICM42605_SPI_BUS        BUS_SPI4
+#define ICM42605_CS_PIN         PC13
+#define ICM42605_EXTI_PIN       PC14
+
 
 // *************** SPI2 OSD ***********************
 #define USE_SPI_DEVICE_2

From 42a1e7a52d9e8ed94373cc684075ca3f2f0ca55e Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 4 Sep 2021 22:37:30 +0800
Subject: [PATCH 249/336] modify Settings.md

---
 docs/Settings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index ed3b2cac12..56ff36ba0e 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1678,7 +1678,7 @@ _// TODO_
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0 | 0 | 1 |
+| 0 | 0 | 2 |
 
 ---
 

From 13aec44f920e777776f8fb1308baefcd990a2d54 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 5 Sep 2021 12:12:19 +0100
Subject: [PATCH 250/336] Update navigation.c

---
 src/main/navigation/navigation.c | 46 ++++++++++++++++++++++++--------
 1 file changed, 35 insertions(+), 11 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index f2c4273d66..98123426a6 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -774,12 +774,13 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
     [NAV_STATE_WAYPOINT_FINISHED] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
-        .timeoutMs = 0,
+        .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
         .onEvent = {
+            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_WAYPOINT_FINISHED,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
@@ -803,7 +804,9 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
             [NAV_FSM_EVENT_ERROR]                          = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_IDLE,   // ALTHOLD also bails out from emergency (to IDLE, AltHold will take over from there)
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH]                  = NAV_STATE_RTH_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT]             = NAV_STATE_WAYPOINT_INITIALIZE,
         }
     },
 
@@ -819,7 +822,9 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,    // re-process the state
             [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_EMERGENCY_LANDING_FINISHED,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_IDLE,   // ALTHOLD also bails out from emergency (to IDLE, AltHold will take over from there)
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH]                  = NAV_STATE_RTH_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT]             = NAV_STATE_WAYPOINT_INITIALIZE,
         }
     },
 
@@ -1105,8 +1110,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 {
     navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
 
-    if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
+    if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
         // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
+        // Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailanle.
         // If we are in dead-reckoning mode - also fail, since coordinates may be unreliable
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
@@ -1162,8 +1168,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
             return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_RTH_CLIMB_TO_SAFE_ALT
         }
     }
-    /* Position sensor failure timeout - land */
-    else if (checkForPositionSensorTimeout()) {
+    /* Position sensor failure timeout - land. Land immediately if failsafe RTH and timeout disabled (set to 0) */
+    else if (checkForPositionSensorTimeout() || (!navConfig()->general.pos_failure_timeout && posControl.flags.forcedRTHActivated)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
     /* No valid POS sensor but still within valid timeout - wait */
@@ -1330,7 +1336,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
 {
     UNUSED(previousState);
 
-    if (!(validateRTHSanityChecker() || (posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()))
+    if (posControl.flags.estHeadingStatus == EST_NONE || !(validateRTHSanityChecker() || (posControl.flags.estPosStatus >= EST_USABLE) || !checkForPositionSensorTimeout()))
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
 
     fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
@@ -1369,8 +1375,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
         return NAV_FSM_EVENT_SUCCESS;
     }
     else {
-        if (!validateRTHSanityChecker()) {
-            // Continue to check for RTH sanity during landing
+        /* If position sensors unavailable - land immediately (wait for timeout on GPS)
+         * Continue to check for RTH sanity during landing */
+        if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() ||!validateRTHSanityChecker()) {
             return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
         }
 
@@ -1565,8 +1572,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                 UNREACHABLE();
         }
     }
-    /* No pos sensor available for NAV_WAIT_FOR_GPS_TIMEOUT_MS - land */
-    else if (checkForPositionSensorTimeout()) {
+    /* If position sensors unavailable - land immediately (wait for timeout on GPS) */
+    else if (checkForPositionSensorTimeout() || (posControl.flags.estHeadingStatus == EST_NONE)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
     else {
@@ -1606,6 +1613,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
 {
     UNUSED(previousState);
 
+    /* If position sensors unavailable - land immediately (wait for timeout on GPS) */
+    if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout()) {
+        return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
+    }
+
     timeMs_t currentTime = millis();
 
     if(posControl.waypointList[posControl.activeWaypointIndex].p1 <= 0)
@@ -3170,6 +3182,18 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         const bool isExecutingRTH        = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
         checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
 
+        /* Keep Emergency landing mode active once triggered. Is deactivated when landing in progress if WP or RTH cancelled
+         * or position sensors working again or if Manual or Althold modes selected.
+         * Remains active if landing finished regardless of sensor status or if WP or RTH modes still selected */
+        if (navigationIsExecutingAnEmergencyLanding()) {
+            if (!(canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME)) &&
+                !IS_RC_MODE_ACTIVE(BOXMANUAL) &&
+                !(IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) &&
+                (IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH))) {
+                return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
+            }
+        }
+
         // Keep canActivateWaypoint flag at FALSE if there is no mission loaded
         // Also block WP mission if we are executing RTH
         if (!isWaypointMissionValid() || isExecutingRTH) {

From 64e6b9973325efdbde00dd53dd66e1a3cd969352 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 7 Sep 2021 12:36:53 +0100
Subject: [PATCH 251/336] Update osd.c

---
 src/main/io/osd.c | 93 ++++++++++++++++++++++-------------------------
 1 file changed, 43 insertions(+), 50 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 05c87dba47..7b84e9d28c 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4033,11 +4033,47 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
             // messages to show.
             const char *messages[5];
             unsigned messageCount = 0;
+
+            if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
+                if (isWaypointMissionRTHActive()) {
+                    // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
+                    messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
+                }
+
+                if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
+                    messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
+                } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
+                    // Countdown display for remaining Waypoints
+                    char buf[6];
+                    osdFormatDistanceSymbol(buf, posControl.wpDistance, 0);
+                    tfp_sprintf(messageBuf, "TO WP %u/%u (%s)", getGeoWaypointNumber(posControl.activeWaypointIndex), posControl.geoWaypointCount, buf);
+                    messages[messageCount++] = messageBuf;
+                } else if (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED) {
+                    // WP hold time countdown in seconds
+                    timeMs_t currentTime = millis();
+                    int holdTimeRemaining = posControl.waypointList[posControl.activeWaypointIndex].p1 - (int)((currentTime - posControl.wpReachedTime)/1000);
+                    if (holdTimeRemaining >=0) {
+                        tfp_sprintf(messageBuf, "HOLDING WP FOR %2u S", holdTimeRemaining);
+                        messages[messageCount++] = messageBuf;
+                    }
+                } else {
+                    const char *navStateMessage = navigationStateMessage();
+                    if (navStateMessage) {
+                        messages[messageCount++] = navStateMessage;
+                    }
+                }
+#if defined(USE_SAFE_HOME)
+                const char *safehomeMessage = divertingToSafehomeMessage();
+                if (safehomeMessage) {
+                    messages[messageCount++] = safehomeMessage;
+                }
+#endif
+            }
+
             if (FLIGHT_MODE(FAILSAFE_MODE)) {
                 // In FS mode while being armed too
                 const char *failsafePhaseMessage = osdFailsafePhaseMessage();
                 const char *failsafeInfoMessage = osdFailsafeInfoMessage();
-                const char *navStateFSMessage = navigationStateMessage();
 
                 if (failsafePhaseMessage) {
                     messages[messageCount++] = failsafePhaseMessage;
@@ -4045,15 +4081,6 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                 if (failsafeInfoMessage) {
                     messages[messageCount++] = failsafeInfoMessage;
                 }
-                if (navStateFSMessage) {
-                    messages[messageCount++] = navStateFSMessage;
-                }
-#if defined(USE_SAFE_HOME)
-                const char *safehomeMessage = divertingToSafehomeMessage();
-				if (safehomeMessage) {
-					messages[messageCount++] = safehomeMessage;
-				}
-#endif
                 if (messageCount > 0) {
                     message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
                     if (message == failsafeInfoMessage) {
@@ -4063,52 +4090,18 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                         TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
                     }
                     // We're shoing either failsafePhaseMessage or
-                    // navStateFSMessage. Don't BLINK here since
+                    // navStateMessage. Don't BLINK here since
                     // having this text available might be crucial
                     // during a lost aircraft recovery and blinking
                     // will cause it to be missing from some frames.
                 }
             } else {
-                if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
-                    if (isWaypointMissionRTHActive()) {
-                        // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
-                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
+                if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
+                    messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
+                    const char *launchStateMessage = fixedWingLaunchStateMessage();
+                    if (launchStateMessage) {
+                        messages[messageCount++] = launchStateMessage;
                     }
-
-                    if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
-                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
-                    } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
-                        // Countdown display for remaining Waypoints
-                        char buf[6];
-                        osdFormatDistanceSymbol(buf, posControl.wpDistance, 0);
-                        tfp_sprintf(messageBuf, "TO WP %u/%u (%s)", getGeoWaypointNumber(posControl.activeWaypointIndex), posControl.geoWaypointCount, buf);
-                        messages[messageCount++] = messageBuf;
-                    } else if (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED) {
-                        // WP hold time countdown in seconds
-                        timeMs_t currentTime = millis();
-                        int holdTimeRemaining = posControl.waypointList[posControl.activeWaypointIndex].p1 - (int)((currentTime - posControl.wpReachedTime)/1000);
-                        if (holdTimeRemaining >=0) {
-                            tfp_sprintf(messageBuf, "HOLDING WP FOR %2u S", holdTimeRemaining);
-                            messages[messageCount++] = messageBuf;
-                        }
-                    } else {
-                        const char *navStateMessage = navigationStateMessage();
-                        if (navStateMessage) {
-                            messages[messageCount++] = navStateMessage;
-                        }
-                    }
-#if defined(USE_SAFE_HOME)
-					const char *safehomeMessage = divertingToSafehomeMessage();
-					if (safehomeMessage) {
-						messages[messageCount++] = safehomeMessage;
-					}
-#endif
-                } else if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
-                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
-                        const char *launchStateMessage = fixedWingLaunchStateMessage();
-                        if (launchStateMessage) {
-                            messages[messageCount++] = launchStateMessage;
-                        }
                 } else {
                     if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) {
                         // ALTHOLD might be enabled alongside ANGLE/HORIZON/ACRO

From 64dd070193924731a58123447df79eca147f3e4c Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 7 Sep 2021 14:15:37 +0200
Subject: [PATCH 252/336] Option to remove rccommand rcdata and motors from BB
 log

---
 src/main/blackbox/blackbox.c           | 56 +++++++++++++++++---------
 src/main/blackbox/blackbox.h           | 15 ++++---
 src/main/blackbox/blackbox_fielddefs.h |  2 +
 src/main/fc/cli.c                      |  2 +-
 4 files changed, 48 insertions(+), 27 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 0df11e2109..e6676a10ea 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -104,7 +104,9 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
-    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE,
+    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | 
+        BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE | 
+        BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND | BLACKBOX_FEATURE_MOTORS,
 );
 
 void blackboxIncludeFlagSet(uint32_t mask)
@@ -251,16 +253,16 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"mcSurfaceOut",-1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MC_NAV)},
 
     /* rcData are encoded together as a group: */
-    {"rcData",      0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
-    {"rcData",      1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
-    {"rcData",      2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
-    {"rcData",      3, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    {"rcData",      0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_DATA},
+    {"rcData",      1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_DATA},
+    {"rcData",      2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_DATA},
+    {"rcData",      3, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_DATA},
     /* rcCommands are encoded together as a group in P-frames: */
-    {"rcCommand",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
-    {"rcCommand",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
-    {"rcCommand",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    {"rcCommand",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND},
+    {"rcCommand",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND},
+    {"rcCommand",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND},
     /* Throttle is always in the range [minthrottle..maxthrottle]: */
-    {"rcCommand",   3, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),  .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    {"rcCommand",   3, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),  .Pencode = ENCODING(TAG8_4S16), FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND},
 
     {"vbat",       -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
     {"amperage",   -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
@@ -602,7 +604,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
-        return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
+        return (getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1) && blackboxIncludeFlag(BLACKBOX_FEATURE_MOTORS);
 
     case FLIGHT_LOG_FIELD_CONDITION_SERVOS:
         return isMixerUsingServos();
@@ -684,6 +686,12 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_ATTITUDE:
         return blackboxIncludeFlag(BLACKBOX_FEATURE_ATTITUDE);
 
+    case FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_RC_COMMAND);
+
+    case FLIGHT_LOG_FIELD_CONDITION_RC_DATA:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_RC_DATA);
+
     case FLIGHT_LOG_FIELD_CONDITION_NEVER:
         return false;
 
@@ -785,10 +793,14 @@ static void writeIntraframe(void)
     }
 
     // Write raw stick positions
-    blackboxWriteSigned16VBArray(blackboxCurrent->rcData, 4);
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RC_DATA)) {
+        blackboxWriteSigned16VBArray(blackboxCurrent->rcData, 4);
+    }
 
     // Write roll, pitch and yaw first:
-    blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND)) {
+        blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
+    }
 
     /*
      * Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
@@ -1024,18 +1036,22 @@ static void writeInterframe(void)
      */
 
     // rcData
-    for (int x = 0; x < 4; x++) {
-        deltas[x] = blackboxCurrent->rcData[x] - blackboxLast->rcData[x];
-    }
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RC_DATA)) {
+        for (int x = 0; x < 4; x++) {
+            deltas[x] = blackboxCurrent->rcData[x] - blackboxLast->rcData[x];
+        }
 
-    blackboxWriteTag8_4S16(deltas);
+        blackboxWriteTag8_4S16(deltas);
+    }
 
     // rcCommand
-    for (int x = 0; x < 4; x++) {
-        deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
-    }
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND)) {
+        for (int x = 0; x < 4; x++) {
+            deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+        }
 
-    blackboxWriteTag8_4S16(deltas);
+        blackboxWriteTag8_4S16(deltas);
+    }
 
     //Check for sensors that are updated periodically (so deltas are normally zero)
     int optionalFieldCount = 0;
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index bdb727a7c9..854210441d 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -22,12 +22,15 @@
 #include "config/parameter_group.h"
 
 typedef enum {
-    BLACKBOX_FEATURE_NAV_ACC     = 1 << 0,
-    BLACKBOX_FEATURE_NAV_POS     = 1 << 1,
-    BLACKBOX_FEATURE_NAV_PID     = 1 << 2,
-    BLACKBOX_FEATURE_MAG         = 1 << 3,
-    BLACKBOX_FEATURE_ACC         = 1 << 4,
-    BLACKBOX_FEATURE_ATTITUDE    = 1 << 5,
+    BLACKBOX_FEATURE_NAV_ACC        = 1 << 0,
+    BLACKBOX_FEATURE_NAV_POS        = 1 << 1,
+    BLACKBOX_FEATURE_NAV_PID        = 1 << 2,
+    BLACKBOX_FEATURE_MAG            = 1 << 3,
+    BLACKBOX_FEATURE_ACC            = 1 << 4,
+    BLACKBOX_FEATURE_ATTITUDE       = 1 << 5,
+    BLACKBOX_FEATURE_RC_DATA        = 1 << 6,
+    BLACKBOX_FEATURE_RC_COMMAND     = 1 << 7,
+    BLACKBOX_FEATURE_MOTORS         = 1 << 8,
 } blackboxFeatureMask_e;
 
 
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 854b89354c..82e899348e 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -57,6 +57,8 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_NAV_PID,
     FLIGHT_LOG_FIELD_CONDITION_ACC,
     FLIGHT_LOG_FIELD_CONDITION_ATTITUDE,
+    FLIGHT_LOG_FIELD_CONDITION_RC_DATA,
+    FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND,
 
     FLIGHT_LOG_FIELD_CONDITION_NEVER,
 
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 0def0b96ea..0f190f2a24 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -164,7 +164,7 @@ static const char * const featureNames[] = {
 
 #ifdef USE_BLACKBOX
 static const char * const blackboxIncludeFlagNames[] = {
-    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", "ATTI", NULL
+    "NAV_ACC", "NAV_POS", "NAV_PID", "MAG", "ACC", "ATTI", "RC_DATA", "RC_COMMAND", "MOTORS", NULL
 };
 #endif
 

From 8af67952549c5295047e369cff4e2dc90cbecc76 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 7 Sep 2021 15:16:52 +0100
Subject: [PATCH 253/336] Update osd.c

---
 src/main/io/osd.c | 58 +++++++++++++++++++++--------------------------
 1 file changed, 26 insertions(+), 32 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 7b84e9d28c..ceb340eb7c 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4033,13 +4033,13 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
             // messages to show.
             const char *messages[5];
             unsigned messageCount = 0;
+            const char *failsafeInfoMessage = NULL;
 
-            if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
+            if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
                 if (isWaypointMissionRTHActive()) {
                     // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
                     messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
                 }
-
                 if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
                     messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
                 } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
@@ -4054,8 +4054,8 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     int holdTimeRemaining = posControl.waypointList[posControl.activeWaypointIndex].p1 - (int)((currentTime - posControl.wpReachedTime)/1000);
                     if (holdTimeRemaining >=0) {
                         tfp_sprintf(messageBuf, "HOLDING WP FOR %2u S", holdTimeRemaining);
-                        messages[messageCount++] = messageBuf;
                     }
+                    messages[messageCount++] = messageBuf;
                 } else {
                     const char *navStateMessage = navigationStateMessage();
                     if (navStateMessage) {
@@ -4068,34 +4068,19 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     messages[messageCount++] = safehomeMessage;
                 }
 #endif
-            }
+                if (FLIGHT_MODE(FAILSAFE_MODE)) {
+                    // In FS mode while being armed too
+                    const char *failsafePhaseMessage = osdFailsafePhaseMessage();
+                    failsafeInfoMessage = osdFailsafeInfoMessage();
 
-            if (FLIGHT_MODE(FAILSAFE_MODE)) {
-                // In FS mode while being armed too
-                const char *failsafePhaseMessage = osdFailsafePhaseMessage();
-                const char *failsafeInfoMessage = osdFailsafeInfoMessage();
-
-                if (failsafePhaseMessage) {
-                    messages[messageCount++] = failsafePhaseMessage;
-                }
-                if (failsafeInfoMessage) {
-                    messages[messageCount++] = failsafeInfoMessage;
-                }
-                if (messageCount > 0) {
-                    message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
-                    if (message == failsafeInfoMessage) {
-                        // failsafeInfoMessage is not useful for recovering
-                        // a lost model, but might help avoiding a crash.
-                        // Blink to grab user attention.
-                        TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
+                    if (failsafePhaseMessage) {
+                        messages[messageCount++] = failsafePhaseMessage;
+                    }
+                    if (failsafeInfoMessage) {
+                        messages[messageCount++] = failsafeInfoMessage;
                     }
-                    // We're shoing either failsafePhaseMessage or
-                    // navStateMessage. Don't BLINK here since
-                    // having this text available might be crucial
-                    // during a lost aircraft recovery and blinking
-                    // will cause it to be missing from some frames.
                 }
-            } else {
+            } else {    /* messages shown only when Failsafe, WP, RTH or Emergency Landing not active */
                 if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
                     messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
                     const char *launchStateMessage = fixedWingLaunchStateMessage();
@@ -4123,11 +4108,20 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE);
                     }
                 }
-                // Pick one of the available messages. Each message lasts
-                // a second.
-                if (messageCount > 0) {
-                    message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
+            }
+            if (messageCount > 0) {
+                message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
+                if (message == failsafeInfoMessage) {
+                    // failsafeInfoMessage is not useful for recovering
+                    // a lost model, but might help avoiding a crash.
+                    // Blink to grab user attention.
+                    TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
                 }
+                // We're shoing either failsafePhaseMessage or
+                // navStateMessage. Don't BLINK here since
+                // having this text available might be crucial
+                // during a lost aircraft recovery and blinking
+                // will cause it to be missing from some frames.
             }
         } else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) {
             unsigned invalidIndex;

From ccb0d57a11b8d3f453412ef64e9115ecb5496c0b Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 8 Sep 2021 16:08:47 +0100
Subject: [PATCH 254/336] Initial coding

Should work, not tested in the field. OSD stats part lines up fine.
---
 src/main/io/osd.c | 17 ++++++++++++++++-
 src/main/io/osd.h |  1 +
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 5c014f01cf..4fdea52388 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -421,7 +421,9 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
 
 /**
  * Converts velocity into a string based on the current unit system.
- * @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
+ * @param vel Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
+ * @param _3D is a 3D velocity
+ * @param _max is a maximum velocity
  */
 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
 {
@@ -454,6 +456,14 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
     }
 }
 
+/**
+ * Returns the average velocity. This always uses stats, so can be called as an OSD element later if wanted, to show a real time average
+ */
+void osdFormatAverageVelocityStr(char* buff) {
+    uint32_t cmPerSec = getTotalTravelDistance() / getFlightTime();
+    osdFormatVelocityStr(buff, cmPerSec, false, false);
+}
+
 /**
  * Converts wind speed into a string based on the current unit system, using
  * always 3 digits and an additional character for the unit at the right. buff
@@ -3541,6 +3551,11 @@ static void osdShowStatsPage1(void)
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
+        displayWrite(osdDisplayPort, statNameX, top, "AVG SPEED        :");
+        osdFormatAverageVelocityStr(buff);
+        osdLeftAlignString(buff);
+        displayWrite(osdDisplayPort, statValuesX, top++, buff);
+
         displayWrite(osdDisplayPort, statNameX, top, "MAX DISTANCE     :");
         osdFormatDistanceStr(buff, stats.max_distance*100);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e46a3bc0bb..85c5ce410e 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -416,6 +416,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
+void osdFormatAverageVelocityStr(char* buff);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 

From 4de6091ccbcf8f7a98f83eb1c5ca02a691d3fa1c Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 8 Sep 2021 16:22:45 +0100
Subject: [PATCH 255/336] Renamed function

This function really isn't formatting, so renamed it to something more fitting.
---
 src/main/io/osd.c | 4 ++--
 src/main/io/osd.h | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 4fdea52388..8132865e7a 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -459,7 +459,7 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
 /**
  * Returns the average velocity. This always uses stats, so can be called as an OSD element later if wanted, to show a real time average
  */
-void osdFormatAverageVelocityStr(char* buff) {
+void osdGenerateAverageVelocityStr(char* buff) {
     uint32_t cmPerSec = getTotalTravelDistance() / getFlightTime();
     osdFormatVelocityStr(buff, cmPerSec, false, false);
 }
@@ -3552,7 +3552,7 @@ static void osdShowStatsPage1(void)
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
         displayWrite(osdDisplayPort, statNameX, top, "AVG SPEED        :");
-        osdFormatAverageVelocityStr(buff);
+        osdGenerateAverageVelocityStr(buff);
         osdLeftAlignString(buff);
         displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 85c5ce410e..de15c43c40 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -416,7 +416,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
-void osdFormatAverageVelocityStr(char* buff);
+void osdGenerateAverageVelocityStr(char* buff);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 

From 51d5df16905dc6f6492fd5b61b55ae35b86ecdc8 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 9 Sep 2021 10:24:57 +0100
Subject: [PATCH 256/336] Added PID Profiles to Programming framework

## Added PID Profiles to Programming framework
This allows setting the profile and getting the active profile in the programming framework.
---
 src/main/programming/logic_condition.c | 14 ++++++++++++++
 src/main/programming/logic_condition.h |  4 +++-
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 5fa6f92733..eed1df3978 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -34,6 +34,7 @@
 #include "common/utils.h"
 #include "rx/rx.h"
 #include "common/maths.h"
+#include "fc/config.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -333,6 +334,15 @@ static int logicConditionCompute(
             }
             break;
 
+        case LOGIC_CONDITION_SET_PID_PROFILE:
+            operandA--;
+            if ( getConfigProfile() != operandA  && (operandA >= 0 && operandA < MAX_PROFILE_COUNT)) {
+                return setConfigProfile(operandA);
+            } else {
+                return false;
+            }
+            break;
+
         default:
             return false;
             break; 
@@ -533,6 +543,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
         #endif
             break;
 
+        case LOGIC_CONDITION_OPERAND_FLIGHT_PID_PROFILE: // int
+            return getConfigProfile() + 1;
+            break;
+
         default:
             return 0;
             break;
diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index 3b795ba43e..9edb54397d 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -70,7 +70,8 @@ typedef enum {
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
     LOGIC_CONDITION_MODULUS                     = 40,
-    LOGIC_CONDITION_LAST                        = 41,
+    LOGIC_CONDITION_SET_PID_PROFILE             = 41,
+    LOGIC_CONDITION_LAST                        = 42,
 } logicOperation_e;
 
 typedef enum logicOperandType_s {
@@ -120,6 +121,7 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ,                                 // 32
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR,                                // 33
     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1                        // 34
+    LOGIC_CONDITION_OPERAND_FLIGHT_PID_PROFILE, //int                       // 35
 
 } logicFlightOperands_e;
 

From 1aec34b823d63d502f9939a867fd701aac2358ec Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 9 Sep 2021 10:46:21 +0100
Subject: [PATCH 257/336] Update osd.c

Removed full stop to force re-test.
---
 src/main/io/osd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 8132865e7a..67b38ae1af 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1,5 +1,5 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight
  *
  * Cleanflight is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by

From 1f5a966f1b60d0cf38cf46dd81840c748f4cd9f7 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 9 Sep 2021 12:28:01 +0100
Subject: [PATCH 258/336] Update Programming Framework.md

Added details for profiles.
---
 docs/Programming Framework.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index b6f2780870..c960a755ee 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -74,6 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
+| 41            | SET_PID_PROFILE   | Sets the active PID(FF)/RATE profile to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
 
 
 ### Operands
@@ -127,6 +128,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
 | 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
 | 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
+| 35            | PID_PROFILE           | integer for the active PID(FF)/RATE profile `[1..MAX_PROFILE_COUNT]`  |
 
 #### ACTIVE_WAYPOINT_ACTION
 

From b479bdab9e344f105a262c163b619500400324d5 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 9 Sep 2021 12:48:01 +0100
Subject: [PATCH 259/336] Update Inflight Adjustments.md

- Removed profile selection stuff, as that didn't work anyway, and should now be done in programming
- Updated the doc, as it was massively out of date. The adjustment functions table was incorrect for 3.0.
---
 docs/Inflight Adjustments.md | 133 ++++++++++++++++-------------------
 1 file changed, 60 insertions(+), 73 deletions(-)

diff --git a/docs/Inflight Adjustments.md b/docs/Inflight Adjustments.md
index fee4046954..422ba71eb5 100644
--- a/docs/Inflight Adjustments.md	
+++ b/docs/Inflight Adjustments.md	
@@ -28,7 +28,6 @@ The following adjustments can be made in flight as well as on the ground.
 * Throttle Expo
 * Pitch, Roll, Yaw Rates
 * Pitch, Roll, Yaw PIDs
-* Rate profile
 * Manual rates
 * FW cruise_throttle, pitch2thr, min_throttle_down_pitch_angle 
 * Board alignment
@@ -62,7 +61,7 @@ Hint: With OpenTX transmitters you can combine two momentary OFF-ON switches to
 
 The CLI command `adjrange` is used to configure adjustment ranges.
 
-12 adjustment ranges can be defined.
+20 adjustment ranges can be defined.
 4 adjustments can be made at the same time, each simultaneous adjustment requires an adjustment slot.
 
 Show the current ranges using:
@@ -77,12 +76,12 @@ Configure a range using:
 
 | Argument | Value | Meaning |
 | -------- | ----- |-------- |
-| Index | 0 - 11 | Select the adjustment range to configure |
+| Index | 0 - 19 | Select the adjustment range to configure |
 | Slot | 0 - 3 | Select the adjustment slot to use |
 | Range Channel | 0 based index, AUX1 = 0, AUX2 = 1 | The AUX channel to use to select an adjustment for a switch/pot |
 | Range Start | 900 - 2100. Steps of 25, e.g. 900, 925, 950... | Start of range |
 | Range End | 900 - 2100 | End of range |
-| Adjustment function | 0 - 11 | See Adjustment function table |
+| Adjustment function | 0 - 56 | See Adjustment function table |
 | Adjustment channel | 0 based index, AUX1 = 0, AUX2 = 1 | The channel that is controlled by a 3 Position switch/Pot |
 
 Range Start/End values should match the values sent by your receiver.
@@ -100,8 +99,8 @@ this reason ensure that you define enough ranges to cover the range channel's us
 
 ### Adjustment function
 
-| Value | Adjustment | Notes |
-| ----- | ---------- |------ |
+| Value | Adjustment |
+| ----- | ---------- |
 | 0     | None |
 | 1     | RC RATE |
 | 2     | RC_EXPO |
@@ -111,47 +110,54 @@ this reason ensure that you define enough ranges to cover the range channel's us
 | 6     | PITCH_ROLL_P |
 | 7     | PITCH_ROLL_I |
 | 8     | PITCH_ROLL_D |
-| 9     | YAW_P |
-| 10    | YAW_I |
-| 11    | YAW_D_FF |
-| 12    | RATE_PROFILE | Switch between 3 rate profiles using a 3 position switch. |
-| 13    | PITCH_RATE |
-| 14    | ROLL_RATE |
-| 15    | PITCH_P |
-| 16    | PITCH_I |
-| 17    | PITCH_D_FF |
-| 18    | ROLL_P |
-| 19    | ROLL_I |
-| 20    | ROLL_D_FF |
-| 21    | RC_YAW_EXPO |
-| 22    | MANUAL_RC_EXPO |
-| 23    | MANUAL_RC_YAW_EXPO |
-| 24    | MANUAL_PITCH_ROLL_RATE |
-| 25    | MANUAL_ROLL_RATE |
-| 26    | MANUAL_PITCH_RATE |
-| 27    | MANUAL_YAW_RATE |
-| 28    | NAV_FW_CRUISE_THROTTLE |
-| 29    | NAV_FW_PITCH2THR |
-| 30    | ROLL_BOARD_ALIGNMENT |
-| 31    | PITCH_BOARD_ALIGNMENT |
-| 32    | LEVEL_P |
-| 33    | LEVEL_I |
-| 34    | LEVEL_D |
-| 35    | POS_XY_P |
-| 36    | POS_XY_I |
-| 37    | POS_XY_D |
-| 38    | POS_Z_P |
-| 39    | POS_Z_I |
-| 40    | POS_Z_D |
-| 41    | HEADING_P |
-| 42    | VEL_XY_P |
-| 43    | VEL_XY_I |
-| 44    | VEL_XY_D |
-| 45    | VEL_Z_P |
-| 46    | VEL_Z_I |
-| 47    | VEL_Z_D |
-| 48    | FW_MIN_THROTTLE_DOWN_PITCH_ANGLE |
-| 49    | ADJUSTMENT_VTX_POWER_LEVEL |
+| 9     | PITCH_ROLL_FF |
+| 10    | PITCH_P |
+| 11    | PITCH_I |
+| 12    | PITCH_D |
+| 13    | PITCH_FF |
+| 14    | ROLL_P |
+| 15    | ROLL_I |
+| 16    | ROLL_D |
+| 17    | ROL_FF |
+| 18    | YAW_P |
+| 19    | YAW_I |
+| 20    | YAW_D |
+| 21    | YAW_FF
+| 22    | Unused |
+| 23    | PITCH_RATE |
+| 24    | ROLL_RATE |
+| 25    | RC_YAW_EXPO |
+| 26    | MANUAL_RC_EXPO |
+| 27    | MANUAL_RC_YAW_EXPO |
+| 28    | MANUAL_PITCH_ROLL_RATE |
+| 29    | MANUAL_ROLL_RATE |
+| 30    | MANUAL_PITCH_RATE |
+| 31    | MANUAL_YAW_RATE |
+| 32    | NAV_FW_CRUISE_THROTTLE |
+| 33    | NAV_FW_PITCH2THR |
+| 34    | ROLL_BOARD_ALIGNMENT |
+| 35    | PITCH_BOARD_ALIGNMENT |
+| 36    | LEVEL_P |
+| 37    | LEVEL_I |
+| 38    | LEVEL_D |
+| 39    | POS_XY_P |
+| 40    | POS_XY_I |
+| 41    | POS_XY_D |
+| 42    | POS_Z_P |
+| 43    | POS_Z_I |
+| 44    | POS_Z_D |
+| 45    | HEADING_P |
+| 46    | VEL_XY_P |
+| 47    | VEL_XY_I |
+| 48    | VEL_XY_D |
+| 49    | VEL_Z_P |
+| 50    | VEL_Z_I |
+| 51    | VEL_Z_D |
+| 52    | FW_MIN_THROTTLE_DOWN_PITCH_ANGLE |
+| 53    | ADJUSTMENT_VTX_POWER_LEVEL |
+| 54    | TPA |
+| 55    | TPA_BREAKPOINT |
+| 56    | NAV_FW_CONTROL_SMOOTHNESS |
 
 ## Examples
 
@@ -193,9 +199,9 @@ range.
 adjrange 3 2 1 900 1150 6 3
 adjrange 4 2 1 1150 1300 7 3
 adjrange 5 2 1 1300 1500 8 3
-adjrange 6 2 1 1500 1700 9 3
-adjrange 7 2 1 1700 1850 10 3
-adjrange 8 2 1 1850 2100 11 3
+adjrange 6 2 1 1500 1700 18 3
+adjrange 7 2 1 1700 1850 19 3
+adjrange 8 2 1 1850 2100 20 3
 ```
 
 explained:
@@ -210,38 +216,19 @@ explained:
 (1) in the range 1300-1500 then use adjustment Pitch/Roll D (8) when aux 4
 (3) is in the appropriate position.
 * configure adjrange 6 to use adjustment slot 3 (2) so that when aux2
-(1) in the range 1500-1700 then use adjustment Yaw P (9) when aux 4
+(1) in the range 1500-1700 then use adjustment Yaw P (18) when aux 4
 (3) is in the appropriate position.
 * configure adjrange 7 to use adjustment slot 3 (2) so that when aux2
-(1) in the range 1700-1850 then use adjustment Yaw I (10) when aux 4
+(1) in the range 1700-1850 then use adjustment Yaw I (19) when aux 4
 (3) is in the appropriate position.
 * configure adjrange 8 to use adjustment slot 3 (2) so that when aux2
-(1) in the range 1850-2100 then use adjustment Yaw D (11) when aux 4
+(1) in the range 1850-2100 then use adjustment Yaw D (20) when aux 4
 (3) is in the appropriate position.
 
-### Example 4 - Use a single 3 position switch to change between 3 different rate profiles
-
-adjrange 11 3 3 900 2100 12 3
-
-explained:
-
-* configure adjrange 11 to use adjustment slot 4 (3) so that when aux4
-(3) in the range 900-2100 then use adjustment Rate Profile (12) when aux 4
-(3) is in the appropriate position.
-
-When the switch is low, rate profile 0 is selcted.
-When the switch is medium, rate profile 1 is selcted.
-When the switch is high, rate profile 2 is selcted.
-
-
 ### Configurator examples
 
 The following 5 images show valid configurations.  In all cases the entire usable range for the Range Channel is used.
 
-![Configurator example 1](Screenshots/adjustments-rate-profile-selection-via-3pos.png)
-
----
-
 ![Configurator example 2](Screenshots/adjustments-pitch-and-roll-rate-adjustment-via-3pos.png)
 
 ---
@@ -263,4 +250,4 @@ The following examples shows __incorrect__ configurations - the entire usable ra
 
 In the following example, the incorrect configuraton (above) has been corrected by adding a range that makes 'No changes'.
 
-![Configurator example 7](Screenshots/adjustments-incorrect-config-2-corrected.png)
\ No newline at end of file
+![Configurator example 7](Screenshots/adjustments-incorrect-config-2-corrected.png)

From 4ef43e1125c3953af527375e7f9b66daccdd8846 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 9 Sep 2021 15:34:26 +0100
Subject: [PATCH 260/336] Update Profiles.md

This document was out of date. `rateprofile` does not even exist anymore. I have updated with the current profile usage an dump.
---
 docs/Profiles.md | 154 ++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 118 insertions(+), 36 deletions(-)

diff --git a/docs/Profiles.md b/docs/Profiles.md
index 890a47a946..6792d889cb 100644
--- a/docs/Profiles.md
+++ b/docs/Profiles.md
@@ -2,7 +2,7 @@
 
 A profile is a set of configuration settings.
 
-Currently three profiles are supported. The default profile is profile `0`.
+Currently three profiles are supported. The default profile is profile `1`.
 
 ## Changing profiles
 
@@ -10,9 +10,9 @@ Profiles can be selected using a GUI or the following stick combinations:
 
 | Profile | Throttle | Yaw   | Pitch  | Roll   |
 | ------- | -------- | ----- | ------ | ------ |
-| 0       | Down     | Left  | Middle | Left   |
-| 1       | Down     | Left  | Up     | Middle |
-| 2       | Down     | Left  | Middle | Right  |
+| 1       | Down     | Left  | Middle | Left   |
+| 2       | Down     | Left  | Up     | Middle |
+| 3       | Down     | Left  | Middle | Right  |
 
 The CLI `profile` command can also be used:
 
@@ -20,45 +20,127 @@ The CLI `profile` command can also be used:
 profile <index>
 ```
 
-# Rate Profiles
-
-INAV supports rate profiles in addition to regular profiles.
-
-Rate profiles contain settings that adjust how your craft behaves based on control input.
-
-Three rate profiles are supported.
-
-Rate profiles can be selected while flying using the inflight adjustments feature.
-
-Each normal profile has a setting called 'default_rate_profile`.  When a profile is activated the
-corresponding rate profile is also activated.
-
-Profile 0 has a default rate profile of 0.
-Profile 1 has a default rate profile of 1.
-Profile 2 has a default rate profile of 2.
-
-The defaults are set this way so that it's simple to configure a profile and a rate profile at the same.
-
-The current rate profile can be shown or set using the CLI `rateprofile` command:
-
-```
-rateprofile <index>
-```
-
-The values contained within a rate profile can be seen by using the CLI `dump rates` command.
+The values contained within a profile can be seen by using the CLI `dump rates` command.
 
 e.g
 ```
-# dump rates
+# dump profile
 
-# rateprofile
-rateprofile 0
+# profile
+profile 1
 
-set rc_expo = 65
+set mc_p_pitch = 40
+set mc_i_pitch = 30
+set mc_d_pitch = 23
+set mc_cd_pitch = 60
+set mc_p_roll = 40
+set mc_i_roll = 30
+set mc_d_roll = 23
+set mc_cd_roll = 60
+set mc_p_yaw = 85
+set mc_i_yaw = 45
+set mc_d_yaw = 0
+set mc_cd_yaw = 60
+set mc_p_level = 20
+set mc_i_level = 15
+set mc_d_level = 75
+set fw_p_pitch = 5
+set fw_i_pitch = 7
+set fw_d_pitch = 0
+set fw_ff_pitch = 50
+set fw_p_roll = 5
+set fw_i_roll = 7
+set fw_d_roll = 0
+set fw_ff_roll = 50
+set fw_p_yaw = 6
+set fw_i_yaw = 10
+set fw_d_yaw = 0
+set fw_ff_yaw = 60
+set fw_p_level = 20
+set fw_i_level = 5
+set fw_d_level = 75
+set max_angle_inclination_rll = 300
+set max_angle_inclination_pit = 300
+set dterm_lpf_hz = 110
+set dterm_lpf_type = PT2
+set dterm_lpf2_hz = 0
+set dterm_lpf2_type = PT1
+set yaw_lpf_hz = 0
+set fw_iterm_throw_limit = 165
+set fw_loiter_direction = RIGHT
+set fw_reference_airspeed =  1500.000
+set fw_turn_assist_yaw_gain =  1.000
+set fw_turn_assist_pitch_gain =  1.000
+set fw_iterm_limit_stick_position =  0.500
+set fw_yaw_iterm_freeze_bank_angle = 0
+set pidsum_limit = 500
+set pidsum_limit_yaw = 350
+set iterm_windup = 50
+set rate_accel_limit_roll_pitch = 0
+set rate_accel_limit_yaw = 10000
+set heading_hold_rate_limit = 90
+set nav_mc_pos_z_p = 50
+set nav_mc_vel_z_p = 100
+set nav_mc_vel_z_i = 50
+set nav_mc_vel_z_d = 10
+set nav_mc_pos_xy_p = 65
+set nav_mc_vel_xy_p = 40
+set nav_mc_vel_xy_i = 15
+set nav_mc_vel_xy_d = 100
+set nav_mc_vel_xy_ff = 40
+set nav_mc_heading_p = 60
+set nav_mc_vel_xy_dterm_lpf_hz =  2.000
+set nav_mc_vel_xy_dterm_attenuation = 90
+set nav_mc_vel_xy_dterm_attenuation_start = 10
+set nav_mc_vel_xy_dterm_attenuation_end = 60
+set nav_fw_pos_z_p = 40
+set nav_fw_pos_z_i = 5
+set nav_fw_pos_z_d = 10
+set nav_fw_pos_xy_p = 75
+set nav_fw_pos_xy_i = 5
+set nav_fw_pos_xy_d = 8
+set nav_fw_heading_p = 60
+set nav_fw_pos_hdg_p = 30
+set nav_fw_pos_hdg_i = 2
+set nav_fw_pos_hdg_d = 0
+set nav_fw_pos_hdg_pidsum_limit = 350
+set mc_iterm_relax = RP
+set mc_iterm_relax_cutoff = 15
+set d_boost_min =  0.500
+set d_boost_max =  1.250
+set d_boost_max_at_acceleration =  7500.000
+set d_boost_gyro_delta_lpf_hz = 80
+set antigravity_gain =  1.000
+set antigravity_accelerator =  1.000
+set antigravity_cutoff_lpf_hz = 15
+set pid_type = AUTO
+set mc_cd_lpf_hz = 30
+set fw_level_pitch_trim =  0.000
+set smith_predictor_strength =  0.500
+set smith_predictor_delay =  0.000
+set smith_predictor_lpf_hz = 50
+set fw_level_pitch_gain =  5.000
 set thr_mid = 50
 set thr_expo = 0
-set roll_pitch_rate = 0
-set yaw_rate = 0
 set tpa_rate = 0
 set tpa_breakpoint = 1500
+set fw_tpa_time_constant = 0
+set rc_expo = 70
+set rc_yaw_expo = 20
+set roll_rate = 20
+set pitch_rate = 20
+set yaw_rate = 20
+set manual_rc_expo = 70
+set manual_rc_yaw_expo = 20
+set manual_roll_rate = 100
+set manual_pitch_rate = 100
+set manual_yaw_rate = 100
+set fpv_mix_degrees = 0
+set rate_dynamics_center_sensitivity = 100
+set rate_dynamics_end_sensitivity = 100
+set rate_dynamics_center_correction = 10
+set rate_dynamics_end_correction = 10
+set rate_dynamics_center_weight = 0
+set rate_dynamics_end_weight = 0
+
 ```

From 748705209f8498fee351d69d7222e76934e09b5d Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Tue, 14 Sep 2021 00:42:27 -0300
Subject: [PATCH 261/336] [fc/cli.c/cli.h] Uint8_t to Bool

---
 src/main/fc/cli.c                       | 6 +++---
 src/main/fc/cli.h                       | 2 +-
 src/test/unit/io_serial_unittest.cc.txt | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index ba8214bc7f..24c4b4db27 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -25,7 +25,7 @@
 
 #include "platform.h"
 
-uint8_t cliMode = 0;
+bool cliMode = false;
 
 #include "blackbox/blackbox.h"
 
@@ -2827,7 +2827,7 @@ static void cliExit(char *cmdline)
 
     *cliBuffer = '\0';
     bufferIndex = 0;
-    cliMode = 0;
+    cliMode = false;
     // incase a motor was left running during motortest, clear it here
     mixerResetDisarmedMotors();
     cliReboot();
@@ -4016,7 +4016,7 @@ void cliEnter(serialPort_t *serialPort)
         return;
     }
 
-    cliMode = 1;
+    cliMode = true;
     cliPort = serialPort;
     setPrintfSerialPort(cliPort);
     cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
diff --git a/src/main/fc/cli.h b/src/main/fc/cli.h
index a0ad8bee53..8286d448f1 100644
--- a/src/main/fc/cli.h
+++ b/src/main/fc/cli.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-extern uint8_t cliMode;
+extern bool cliMode;
 
 struct serialConfig_s;
 void cliInit(const struct serialConfig_s *serialConfig);
diff --git a/src/test/unit/io_serial_unittest.cc.txt b/src/test/unit/io_serial_unittest.cc.txt
index e063c250e9..336c46d960 100644
--- a/src/test/unit/io_serial_unittest.cc.txt
+++ b/src/test/unit/io_serial_unittest.cc.txt
@@ -34,7 +34,7 @@ extern "C" {
 #include "gtest/gtest.h"
 
 //uint32_t testFeatureMask = 0;
-uint8_t cliMode = 0;
+bool cliMode = false;
 
 TEST(IoSerialTest, TestFindPortConfig)
 {

From bfd03e9e076b30c06c45d11429f5c2a4865e1d82 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Tue, 14 Sep 2021 10:05:16 -0400
Subject: [PATCH 262/336] Update crsf.c

This update initializes and sets RSSI % to zero when there's no RX link
---
 src/main/rx/crsf.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index ef9fd9864f..bfb0c1245b 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -241,7 +241,11 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
             rxLinkStatistics.uplinkTXPower = crsfPowerStates[linkStats->uplinkTXPower];
             rxLinkStatistics.activeAnt = linkStats->activeAntenna;
 
-            lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -120, -30), -120, -30, 0, RSSI_MAX_VALUE));
+            if (rxLinkStatistics.uplinkLQ > 0) {
+                lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -120, -30), -120, -30, 0, RSSI_MAX_VALUE));
+            } else {
+                lqTrackerSet(rxRuntimeConfig->lqTracker, 0);
+            }
 
             // This is not RC channels frame, update channel value but don't indicate frame completion
             return RX_FRAME_PENDING;

From 4a7751b517603181eb68e702b9290b9cbcacc99a Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Tue, 14 Sep 2021 10:07:05 -0400
Subject: [PATCH 263/336] Update osd.c

This update initializes and sets LQ to zero when there's no RX link. Fixes issue were LQ data stops updating values and stats.
---
 src/main/io/osd.c | 35 +++++++++++++++++++++++++----------
 1 file changed, 25 insertions(+), 10 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index bfa9572455..abdae1dcdd 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -431,21 +431,21 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
     case OSD_UNIT_METRIC_MPH:
         FALLTHROUGH;
     case OSD_UNIT_IMPERIAL:
-        if (_max) { 
+        if (_max) {
             tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
         } else {
             tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
         }
         break;
     case OSD_UNIT_METRIC:
-        if (_max) { 
+        if (_max) {
             tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         } else {
             tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
         }
         break;
     case OSD_UNIT_GA:
-        if (_max) { 
+        if (_max) {
             tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
         } else {
             tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
@@ -609,6 +609,8 @@ static uint16_t osdGetCrsfLQ(void)
     int16_t displayedLQ;
     switch (osdConfig()->crsf_lq_format) {
         case OSD_CRSF_LQ_TYPE1:
+            displayedLQ = statsLQ;
+            break;
         case OSD_CRSF_LQ_TYPE2:
             displayedLQ = statsLQ;
             break;
@@ -1593,7 +1595,7 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_3D_SPEED:
         osdFormatVelocityStr(buff, osdGet3DSpeed(), true, false);
         break;
-    
+
     case OSD_3D_MAX_SPEED:
         osdFormatVelocityStr(buff, stats.max_3D_speed, true, true);
         break;
@@ -2018,16 +2020,27 @@ static bool osdDrawSingleElement(uint8_t item)
             int16_t scaledLQ = scaleRange(constrain(statsLQ, 0, 100), 0, 100, 170, 300);
             switch (osdConfig()->crsf_lq_format) {
                 case OSD_CRSF_LQ_TYPE1:
-                    tfp_sprintf(buff+1, "%3d", rxLinkStatistics.uplinkLQ);
-                    break;
+                    if (!failsafeIsReceivingRxData()) {
+                        tfp_sprintf(buff+1, "%3d", 0);
+                    } else {
+                        tfp_sprintf(buff+1, "%3d", rxLinkStatistics.uplinkLQ);
+                    }
                 case OSD_CRSF_LQ_TYPE2:
+                    if (!failsafeIsReceivingRxData()) {
+                        tfp_sprintf(buff+1, "%s:%3d", " ", 0);
+                    } else {
                     tfp_sprintf(buff+1, "%d:%3d", rxLinkStatistics.rfMode, rxLinkStatistics.uplinkLQ);
+                    }
                     break;
                 case OSD_CRSF_LQ_TYPE3:
-                    tfp_sprintf(buff+1, "%3d", rxLinkStatistics.rfMode >= 2 ? scaledLQ : rxLinkStatistics.uplinkLQ);
+                    if (!failsafeIsReceivingRxData()) {
+                        tfp_sprintf(buff+1, "%3d", 0);
+                    } else {
+                        tfp_sprintf(buff+1, "%3d", rxLinkStatistics.rfMode >= 2 ? scaledLQ : rxLinkStatistics.uplinkLQ);
+                    }
                     break;
             }
-            if (!failsafeIsReceivingRxData()){
+            if (!failsafeIsReceivingRxData()) {
                 TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
             } else if (rxLinkStatistics.uplinkLQ < osdConfig()->link_quality_alarm) {
                 TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
@@ -3513,10 +3526,12 @@ static void osdUpdateStats(void)
     if (stats.min_rssi > value)
         stats.min_rssi = value;
 
-    value = osdGetCrsfLQ();
+    value = osdGetCrsfLQ(); {
     if (stats.min_lq > value)
         stats.min_lq = value;
-
+    if (!failsafeIsReceivingRxData())
+        stats.min_lq = 0;
+    }
     value = osdGetCrsfdBm();
     if (stats.min_rssi_dbm > value)
         stats.min_rssi_dbm = value;

From cf36ec2bd62c21901296a392ad4bfa42c2dfc77f Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 14 Sep 2021 18:56:54 +0200
Subject: [PATCH 264/336] Fix motors and RC_COMMAND conditions

---
 src/main/blackbox/blackbox.c           | 34 ++++++++++++++++----------
 src/main/blackbox/blackbox_fielddefs.h |  1 +
 2 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index e6676a10ea..ebdec54d68 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -596,6 +596,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
         return true;
 
+    case FLIGHT_LOG_FIELD_CONDITION_MOTORS:
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_MOTORS);
+
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
     case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
@@ -800,13 +803,13 @@ static void writeIntraframe(void)
     // Write roll, pitch and yaw first:
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND)) {
         blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
-    }
 
-    /*
-     * Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
-     * Throttle lies in range [minthrottle..maxthrottle]:
-     */
-    blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - getThrottleIdleValue());
+        /*
+        * Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
+        * Throttle lies in range [minthrottle..maxthrottle]:
+        */
+        blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - getThrottleIdleValue());
+    }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
         /*
@@ -865,13 +868,15 @@ static void writeIntraframe(void)
         blackboxWriteSignedVBArray(blackboxCurrent->debug, DEBUG32_VALUE_COUNT);
     }
 
-    //Motors can be below minthrottle when disarmed, but that doesn't happen much
-    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - getThrottleIdleValue());
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MOTORS)) {
+        //Motors can be below minthrottle when disarmed, but that doesn't happen much
+        blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - getThrottleIdleValue());
 
-    //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
-    const int motorCount = getMotorCount();
-    for (int x = 1; x < motorCount; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
+        //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
+        const int motorCount = getMotorCount();
+        for (int x = 1; x < motorCount; x++) {
+            blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
+        }
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
@@ -1110,7 +1115,10 @@ static void writeInterframe(void)
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
         blackboxWriteArrayUsingAveragePredictor32(offsetof(blackboxMainState_t, debug), DEBUG32_VALUE_COUNT);
     }
-    blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, motor),     getMotorCount());
+
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MOTORS)) {
+        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, motor),     getMotorCount());
+    }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
         blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo),     MAX_SUPPORTED_SERVOS);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 82e899348e..9b2a1da0ff 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -24,6 +24,7 @@
 
 typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_ALWAYS = 0,
+    FLIGHT_LOG_FIELD_CONDITION_MOTORS,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3,

From 6ba2c9c0e3012771c0319b6336c434e3cf618498 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Tue, 14 Sep 2021 13:04:39 -0400
Subject: [PATCH 265/336] Added missing break and spacing

---
 src/main/io/osd.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index abdae1dcdd..0853953cd9 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2025,11 +2025,12 @@ static bool osdDrawSingleElement(uint8_t item)
                     } else {
                         tfp_sprintf(buff+1, "%3d", rxLinkStatistics.uplinkLQ);
                     }
+                    break;
                 case OSD_CRSF_LQ_TYPE2:
                     if (!failsafeIsReceivingRxData()) {
                         tfp_sprintf(buff+1, "%s:%3d", " ", 0);
                     } else {
-                    tfp_sprintf(buff+1, "%d:%3d", rxLinkStatistics.rfMode, rxLinkStatistics.uplinkLQ);
+                        tfp_sprintf(buff+1, "%d:%3d", rxLinkStatistics.rfMode, rxLinkStatistics.uplinkLQ);
                     }
                     break;
                 case OSD_CRSF_LQ_TYPE3:

From 6b73eefa810643743931b982523fd93bde39cbc4 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 14 Sep 2021 23:09:36 +0100
Subject: [PATCH 266/336] Update navigation_fw_launch.c

---
 src/main/navigation/navigation_fw_launch.c | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/main/navigation/navigation_fw_launch.c b/src/main/navigation/navigation_fw_launch.c
index f4c8fc29d4..ce4d7504da 100755
--- a/src/main/navigation/navigation_fw_launch.c
+++ b/src/main/navigation/navigation_fw_launch.c
@@ -399,7 +399,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
 
     const timeMs_t elapsedTimeMs = currentStateElapsedMs(currentTimeUs);
     const uint16_t motorSpinUpMs = navConfig()->fw.launch_motor_spinup_time;
-    const uint16_t launchThrottle = currentBatteryProfile->nav.fw.launch_throttle;
+    const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
 
     if (elapsedTimeMs > motorSpinUpMs) {
         rcCommand[THROTTLE] = launchThrottle;
@@ -415,7 +415,7 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_MOTOR_SPINUP(timeUs_
 
 static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t currentTimeUs)
 {
-    rcCommand[THROTTLE] = currentBatteryProfile->nav.fw.launch_throttle;
+    rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
 
     if (isLaunchMaxAltitudeReached()) {
         return FW_LAUNCH_EVENT_SUCCESS; // cancel the launch and do the FW_LAUNCH_STATE_FINISH state
@@ -445,7 +445,8 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_FINISH(timeUs_t curr
     }
     else {
         // make a smooth transition from the launch state to the current state for throttle and the pitch angle
-        rcCommand[THROTTLE] = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs,  currentBatteryProfile->nav.fw.launch_throttle, rcCommand[THROTTLE]);
+        const uint16_t launchThrottle = constrain(currentBatteryProfile->nav.fw.launch_throttle, getThrottleIdleValue(), motorConfig()->maxthrottle);
+        rcCommand[THROTTLE] = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs,  launchThrottle, rcCommand[THROTTLE]);
         fwLaunch.pitchAngle = scaleRangef(elapsedTimeMs, 0.0f, endTimeMs, navConfig()->fw.launch_climb_angle, rcCommand[PITCH]);
     }
 

From 7f18cd459adbdc9ff040b69fc63327988d1b0f85 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Tue, 14 Sep 2021 19:25:25 -0400
Subject: [PATCH 267/336] Update crsf.c

Remove extra braces
---
 src/main/rx/crsf.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index bfb0c1245b..f01dcb965e 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -241,11 +241,10 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
             rxLinkStatistics.uplinkTXPower = crsfPowerStates[linkStats->uplinkTXPower];
             rxLinkStatistics.activeAnt = linkStats->activeAntenna;
 
-            if (rxLinkStatistics.uplinkLQ > 0) {
+            if (rxLinkStatistics.uplinkLQ > 0)
                 lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -120, -30), -120, -30, 0, RSSI_MAX_VALUE));
-            } else {
+            else
                 lqTrackerSet(rxRuntimeConfig->lqTracker, 0);
-            }
 
             // This is not RC channels frame, update channel value but don't indicate frame completion
             return RX_FRAME_PENDING;

From e618e5632dadce8546abcf1fcd7deb741cf068de Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 15 Sep 2021 07:34:26 +0200
Subject: [PATCH 268/336] Add Discord to README

---
 README.md | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index cf8eecc7e9..d07d7d0eab 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,13 @@
 
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
 
+# INAV Community
+
+* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
+* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
+* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
+* [INAV Official on Telegram](https://t.me/INAVFlight)
+
 ## Features
 
 * Runs on the most popular F4 and F7 flight controllers
@@ -47,9 +54,6 @@ See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
 * [Wing Tuning Masterclass](docs/INAV_Wing_Tuning_Masterclass.pdf)
 * [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
 * [Official Wiki](https://github.com/iNavFlight/inav/wiki)
-* [INAV Official on Telegram](https://t.me/INAVFlight)
-* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
-* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
 * [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
 * [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)
 

From 8dd8a477bf1fabdf556ce5eb16f948e44c201c95 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 15 Sep 2021 09:31:05 +0100
Subject: [PATCH 269/336] Updated for Pawel's request

Made function static.

Hope to test in flight today.
---
 src/main/io/osd.c | 2 +-
 src/main/io/osd.h | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 67b38ae1af..52daa43f4a 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -459,7 +459,7 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
 /**
  * Returns the average velocity. This always uses stats, so can be called as an OSD element later if wanted, to show a real time average
  */
-void osdGenerateAverageVelocityStr(char* buff) {
+static void osdGenerateAverageVelocityStr(char* buff) {
     uint32_t cmPerSec = getTotalTravelDistance() / getFlightTime();
     osdFormatVelocityStr(buff, cmPerSec, false, false);
 }
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index de15c43c40..e46a3bc0bb 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -416,7 +416,6 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
-void osdGenerateAverageVelocityStr(char* buff);
 // Returns a heading angle in degrees normalized to [0, 360).
 int osdGetHeadingAngle(int angle);
 

From e5fae6cf07a9b4d635d51e4b67734ab6c03f776a Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 15 Sep 2021 09:33:48 +0100
Subject: [PATCH 270/336] Update osd.c

Added the full stop back in, as it is now building ok.
---
 src/main/io/osd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 52daa43f4a..55b02bf83a 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1,5 +1,5 @@
 /*
- * This file is part of Cleanflight
+ * This file is part of Cleanflight.
  *
  * Cleanflight is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by

From 2ab0cc433501014f2d8395146ceef4be3e25c1f3 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Wed, 15 Sep 2021 11:08:53 -0400
Subject: [PATCH 271/336] Remove braces

Remove unneeded braces
---
 src/main/io/osd.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 0853953cd9..433aa3723e 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3527,12 +3527,13 @@ static void osdUpdateStats(void)
     if (stats.min_rssi > value)
         stats.min_rssi = value;
 
-    value = osdGetCrsfLQ(); {
+    value = osdGetCrsfLQ();
     if (stats.min_lq > value)
         stats.min_lq = value;
+
     if (!failsafeIsReceivingRxData())
         stats.min_lq = 0;
-    }
+
     value = osdGetCrsfdBm();
     if (stats.min_rssi_dbm > value)
         stats.min_rssi_dbm = value;

From cade2bd41da85e711bf6daf853309c9e0e829d62 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 15 Sep 2021 18:16:44 +0200
Subject: [PATCH 272/336] Bump version to 4.0

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e7de58298..edb0b7640e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,7 +37,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 3.1.0)
+project(INAV VERSION 4.0.0)
 
 enable_language(ASM)
 

From 16c655f6b003afe0674edb138689ca9db86aca27 Mon Sep 17 00:00:00 2001
From: OptimusTi <optimusti@yahoo.com>
Date: Wed, 15 Sep 2021 14:08:08 -0400
Subject: [PATCH 273/336] Clear TxPower on RXLoss

Clears TxPwr value when there's no link
---
 src/main/io/osd.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 433aa3723e..d5e86f7e9c 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2079,7 +2079,10 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_CRSF_TX_POWER:
         {
-            tfp_sprintf(buff, "%4d%c", rxLinkStatistics.uplinkTXPower, SYM_MW);
+            if (!failsafeIsReceivingRxData())
+                tfp_sprintf(buff, "%s%c", "    ", SYM_BLANK);
+            else
+                tfp_sprintf(buff, "%4d%c", rxLinkStatistics.uplinkTXPower, SYM_MW);
             break;
         }
 #endif

From a7d960456f899e3e997a1e84a3d429a2f5c90927 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Thu, 16 Sep 2021 00:45:12 -0300
Subject: [PATCH 274/336] [fc/rc_curves.c]Remove unused defines

---
 src/main/fc/rc_curves.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/fc/rc_curves.c b/src/main/fc/rc_curves.c
index 7f34607d15..47da45113b 100644
--- a/src/main/fc/rc_curves.c
+++ b/src/main/fc/rc_curves.c
@@ -31,9 +31,6 @@
 
 #include "rx/rx.h"
 
-
-#define PITCH_LOOKUP_LENGTH 7
-#define YAW_LOOKUP_LENGTH 7
 #define THROTTLE_LOOKUP_LENGTH 11
 
 static EXTENDED_FASTRAM int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE

From 282ac5b1aa741c1ef0964cab30d27020252bbb00 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 08:11:18 +0100
Subject: [PATCH 275/336] Update logic_condition.c

Reinitialise PID and filters if the profile has changed.
---
 src/main/programming/logic_condition.c | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index eed1df3978..cfd834ec35 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -337,7 +337,13 @@ static int logicConditionCompute(
         case LOGIC_CONDITION_SET_PID_PROFILE:
             operandA--;
             if ( getConfigProfile() != operandA  && (operandA >= 0 && operandA < MAX_PROFILE_COUNT)) {
-                return setConfigProfile(operandA);
+                bool profileChanged = false;
+                if (setConfigProfile(operandA)) {
+                    pidInit();
+                    pidInitFilters();
+                    profileChanged = true;
+                }
+                return profileChanged;
             } else {
                 return false;
             }

From 5d0b6d38021d71b9d7127587354485b5264f2f6f Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 08:35:25 +0100
Subject: [PATCH 276/336] Update Boards.md

Changed note for F3 boards.
---
 docs/Boards.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Boards.md b/docs/Boards.md
index 8005778cfe..6992bbbbc5 100644
--- a/docs/Boards.md
+++ b/docs/Boards.md
@@ -38,7 +38,7 @@ These boards are powerful and in general support everything INAV is capable of.
 
 ### Boards based on F3 CPUs
 
-Boards based on F3 boards will be supported for as long as practical, sometimes with reduced features due to lack of resources. No new features will be added so F3 boards are not recommended for new builds.
+Boards based on STM32F3 MCUs are no longer supported by latest INAV version. Last release is 2.6.1.
 
 ### Boards based on F1 CPUs
 
@@ -46,4 +46,4 @@ Boards based on STM32F1 CPUs are no longer supported by latest INAV version. Las
 
 ### Not recommended for new setups
 
-F1 and F3 boards are no longer recommended. Users should choose a board from the supported F4 or F7 devices available in the latest release.
\ No newline at end of file
+F1 and F3 boards are no longer recommended. Users should choose a board from the supported F4 or F7 devices available in the latest release.

From d159c55eb48d86a38f5b87197f74f6122a8dadbb Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 09:18:11 +0100
Subject: [PATCH 277/336] Update Profiles.md

fixed error
---
 docs/Profiles.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Profiles.md b/docs/Profiles.md
index 6792d889cb..80d432d7d4 100644
--- a/docs/Profiles.md
+++ b/docs/Profiles.md
@@ -20,7 +20,7 @@ The CLI `profile` command can also be used:
 profile <index>
 ```
 
-The values contained within a profile can be seen by using the CLI `dump rates` command.
+The values contained within a profile can be seen by using the CLI `dump profile` command.
 
 e.g
 ```

From bb98537d24dbae2c15d2da80c997c6127344674a Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 09:21:29 +0100
Subject: [PATCH 278/336] Update Programming Framework.md

Renamed PID Profiles to Profiles
---
 docs/Programming Framework.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index c960a755ee..0b849e4b3d 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -74,7 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
-| 41            | SET_PID_PROFILE   | Sets the active PID(FF)/RATE profile to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
+| 41            | SET_PROFILE   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
 
 
 ### Operands
@@ -128,7 +128,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
 | 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
 | 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
-| 35            | PID_PROFILE           | integer for the active PID(FF)/RATE profile `[1..MAX_PROFILE_COUNT]`  |
+| 35            | ACTIVE_PROFILE          | integer for the active config profile `[1..MAX_PROFILE_COUNT]`  |
 
 #### ACTIVE_WAYPOINT_ACTION
 

From 0f9c6cd8df20f58e32e53620b0fa7999bdabd873 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 09:35:19 +0100
Subject: [PATCH 279/336] Renamed PID Profiles to Profiles

---
 src/main/programming/logic_condition.c | 4 ++--
 src/main/programming/logic_condition.h | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index cfd834ec35..792283e684 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -334,7 +334,7 @@ static int logicConditionCompute(
             }
             break;
 
-        case LOGIC_CONDITION_SET_PID_PROFILE:
+        case LOGIC_CONDITION_SET_PROFILE:
             operandA--;
             if ( getConfigProfile() != operandA  && (operandA >= 0 && operandA < MAX_PROFILE_COUNT)) {
                 bool profileChanged = false;
@@ -549,7 +549,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
         #endif
             break;
 
-        case LOGIC_CONDITION_OPERAND_FLIGHT_PID_PROFILE: // int
+        case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
             return getConfigProfile() + 1;
             break;
 
diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index 9edb54397d..b6226c0d20 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -70,7 +70,7 @@ typedef enum {
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
     LOGIC_CONDITION_MODULUS                     = 40,
-    LOGIC_CONDITION_SET_PID_PROFILE             = 41,
+    LOGIC_CONDITION_SET_PROFILE                 = 41,
     LOGIC_CONDITION_LAST                        = 42,
 } logicOperation_e;
 
@@ -121,7 +121,7 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ,                                 // 32
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR,                                // 33
     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1                        // 34
-    LOGIC_CONDITION_OPERAND_FLIGHT_PID_PROFILE, //int                       // 35
+    LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int                    // 35
 
 } logicFlightOperands_e;
 

From 8c94d05eb1e6c614f6626a31573940b5f4ad753a Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 Sep 2021 16:21:28 +0100
Subject: [PATCH 280/336] Added OSD element for active profile

This allows the pilot to see which profile is currently active.
---
 src/main/drivers/osd_symbols.h | 1 +
 src/main/io/osd.c              | 5 +++++
 src/main/io/osd.h              | 1 +
 3 files changed, 7 insertions(+)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 6370029e71..229ba680a2 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -160,6 +160,7 @@
 #define SYM_HEADING_DIVIDED_LINE    0xCC  // 204 Heading Graphic
 #define SYM_HEADING_LINE            0xCD  // 205 Heading Graphic
 #define SYM_MAX                     0xCE  // 206 MAX symbol
+#define SYM_PROFILE                 0xCF  // 207 Profile symbol
 
 
 #define SYM_LOGO_START              0x101 // 257 to 280, INAV logo
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index fab5ef7c97..60decd24b1 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2250,6 +2250,11 @@ static bool osdDrawSingleElement(uint8_t item)
         }
 #endif
 
+    case OSD_ACTIVE_PROFILE:
+        tfp_sprintf(buff, "%c%u", SYM_PROFILE, (getConfigProfile() + 1));
+        displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
+        break;
+    
     case OSD_ROLL_PIDS:
         osdDisplayFlightPIDValues(elemPosX, elemPosY, "ROL", PID_ROLL, ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_D, ADJUSTMENT_ROLL_FF);
         return true;
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e46a3bc0bb..fd369582aa 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -234,6 +234,7 @@ typedef enum {
     OSD_GPS_MAX_SPEED,
     OSD_3D_MAX_SPEED,
     OSD_AIR_MAX_SPEED,
+    OSD_ACTIVE_PROFILE,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

From 4e584f88eb7ec80ec65945d26b3cbbace959c397 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 17 Sep 2021 00:37:43 -0300
Subject: [PATCH 281/336] remove old and unused imu

---
 src/main/CMakeLists.txt                     |   6 -
 src/main/drivers/accgyro/accgyro_adxl345.c  | 117 ----------------
 src/main/drivers/accgyro/accgyro_adxl345.h  |  20 ---
 src/main/drivers/accgyro/accgyro_bma280.c   |  93 -------------
 src/main/drivers/accgyro/accgyro_bma280.h   |  20 ---
 src/main/drivers/accgyro/accgyro_l3g4200d.c | 145 --------------------
 src/main/drivers/accgyro/accgyro_l3g4200d.h |  20 ---
 src/main/drivers/accgyro/accgyro_mma845x.c  | 144 -------------------
 src/main/drivers/accgyro/accgyro_mma845x.h  |  20 ---
 src/main/drivers/bus.h                      |   4 -
 src/main/fc/cli.c                           |   2 +-
 src/main/fc/settings.yaml                   |   2 +-
 src/main/sensors/acceleration.c             |  43 ------
 src/main/sensors/acceleration.h             |   3 -
 src/main/sensors/gyro.c                     |  13 --
 src/main/sensors/gyro.h                     |   1 -
 src/main/target/sanity_check.h              |  18 +--
 17 files changed, 3 insertions(+), 668 deletions(-)
 delete mode 100644 src/main/drivers/accgyro/accgyro_adxl345.c
 delete mode 100644 src/main/drivers/accgyro/accgyro_adxl345.h
 delete mode 100644 src/main/drivers/accgyro/accgyro_bma280.c
 delete mode 100644 src/main/drivers/accgyro/accgyro_bma280.h
 delete mode 100644 src/main/drivers/accgyro/accgyro_l3g4200d.c
 delete mode 100644 src/main/drivers/accgyro/accgyro_l3g4200d.h
 delete mode 100644 src/main/drivers/accgyro/accgyro_mma845x.c
 delete mode 100644 src/main/drivers/accgyro/accgyro_mma845x.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 8aa7ea8713..34cabe2661 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -71,10 +71,6 @@ main_sources(COMMON_SRC
 
     drivers/accgyro/accgyro.c
     drivers/accgyro/accgyro.h
-    drivers/accgyro/accgyro_adxl345.c
-    drivers/accgyro/accgyro_adxl345.h
-    drivers/accgyro/accgyro_bma280.c
-    drivers/accgyro/accgyro_bma280.h
     drivers/accgyro/accgyro_bmi088.c
     drivers/accgyro/accgyro_bmi088.h
     drivers/accgyro/accgyro_bmi160.c
@@ -88,8 +84,6 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_icm20689.h
     drivers/accgyro/accgyro_icm42605.c
     drivers/accgyro/accgyro_icm42605.h
-    drivers/accgyro/accgyro_l3g4200d.c
-    drivers/accgyro/accgyro_l3g4200d.h
     drivers/accgyro/accgyro_l3gd20.c
     drivers/accgyro/accgyro_l3gd20.h
     drivers/accgyro/accgyro_lsm303dlhc.c
diff --git a/src/main/drivers/accgyro/accgyro_adxl345.c b/src/main/drivers/accgyro/accgyro_adxl345.c
deleted file mode 100644
index b867f85b4a..0000000000
--- a/src/main/drivers/accgyro/accgyro_adxl345.c
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <string.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#include "drivers/system.h"
-#include "drivers/bus.h"
-
-#include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_adxl345.h"
-
-#ifdef USE_IMU_ADXL345
-
-// ADXL345, Alternative address mode 0x53
-#define ADXL345_ADDRESS     0x53
-
-// Registers
-#define ADXL345_BW_RATE     0x2C
-#define ADXL345_POWER_CTL   0x2D
-#define ADXL345_INT_ENABLE  0x2E
-#define ADXL345_DATA_FORMAT 0x31
-#define ADXL345_DATA_OUT    0x32
-#define ADXL345_FIFO_CTL    0x38
-
-// BW_RATE values
-#define ADXL345_RATE_50     0x09
-#define ADXL345_RATE_100    0x0A
-#define ADXL345_RATE_200    0x0B
-#define ADXL345_RATE_400    0x0C
-#define ADXL345_RATE_800    0x0D
-#define ADXL345_RATE_1600   0x0E
-#define ADXL345_RATE_3200   0x0F
-
-// various register values
-#define ADXL345_POWER_MEAS  0x08
-#define ADXL345_FULL_RANGE  0x08
-#define ADXL345_RANGE_2G    0x00
-#define ADXL345_RANGE_4G    0x01
-#define ADXL345_RANGE_8G    0x02
-#define ADXL345_RANGE_16G   0x03
-#define ADXL345_FIFO_STREAM 0x80
-
-static void adxl345Init(accDev_t *acc)
-{
-    busWrite(acc->busDev, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
-    busWrite(acc->busDev, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
-    busWrite(acc->busDev, ADXL345_BW_RATE, ADXL345_RATE_100);
-
-    acc->acc_1G = 256; // 3.3V operation
-}
-
-static bool adxl345Read(accDev_t *acc)
-{
-    uint8_t buf[6];
-
-    if (!busReadBuf(acc->busDev, ADXL345_DATA_OUT, buf, 6)) {
-        return false;
-    }
-
-    acc->ADCRaw[0] = buf[0] + (buf[1] << 8);
-    acc->ADCRaw[1] = buf[2] + (buf[3] << 8);
-    acc->ADCRaw[2] = buf[4] + (buf[5] << 8);
-
-    return true;
-}
-
-static bool deviceDetect(busDevice_t * dev)
-{
-    bool ack = false;
-    uint8_t sig = 0;
-
-    ack = busRead(dev, 0x00, &sig);
-    if (!ack || sig != 0xE5)
-        return false;
-
-    return true;
-}
-
-
-bool adxl345Detect(accDev_t *acc)
-{
-    acc->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ADXL345, acc->imuSensorToUse, OWNER_MPU);
-    if (acc->busDev == NULL) {
-        return false;
-    }
-
-    if (!deviceDetect(acc->busDev)) {
-        busDeviceDeInit(acc->busDev);
-        return false;
-    }
-
-    acc->initFn = adxl345Init;
-    acc->readFn = adxl345Read;
-    acc->accAlign = acc->busDev->param;
-    return true;
-}
-
-#endif
diff --git a/src/main/drivers/accgyro/accgyro_adxl345.h b/src/main/drivers/accgyro/accgyro_adxl345.h
deleted file mode 100644
index dcb7ea6d3a..0000000000
--- a/src/main/drivers/accgyro/accgyro_adxl345.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-bool adxl345Detect(accDev_t *acc);
diff --git a/src/main/drivers/accgyro/accgyro_bma280.c b/src/main/drivers/accgyro/accgyro_bma280.c
deleted file mode 100644
index a97b831bd2..0000000000
--- a/src/main/drivers/accgyro/accgyro_bma280.c
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <string.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#include "drivers/system.h"
-#include "drivers/bus.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_bma280.h"
-
-#ifdef USE_IMU_BMA280
-
-// BMA280, default I2C address mode 0x18
-#define BMA280_WHOAMI       0x00
-#define BMA280_ADDRESS      0x18
-#define BMA280_ACC_X_LSB    0x02
-#define BMA280_PMU_BW       0x10
-#define BMA280_PMU_RANGE    0x0F
-
-static void bma280Init(accDev_t *acc)
-{
-    busWrite(acc->busDev, BMA280_PMU_RANGE, 0x08); // +-8g range
-    busWrite(acc->busDev, BMA280_PMU_BW, 0x0E); // 500Hz BW
-
-    acc->acc_1G = 512 * 8;
-}
-
-static bool bma280Read(accDev_t *acc)
-{
-    uint8_t buf[6];
-
-    if (!busReadBuf(acc->busDev, BMA280_ACC_X_LSB, buf, 6)) {
-        return false;
-    }
-
-    // Data format is lsb<5:0><crap><new_data_bit> | msb<13:6>
-    acc->ADCRaw[0] = (int16_t)((buf[0] >> 2) + (buf[1] << 8));
-    acc->ADCRaw[1] = (int16_t)((buf[2] >> 2) + (buf[3] << 8));
-    acc->ADCRaw[2] = (int16_t)((buf[4] >> 2) + (buf[5] << 8));
-
-    return true;
-}
-
-static bool deviceDetect(busDevice_t * dev)
-{
-    bool ack = false;
-    uint8_t sig = 0;
-
-    ack = busRead(dev, BMA280_WHOAMI, &sig);
-    if (!ack || sig != 0xFB)
-        return false;
-
-    return true;
-}
-
-bool bma280Detect(accDev_t *acc)
-{
-    acc->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_BMA280, acc->imuSensorToUse, OWNER_MPU);
-    if (acc->busDev == NULL) {
-        return false;
-    }
-
-    if (!deviceDetect(acc->busDev)) {
-        busDeviceDeInit(acc->busDev);
-        return false;
-    }
-
-    acc->initFn = bma280Init;
-    acc->readFn = bma280Read;
-    acc->accAlign = acc->busDev->param;
-    return true;
-}
-
-#endif
diff --git a/src/main/drivers/accgyro/accgyro_bma280.h b/src/main/drivers/accgyro/accgyro_bma280.h
deleted file mode 100644
index b4624d66a8..0000000000
--- a/src/main/drivers/accgyro/accgyro_bma280.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-bool bma280Detect(accDev_t *acc);
diff --git a/src/main/drivers/accgyro/accgyro_l3g4200d.c b/src/main/drivers/accgyro/accgyro_l3g4200d.c
deleted file mode 100644
index e674973bf2..0000000000
--- a/src/main/drivers/accgyro/accgyro_l3g4200d.c
+++ /dev/null
@@ -1,145 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <string.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#include "drivers/system.h"
-#include "drivers/time.h"
-#include "drivers/bus_i2c.h"
-
-#include "common/maths.h"
-#include "common/axis.h"
-
-#include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_l3g4200d.h"
-
-// L3G4200D, Standard address 0x68
-#define L3G4200D_ADDRESS         0x68
-#define L3G4200D_ID              0xD3
-#define L3G4200D_AUTOINCR        0x80
-
-// Registers
-#define L3G4200D_WHO_AM_I        0x0F
-#define L3G4200D_CTRL_REG1       0x20
-#define L3G4200D_CTRL_REG2       0x21
-#define L3G4200D_CTRL_REG3       0x22
-#define L3G4200D_CTRL_REG4       0x23
-#define L3G4200D_CTRL_REG5       0x24
-#define L3G4200D_REFERENCE       0x25
-#define L3G4200D_STATUS_REG      0x27
-#define L3G4200D_GYRO_OUT        0x28
-
-// Bits
-#define L3G4200D_POWER_ON        0x0F
-#define L3G4200D_FS_SEL_2000DPS  0xF0
-#define L3G4200D_DLPF_32HZ       0x00
-#define L3G4200D_DLPF_54HZ       0x40
-#define L3G4200D_DLPF_78HZ       0x80
-#define L3G4200D_DLPF_93HZ       0xC0
-
-static void l3g4200dInit(gyroDev_t *gyro)
-{
-    bool ack;
-
-    uint8_t mpuLowPassFilter = L3G4200D_DLPF_32HZ;
-
-    switch (gyro->lpf) {
-        default:
-        case 3:     // BITS_DLPF_CFG_42HZ
-            mpuLowPassFilter = L3G4200D_DLPF_32HZ;
-            break;
-        case 2:     // BITS_DLPF_CFG_98HZ
-            mpuLowPassFilter = L3G4200D_DLPF_54HZ;
-            break;
-        case 1:     // BITS_DLPF_CFG_188HZ
-            mpuLowPassFilter = L3G4200D_DLPF_78HZ;
-            break;
-        case 0:     // BITS_DLPF_CFG_256HZ
-            mpuLowPassFilter = L3G4200D_DLPF_93HZ;
-            break;
-    }
-
-    delay(100);
-    ack = busWrite(gyro->busDev, L3G4200D_CTRL_REG4, L3G4200D_FS_SEL_2000DPS);
-    if (!ack) {
-        failureMode(FAILURE_ACC_INIT);
-    }
-
-    delay(5);
-
-    busWrite(gyro->busDev, L3G4200D_CTRL_REG1, L3G4200D_POWER_ON | mpuLowPassFilter);
-}
-
-// Read 3 gyro values into user-provided buffer. No overrun checking is done.
-static bool l3g4200dRead(gyroDev_t *gyro)
-{
-    uint8_t buf[6];
-
-    if (!busReadBuf(gyro->busDev, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, buf, 6)) {
-        return false;
-    }
-
-    gyro->gyroADCRaw[X] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyro->gyroADCRaw[Y] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyro->gyroADCRaw[Z] = (int16_t)((buf[4] << 8) | buf[5]);
-
-    return true;
-}
-
-
-static bool deviceDetect(busDevice_t * busDev)
-{
-    busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
-
-    for (int retry = 0; retry < 5; retry++) {
-        uint8_t deviceid;
-
-        delay(150);
-
-        bool ack = busRead(busDev, L3G4200D_WHO_AM_I, &deviceid);
-        if (ack && deviceid == L3G4200D_ID) {
-            return true;
-        }
-    };
-
-    return false;
-}
-
-bool l3g4200dDetect(gyroDev_t *gyro)
-{
-    gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_L3G4200, gyro->imuSensorToUse, OWNER_MPU);
-    if (gyro->busDev == NULL) {
-        return false;
-    }
-
-    if (!deviceDetect(gyro->busDev)) {
-        busDeviceDeInit(gyro->busDev);
-        return false;
-    }
-
-    gyro->initFn = l3g4200dInit;
-    gyro->readFn = l3g4200dRead;
-    gyro->scale = 1.0f / 14.2857f;      // 14.2857dps/lsb scalefactor
-    gyro->gyroAlign = gyro->busDev->param;
-
-    return true;
-}
diff --git a/src/main/drivers/accgyro/accgyro_l3g4200d.h b/src/main/drivers/accgyro/accgyro_l3g4200d.h
deleted file mode 100644
index c4366f2270..0000000000
--- a/src/main/drivers/accgyro/accgyro_l3g4200d.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-bool l3g4200dDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_mma845x.c b/src/main/drivers/accgyro/accgyro_mma845x.c
deleted file mode 100644
index 0a5a9844aa..0000000000
--- a/src/main/drivers/accgyro/accgyro_mma845x.c
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "platform.h"
-
-#include "drivers/time.h"
-#include "drivers/io.h"
-#include "drivers/bus_i2c.h"
-
-#include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_mma845x.h"
-
-// MMA8452QT, Standard address 0x1C
-// ACC_INT2 routed to PA5
-
-#define MMA8452_ADDRESS     0x1C
-
-#define MMA8452_DEVICE_SIGNATURE    0x2A
-#define MMA8451_DEVICE_SIGNATURE    0x1A
-
-#define MMA8452_STATUS              0x00
-#define MMA8452_OUT_X_MSB           0x01
-#define MMA8452_WHO_AM_I            0x0D
-#define MMA8452_XYZ_DATA_CFG        0x0E
-#define MMA8452_HP_FILTER_CUTOFF    0x0F
-#define MMA8452_CTRL_REG1           0x2A
-#define MMA8452_CTRL_REG2           0x2B
-#define MMA8452_CTRL_REG3           0x2C
-#define MMA8452_CTRL_REG4           0x2D
-#define MMA8452_CTRL_REG5           0x2E
-
-#define MMA8452_FS_RANGE_8G         0x02
-#define MMA8452_FS_RANGE_4G         0x01
-#define MMA8452_FS_RANGE_2G         0x00
-
-#define MMA8452_HPF_CUTOFF_LV1      0x00
-#define MMA8452_HPF_CUTOFF_LV2      0x01
-#define MMA8452_HPF_CUTOFF_LV3      0x02
-#define MMA8452_HPF_CUTOFF_LV4      0x03
-
-#define MMA8452_CTRL_REG2_B7_ST     0x80
-#define MMA8452_CTRL_REG2_B6_RST    0x40
-#define MMA8452_CTRL_REG2_B4_SMODS1 0x10
-#define MMA8452_CTRL_REG2_B3_SMODS0 0x08
-#define MMA8452_CTRL_REG2_B2_SLPE   0x04
-#define MMA8452_CTRL_REG2_B1_MODS1  0x02
-#define MMA8452_CTRL_REG2_B0_MODS0  0x01
-
-#define MMA8452_CTRL_REG2_MODS_LP   0x03
-#define MMA8452_CTRL_REG2_MODS_HR   0x02
-#define MMA8452_CTRL_REG2_MODS_LNLP 0x01
-#define MMA8452_CTRL_REG2_MODS_NOR  0x00
-
-#define MMA8452_CTRL_REG3_IPOL          0x02
-#define MMA8452_CTRL_REG4_INT_EN_DRDY   0x01
-
-#define MMA8452_CTRL_REG1_LNOISE        0x04
-#define MMA8452_CTRL_REG1_ACTIVE        0x01
-
-/*
-static inline void mma8451ConfigureInterrupt(void)
-{
-    busWrite(acc->busDev, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
-    busWrite(acc->busDev, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
-    busWrite(acc->busDev, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
-}
-*/
-
-static void mma8452Init(accDev_t *acc)
-{
-    busWrite(acc->busDev, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
-    busWrite(acc->busDev, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
-    busWrite(acc->busDev, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
-    busWrite(acc->busDev, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
-
-    // mma8451ConfigureInterrupt();
-
-    busWrite(acc->busDev, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
-
-    acc->acc_1G = 256;
-}
-
-static bool mma8452Read(accDev_t *acc)
-{
-    uint8_t buf[6];
-
-    if (!busReadBuf(acc->busDev, MMA8452_OUT_X_MSB, buf, 6)) {
-        return false;
-    }
-
-    acc->ADCRaw[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
-    acc->ADCRaw[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
-    acc->ADCRaw[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
-
-    return true;
-}
-
-static bool deviceDetect(busDevice_t * busDev)
-{
-    bool ack = false;
-    uint8_t sig = 0;
-
-    ack = busRead(busDev, MMA8452_WHO_AM_I, &sig);
-    if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
-        return false;
-
-    return true;
-}
-
-bool mma8452Detect(accDev_t *acc)
-{
-    acc->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MMA8452, acc->imuSensorToUse, OWNER_MPU);
-    if (acc->busDev == NULL) {
-        return false;
-    }
-
-    if (!deviceDetect(acc->busDev)) {
-        busDeviceDeInit(acc->busDev);
-        return false;
-    }
-
-    acc->initFn = mma8452Init;
-    acc->readFn = mma8452Read;
-    acc->accAlign = acc->busDev->param;
-    return true;
-}
diff --git a/src/main/drivers/accgyro/accgyro_mma845x.h b/src/main/drivers/accgyro/accgyro_mma845x.h
deleted file mode 100644
index bb8887ccf4..0000000000
--- a/src/main/drivers/accgyro/accgyro_mma845x.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-bool mma8452Detect(accDev_t *acc);
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index cf233e707a..e031f4ef4a 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -76,14 +76,10 @@ typedef enum {
     DEVHW_NONE = 0,
 
     /* Dedicated ACC chips */
-    DEVHW_BMA280,
-    DEVHW_ADXL345,
-    DEVHW_MMA8452,
     DEVHW_LSM303DLHC,
 
     /* Dedicated GYRO chips */
     DEVHW_L3GD20,
-    DEVHW_L3G4200,
 
     /* Combined ACC/GYRO chips */
     DEVHW_MPU3050,
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index ba8214bc7f..14224f9c5b 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -169,7 +169,7 @@ static const char * const blackboxIncludeFlagNames[] = {
 
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
 // sync with gyroSensor_e
-static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"};
+static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"};
 
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 09b66857ab..29f4061d29 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -4,7 +4,7 @@ tables:
   - name: gyro_lpf
     values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"]
+    values: ["NONE", "AUTO", "MPU6050", "MMA845x", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 9f66181bb8..f11fdd4c90 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -45,11 +45,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_mpu9250.h"
 
 #include "drivers/accgyro/accgyro_lsm303dlhc.h"
-#include "drivers/accgyro/accgyro_l3g4200d.h"
 #include "drivers/accgyro/accgyro_l3gd20.h"
-#include "drivers/accgyro/accgyro_adxl345.h"
-#include "drivers/accgyro/accgyro_mma845x.h"
-#include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
 #include "drivers/accgyro/accgyro_bmi270.h"
@@ -126,19 +122,6 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
     switch (accHardwareToUse) {
     case ACC_AUTODETECT:
         FALLTHROUGH;
-#ifdef USE_IMU_ADXL345
-    case ACC_ADXL345: {
-        if (adxl345Detect(dev)) {
-            accHardware = ACC_ADXL345;
-            break;
-        }
-        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
-        if (accHardwareToUse != ACC_AUTODETECT) {
-            break;
-        }
-    }
-    FALLTHROUGH;
-#endif
 
 #ifdef USE_IMU_LSM303DLHC
     case ACC_LSM303DLHC:
@@ -166,32 +149,6 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
         FALLTHROUGH;
 #endif
 
-#ifdef USE_IMU_MMA8452
-    case ACC_MMA8452: // MMA8452
-        if (mma8452Detect(dev)) {
-            accHardware = ACC_MMA8452;
-            break;
-        }
-        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
-        if (accHardwareToUse != ACC_AUTODETECT) {
-            break;
-        }
-        FALLTHROUGH;
-#endif
-
-#ifdef USE_IMU_BMA280
-    case ACC_BMA280: // BMA280
-        if (bma280Detect(dev)) {
-            accHardware = ACC_BMA280;
-            break;
-        }
-        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
-        if (accHardwareToUse != ACC_AUTODETECT) {
-            break;
-        }
-        FALLTHROUGH;
-#endif
-
 #ifdef USE_IMU_MPU6000
     case ACC_MPU6000:
         if (mpu6000AccDetect(dev)) {
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 42a5f61e22..3773922fa5 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -35,10 +35,7 @@
 typedef enum {
     ACC_NONE        = 0,
     ACC_AUTODETECT  = 1,
-    ACC_ADXL345     = 2,
     ACC_MPU6050     = 3,
-    ACC_MMA8452     = 4,
-    ACC_BMA280      = 5,
     ACC_LSM303DLHC  = 6,
     ACC_MPU6000     = 7,
     ACC_MPU6500     = 8,
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 447eeb3acb..e1e12bc4d8 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -47,11 +47,7 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/accgyro/accgyro_mpu9250.h"
 
 #include "drivers/accgyro/accgyro_lsm303dlhc.h"
-#include "drivers/accgyro/accgyro_l3g4200d.h"
 #include "drivers/accgyro/accgyro_l3gd20.h"
-#include "drivers/accgyro/accgyro_adxl345.h"
-#include "drivers/accgyro/accgyro_mma845x.h"
-#include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_bmi088.h"
 #include "drivers/accgyro/accgyro_bmi160.h"
 #include "drivers/accgyro/accgyro_bmi270.h"
@@ -168,15 +164,6 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
         FALLTHROUGH;
 #endif
 
-#ifdef USE_IMU_L3G4200D
-    case GYRO_L3G4200D:
-        if (l3g4200dDetect(dev)) {
-            gyroHardware = GYRO_L3G4200D;
-            break;
-        }
-        FALLTHROUGH;
-#endif
-
 #ifdef USE_IMU_MPU3050
     case GYRO_MPU3050:
         if (mpu3050Detect(dev)) {
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 8afca2795c..545493763e 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -28,7 +28,6 @@ typedef enum {
     GYRO_NONE = 0,
     GYRO_AUTODETECT,
     GYRO_MPU6050,
-    GYRO_L3G4200D,
     GYRO_MPU3050,
     GYRO_L3GD20,
     GYRO_MPU6000,
diff --git a/src/main/target/sanity_check.h b/src/main/target/sanity_check.h
index 8b78b89d4d..2fa8379c7f 100644
--- a/src/main/target/sanity_check.h
+++ b/src/main/target/sanity_check.h
@@ -45,7 +45,7 @@
 #error "Replace USE_GYRO_xxx and USE_ACC_xxx with USE_IMU_xxx"
 #endif
 
-#if defined (USE_ACC_ADXL345) || defined (USE_ACC_LSM303DLHC) || defined (USE_ACC_MMA8452) || defined (USE_ACC_BMA280) || defined (USE_ACC_BMI160)
+#if defined (USE_ACC_LSM303DLHC) || defined (USE_ACC_BMI160)
 #error "Replace USE_GYRO_xxx and USE_ACC_xxx with USE_IMU_xxx"
 #endif
 
@@ -74,10 +74,6 @@
 #error "Replace GYRO_ICM20689_ALIGN and ACC_ICM20689_ALIGN with IMU_ICM20689_ALIGN"
 #endif
 
-#if defined (GYRO_L3G4200D_ALIGN)
-#error "Replace GYRO_L3G4200D_ALIGN with IMU_L3G4200D_ALIGN"
-#endif
-
 #if defined (GYRO_MPU3050_ALIGN)
 #error "Replace GYRO_MPU3050_ALIGN with IMU_MPU3050_ALIGN"
 #endif
@@ -86,18 +82,6 @@
 #error "Replace GYRO_L3GD20_ALIGN with IMU_L3GD20_ALIGN"
 #endif
 
-#if defined (ACC_BMA280_ALIGN)
-#error "Replace ACC_BMA280_ALIGN with IMU_BMA280_ALIGN"
-#endif
-
-#if defined (ACC_MMA8452_ALIGN)
-#error "Replace ACC_MMA8452_ALIGN with IMU_MMA8452_ALIGN"
-#endif
-
-#if defined (ACC_ADXL345_ALIGN)
-#error "Replace ACC_ADXL345_ALIGN with IMU_ADXL345_ALIGN"
-#endif
-
 #if defined (ACC_LSM303DLHC_ALIGN)
 #error "Replace ACC_LSM303DLHC_ALIGN with IMU_LSM303DLHC_ALIGN"
 #endif

From 90d384230d367ec01ee4bf079dc90c1aceb915c0 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 17 Sep 2021 00:43:09 -0300
Subject: [PATCH 282/336] remove mma845x

---
 src/main/CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 34cabe2661..0eb60439c2 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -88,8 +88,6 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_l3gd20.h
     drivers/accgyro/accgyro_lsm303dlhc.c
     drivers/accgyro/accgyro_lsm303dlhc.h
-    drivers/accgyro/accgyro_mma845x.c
-    drivers/accgyro/accgyro_mma845x.h
     drivers/accgyro/accgyro_mpu.c
     drivers/accgyro/accgyro_mpu.h
     drivers/accgyro/accgyro_mpu3050.c

From 88e63c2ee19da3f2b16fd4f873643dc6d0e55301 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Fri, 17 Sep 2021 19:00:31 -0300
Subject: [PATCH 283/336] [flight/servos.c] Int and Uint8_t to Bool

---
 src/main/flight/servos.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index 6fb74e319e..e318800903 100755
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -105,9 +105,9 @@ int16_t servo[MAX_SUPPORTED_SERVOS];
 
 static uint8_t servoRuleCount = 0;
 static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
-static int servoOutputEnabled;
+static bool servoOutputEnabled;
 
-static uint8_t mixerUsesServos;
+static bool mixerUsesServos;
 static uint8_t minServoIndex;
 static uint8_t maxServoIndex;
 
@@ -151,8 +151,8 @@ void servosInit(void)
 
     // If there are servo rules after all, update variables
     if (servoRuleCount > 0) {
-        servoOutputEnabled = 1;
-        mixerUsesServos = 1;
+        servoOutputEnabled = true;
+        mixerUsesServos = true;
     }
 
     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {

From 887fcd1422754cb15d8ca4ea7b5c55a6478e9ecc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= <pspychalski@gmail.com>
Date: Sat, 18 Sep 2021 10:54:51 +0200
Subject: [PATCH 284/336] Update Board - MatekF405 Wing.md

---
 docs/Board - MatekF405 Wing.md | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/docs/Board - MatekF405 Wing.md b/docs/Board - MatekF405 Wing.md
index f7f1c3aa73..5a92ce0d89 100644
--- a/docs/Board - MatekF405 Wing.md	
+++ b/docs/Board - MatekF405 Wing.md	
@@ -1,7 +1,5 @@
 # Board - [MATEKSYS F405-Wing](https://inavflight.com/shop/p/MATEKF405WING)
 
-![Matek F405 Wing](https://quadmeup.com/wp-content/uploads/2018/12/DSC_0007.jpg)
-
 ## Specification:
 
 * STM32F405 CPU
@@ -22,4 +20,4 @@
 
 ## Where to buy:
 
-* [Banggood](https://inavflight.com/shop/p/MATEKF405WING)
\ No newline at end of file
+* [Banggood](https://inavflight.com/shop/p/MATEKF405WING)

From f0613fd7adf5f5e372876145735a463451c91996 Mon Sep 17 00:00:00 2001
From: giacomo892 <giacomo1989@gmail.com>
Date: Sat, 18 Sep 2021 11:15:57 +0200
Subject: [PATCH 285/336] Really fix Foxeer F722V2 motor outputs

Amending an error in #7410
---
 src/main/target/FOXEERF722DUAL/target.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/target/FOXEERF722DUAL/target.c b/src/main/target/FOXEERF722DUAL/target.c
index 048fc0207e..bbce6735d4 100644
--- a/src/main/target/FOXEERF722DUAL/target.c
+++ b/src/main/target/FOXEERF722DUAL/target.c
@@ -37,7 +37,6 @@ const timerHardware_t timerHardware[] = {
     #else
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 0),  // S2 - D(2, 6, 0)
     #endif
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 0),  // S2 - D(2, 6, 0)
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S3 - D(2, 7, 7)
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S4 - D(2, 4, 7)
     DEF_TIM(TIM3,  CH1, PC6,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S5 - D(1, 4, 5)

From 5cbe2caad8448072313662d18f1e6755ec11aede Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 18 Sep 2021 10:40:10 +0100
Subject: [PATCH 286/336] remove redundant "if"

---
 src/main/navigation/navigation_fixedwing.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index a870e83ec9..9845bde147 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -622,10 +622,8 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
         updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL);
         applyFixedWingAltitudeAndThrottleController(currentTimeUs);
 
-        if (isPitchAdjustmentValid) {
-            int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
-            rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
-        }
+        int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
+        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
     } else {
         rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
     }

From 55b940fdf4d4fce2f27e29180184f2d32ef2c7c5 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 18 Sep 2021 10:48:00 +0100
Subject: [PATCH 287/336] Update navigation.c

---
 src/main/navigation/navigation.c | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 740ac63194..8ab2977e89 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3188,14 +3188,15 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
             return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
         }
 
-        /* Keep Emergency landing mode active once triggered. Is deactivated when landing in progress if WP or RTH cancelled
-         * or position sensors working again or if Manual or Althold modes selected.
-         * Remains active if landing finished regardless of sensor status or if WP or RTH modes still selected */
+        /* Keep Emergency landing mode active once triggered. Is cancelled when landing in progress if position sensors working again.
+         * If failsafe RTH not active landing also cancelled if WP or RTH deselected or if Manual or Althold modes selected.
+         * Remains active if landing finished regardless of sensor status or flight mode selection */
+        bool autonomousNavNotPossible = !(canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME));
+        bool emergLandingCancel = IS_RC_MODE_ACTIVE(BOXMANUAL) || (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) ||
+                                  !(IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH));
+
         if (navigationIsExecutingAnEmergencyLanding()) {
-            if (!(canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME)) &&
-                !IS_RC_MODE_ACTIVE(BOXMANUAL) &&
-                !(IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) &&
-                (IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH))) {
+            if (autonomousNavNotPossible && (!emergLandingCancel || posControl.flags.forcedRTHActivated)) {
                 return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
             }
         }

From 2ef3c261cfe2859b2b8f9cf254e4822827e26f9c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 18 Sep 2021 12:38:48 +0100
Subject: [PATCH 288/336] Update fc_msp.c

---
 src/main/fc/fc_msp.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 32681db718..af392e5ce9 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -2284,7 +2284,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
 #ifdef USE_NAV
     case MSP_SET_NAV_POSHOLD:
-        if (dataSize >= 15) {
+        if (dataSize >= 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
             navConfigMutable()->general.auto_speed = sbufReadU16(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);

From 4e61dc9308fa04669e2735c3c0780a2e8cb59711 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 18 Sep 2021 12:57:36 +0100
Subject: [PATCH 289/336] Update fc_msp.c

---
 src/main/fc/fc_msp.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index af392e5ce9..10501ddb3f 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -2286,7 +2286,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
     case MSP_SET_NAV_POSHOLD:
         if (dataSize >= 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
-            navConfigMutable()->general.auto_speed = sbufReadU16(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
             navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);

From 8ac13ac7472ef8be658a7d0a55ac83e783509a2b Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sat, 18 Sep 2021 21:46:13 -0300
Subject: [PATCH 290/336] Fix the problem of the previous PR

---
 src/main/fc/settings.yaml       |  2 +-
 src/main/sensors/acceleration.h | 20 ++++++++++----------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 37f7540f61..3ee938f9c9 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -4,7 +4,7 @@ tables:
   - name: gyro_lpf
     values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "MPU6050", "MMA845x", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"]
+    values: ["NONE", "AUTO", "MPU6050", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 3773922fa5..786af3963b 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -35,16 +35,16 @@
 typedef enum {
     ACC_NONE        = 0,
     ACC_AUTODETECT  = 1,
-    ACC_MPU6050     = 3,
-    ACC_LSM303DLHC  = 6,
-    ACC_MPU6000     = 7,
-    ACC_MPU6500     = 8,
-    ACC_MPU9250     = 9,
-    ACC_BMI160      = 10,
-    ACC_ICM20689    = 11,
-    ACC_BMI088      = 12,
-    ACC_ICM42605    = 13,
-    ACC_BMI270      = 14,
+    ACC_MPU6050     = 2,
+    ACC_LSM303DLHC  = 3,
+    ACC_MPU6000     = 4,
+    ACC_MPU6500     = 5,
+    ACC_MPU9250     = 6,
+    ACC_BMI160      = 7,
+    ACC_ICM20689    = 8,
+    ACC_BMI088      = 9,
+    ACC_ICM42605    = 10,
+    ACC_BMI270      = 11,
     ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;

From 95d307adb795c26c8b809c07538a6fbc2e4451c8 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 19 Sep 2021 14:31:52 +0100
Subject: [PATCH 291/336] Moved board docs to own folder

Tidying up the docs folder.
---
 docs/Boards.md                                                  | 2 +-
 .../Airbot F4 and Flip32 F4.md}                                 | 0
 docs/{Board - AlienFlight.md => boards/AlienFlight.md}          | 0
 docs/{Board - AnyFC F7.md => boards/AnyFC F7.md}                | 0
 docs/{Board - BeeRotor F4.md => boards/BeeRotor F4.md}          | 0
 docs/{Board - BetFPVF722.md => boards/BetFPVF722.md}            | 0
 docs/{Board - DALRCF405.md => boards/DALRCF405.md}              | 0
 docs/{Board - DALRCF722DUAL.md => boards/DALRCF722DUAL.md}      | 0
 docs/{Board - FLYWOOF411.md => boards/FLYWOOF411.md}            | 0
 docs/{Board - FOXEERF405.md => boards/FOXEERF405.md}            | 0
 docs/{Board - FOXEERF722DUAL.md => boards/FOXEERF722DUAL.md}    | 0
 docs/{Board - FrSky Pilot.md => boards/FrSky Pilot.md}          | 0
 docs/{Board - IFLIGHTF7_TWING.md => boards/IFLIGHTF7_TWING.md}  | 0
 docs/{Board - KroozX.md => boards/KroozX.md}                    | 0
 docs/{Board - Matek F411 Wing.md => boards/Matek F411 Wing.md}  | 0
 docs/{Board - Matek F411-WSE.md => boards/Matek F411-WSE.md}    | 0
 docs/{Board - Matek F722-STD.md => boards/Matek F722-STD.md}    | 0
 docs/{Board - MatekF405 Wing.md => boards/MatekF405 Wing.md}    | 0
 docs/{Board - MatekF405.md => boards/MatekF405.md}              | 0
 docs/{Board - MatekF722-SE.md => boards/MatekF722-SE.md}        | 0
 docs/{Board - MatekF722.md => boards/MatekF722.md}              | 0
 docs/{Board - MatekF765-Wing.md => boards/MatekF765-Wing.md}    | 0
 docs/{Board - NOX.md => boards/NOX.md}                          | 0
 docs/{Board - Omnibus F4.md => boards/Omnibus F4.md}            | 0
 docs/{Board - Omnibus F7.md => boards/Omnibus F7.md}            | 0
 docs/{Board - PixRacer R14.md => boards/PixRacer R14.md}        | 0
 docs/{Board - Revolution.md => boards/Revolution.md}            | 0
 docs/{Board - WingFC.md => boards/WingFC.md}                    | 0
 docs/{Board - YuPiF4.md => boards/YuPiF4.md}                    | 0
 29 files changed, 1 insertion(+), 1 deletion(-)
 rename docs/{Board - Airbot F4 and Flip32 F4.md => boards/Airbot F4 and Flip32 F4.md} (100%)
 rename docs/{Board - AlienFlight.md => boards/AlienFlight.md} (100%)
 rename docs/{Board - AnyFC F7.md => boards/AnyFC F7.md} (100%)
 rename docs/{Board - BeeRotor F4.md => boards/BeeRotor F4.md} (100%)
 rename docs/{Board - BetFPVF722.md => boards/BetFPVF722.md} (100%)
 rename docs/{Board - DALRCF405.md => boards/DALRCF405.md} (100%)
 rename docs/{Board - DALRCF722DUAL.md => boards/DALRCF722DUAL.md} (100%)
 rename docs/{Board - FLYWOOF411.md => boards/FLYWOOF411.md} (100%)
 mode change 100755 => 100644
 rename docs/{Board - FOXEERF405.md => boards/FOXEERF405.md} (100%)
 rename docs/{Board - FOXEERF722DUAL.md => boards/FOXEERF722DUAL.md} (100%)
 rename docs/{Board - FrSky Pilot.md => boards/FrSky Pilot.md} (100%)
 rename docs/{Board - IFLIGHTF7_TWING.md => boards/IFLIGHTF7_TWING.md} (100%)
 rename docs/{Board - KroozX.md => boards/KroozX.md} (100%)
 mode change 100755 => 100644
 rename docs/{Board - Matek F411 Wing.md => boards/Matek F411 Wing.md} (100%)
 rename docs/{Board - Matek F411-WSE.md => boards/Matek F411-WSE.md} (100%)
 rename docs/{Board - Matek F722-STD.md => boards/Matek F722-STD.md} (100%)
 rename docs/{Board - MatekF405 Wing.md => boards/MatekF405 Wing.md} (100%)
 rename docs/{Board - MatekF405.md => boards/MatekF405.md} (100%)
 rename docs/{Board - MatekF722-SE.md => boards/MatekF722-SE.md} (100%)
 rename docs/{Board - MatekF722.md => boards/MatekF722.md} (100%)
 rename docs/{Board - MatekF765-Wing.md => boards/MatekF765-Wing.md} (100%)
 rename docs/{Board - NOX.md => boards/NOX.md} (100%)
 mode change 100755 => 100644
 rename docs/{Board - Omnibus F4.md => boards/Omnibus F4.md} (100%)
 rename docs/{Board - Omnibus F7.md => boards/Omnibus F7.md} (100%)
 rename docs/{Board - PixRacer R14.md => boards/PixRacer R14.md} (100%)
 rename docs/{Board - Revolution.md => boards/Revolution.md} (100%)
 rename docs/{Board - WingFC.md => boards/WingFC.md} (100%)
 rename docs/{Board - YuPiF4.md => boards/YuPiF4.md} (100%)

diff --git a/docs/Boards.md b/docs/Boards.md
index 6992bbbbc5..28e54bbdb5 100644
--- a/docs/Boards.md
+++ b/docs/Boards.md
@@ -30,7 +30,7 @@ These boards are well tested with INAV and are known to be of good quality and r
 It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
 ### Boards documentation
 
-See the [docs](https://github.com/iNavFlight/inav/tree/master/docs) folder for additional information regards to many targets in INAV, to example help in finding pinout and features. _Feel free to help improve the docs._
+See the [docs/boards](https://github.com/iNavFlight/inav/tree/master/docs/boards) folder for additional information regards to many targets in INAV, to example help in finding pinout and features. _Feel free to help improve the docs._
 
 ### Boards based on F4/F7 CPUs
 
diff --git a/docs/Board - Airbot F4 and Flip32 F4.md b/docs/boards/Airbot F4 and Flip32 F4.md
similarity index 100%
rename from docs/Board - Airbot F4 and Flip32 F4.md
rename to docs/boards/Airbot F4 and Flip32 F4.md
diff --git a/docs/Board - AlienFlight.md b/docs/boards/AlienFlight.md
similarity index 100%
rename from docs/Board - AlienFlight.md
rename to docs/boards/AlienFlight.md
diff --git a/docs/Board - AnyFC F7.md b/docs/boards/AnyFC F7.md
similarity index 100%
rename from docs/Board - AnyFC F7.md
rename to docs/boards/AnyFC F7.md
diff --git a/docs/Board - BeeRotor F4.md b/docs/boards/BeeRotor F4.md
similarity index 100%
rename from docs/Board - BeeRotor F4.md
rename to docs/boards/BeeRotor F4.md
diff --git a/docs/Board - BetFPVF722.md b/docs/boards/BetFPVF722.md
similarity index 100%
rename from docs/Board - BetFPVF722.md
rename to docs/boards/BetFPVF722.md
diff --git a/docs/Board - DALRCF405.md b/docs/boards/DALRCF405.md
similarity index 100%
rename from docs/Board - DALRCF405.md
rename to docs/boards/DALRCF405.md
diff --git a/docs/Board - DALRCF722DUAL.md b/docs/boards/DALRCF722DUAL.md
similarity index 100%
rename from docs/Board - DALRCF722DUAL.md
rename to docs/boards/DALRCF722DUAL.md
diff --git a/docs/Board - FLYWOOF411.md b/docs/boards/FLYWOOF411.md
old mode 100755
new mode 100644
similarity index 100%
rename from docs/Board - FLYWOOF411.md
rename to docs/boards/FLYWOOF411.md
diff --git a/docs/Board - FOXEERF405.md b/docs/boards/FOXEERF405.md
similarity index 100%
rename from docs/Board - FOXEERF405.md
rename to docs/boards/FOXEERF405.md
diff --git a/docs/Board - FOXEERF722DUAL.md b/docs/boards/FOXEERF722DUAL.md
similarity index 100%
rename from docs/Board - FOXEERF722DUAL.md
rename to docs/boards/FOXEERF722DUAL.md
diff --git a/docs/Board - FrSky Pilot.md b/docs/boards/FrSky Pilot.md
similarity index 100%
rename from docs/Board - FrSky Pilot.md
rename to docs/boards/FrSky Pilot.md
diff --git a/docs/Board - IFLIGHTF7_TWING.md b/docs/boards/IFLIGHTF7_TWING.md
similarity index 100%
rename from docs/Board - IFLIGHTF7_TWING.md
rename to docs/boards/IFLIGHTF7_TWING.md
diff --git a/docs/Board - KroozX.md b/docs/boards/KroozX.md
old mode 100755
new mode 100644
similarity index 100%
rename from docs/Board - KroozX.md
rename to docs/boards/KroozX.md
diff --git a/docs/Board - Matek F411 Wing.md b/docs/boards/Matek F411 Wing.md
similarity index 100%
rename from docs/Board - Matek F411 Wing.md
rename to docs/boards/Matek F411 Wing.md
diff --git a/docs/Board - Matek F411-WSE.md b/docs/boards/Matek F411-WSE.md
similarity index 100%
rename from docs/Board - Matek F411-WSE.md
rename to docs/boards/Matek F411-WSE.md
diff --git a/docs/Board - Matek F722-STD.md b/docs/boards/Matek F722-STD.md
similarity index 100%
rename from docs/Board - Matek F722-STD.md
rename to docs/boards/Matek F722-STD.md
diff --git a/docs/Board - MatekF405 Wing.md b/docs/boards/MatekF405 Wing.md
similarity index 100%
rename from docs/Board - MatekF405 Wing.md
rename to docs/boards/MatekF405 Wing.md
diff --git a/docs/Board - MatekF405.md b/docs/boards/MatekF405.md
similarity index 100%
rename from docs/Board - MatekF405.md
rename to docs/boards/MatekF405.md
diff --git a/docs/Board - MatekF722-SE.md b/docs/boards/MatekF722-SE.md
similarity index 100%
rename from docs/Board - MatekF722-SE.md
rename to docs/boards/MatekF722-SE.md
diff --git a/docs/Board - MatekF722.md b/docs/boards/MatekF722.md
similarity index 100%
rename from docs/Board - MatekF722.md
rename to docs/boards/MatekF722.md
diff --git a/docs/Board - MatekF765-Wing.md b/docs/boards/MatekF765-Wing.md
similarity index 100%
rename from docs/Board - MatekF765-Wing.md
rename to docs/boards/MatekF765-Wing.md
diff --git a/docs/Board - NOX.md b/docs/boards/NOX.md
old mode 100755
new mode 100644
similarity index 100%
rename from docs/Board - NOX.md
rename to docs/boards/NOX.md
diff --git a/docs/Board - Omnibus F4.md b/docs/boards/Omnibus F4.md
similarity index 100%
rename from docs/Board - Omnibus F4.md
rename to docs/boards/Omnibus F4.md
diff --git a/docs/Board - Omnibus F7.md b/docs/boards/Omnibus F7.md
similarity index 100%
rename from docs/Board - Omnibus F7.md
rename to docs/boards/Omnibus F7.md
diff --git a/docs/Board - PixRacer R14.md b/docs/boards/PixRacer R14.md
similarity index 100%
rename from docs/Board - PixRacer R14.md
rename to docs/boards/PixRacer R14.md
diff --git a/docs/Board - Revolution.md b/docs/boards/Revolution.md
similarity index 100%
rename from docs/Board - Revolution.md
rename to docs/boards/Revolution.md
diff --git a/docs/Board - WingFC.md b/docs/boards/WingFC.md
similarity index 100%
rename from docs/Board - WingFC.md
rename to docs/boards/WingFC.md
diff --git a/docs/Board - YuPiF4.md b/docs/boards/YuPiF4.md
similarity index 100%
rename from docs/Board - YuPiF4.md
rename to docs/boards/YuPiF4.md

From cdf318176a05bc5619a934bd8206d8e159f9429d Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 20 Sep 2021 08:57:51 +0100
Subject: [PATCH 292/336] Update navigation.c

Make failsafe applicable to WP mission continuation as well as RTH
---
 src/main/navigation/navigation.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 8ab2977e89..b216bc9f4f 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3189,14 +3189,14 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         }
 
         /* Keep Emergency landing mode active once triggered. Is cancelled when landing in progress if position sensors working again.
-         * If failsafe RTH not active landing also cancelled if WP or RTH deselected or if Manual or Althold modes selected.
+         * If failsafe not active landing also cancelled if WP or RTH deselected or if Manual or Althold modes selected.
          * Remains active if landing finished regardless of sensor status or flight mode selection */
         bool autonomousNavNotPossible = !(canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME));
         bool emergLandingCancel = IS_RC_MODE_ACTIVE(BOXMANUAL) || (IS_RC_MODE_ACTIVE(BOXNAVALTHOLD) && canActivateAltHold) ||
                                   !(IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVRTH));
 
         if (navigationIsExecutingAnEmergencyLanding()) {
-            if (autonomousNavNotPossible && (!emergLandingCancel || posControl.flags.forcedRTHActivated)) {
+            if (autonomousNavNotPossible && (!emergLandingCancel || FLIGHT_MODE(FAILSAFE_MODE))) {
                 return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
             }
         }

From 2e74dc3575f4a5b52fd7345e604744a74b04ad6c Mon Sep 17 00:00:00 2001
From: jmajew <jmajewsk@meil.pw.edu.pl>
Date: Tue, 21 Sep 2021 23:59:03 +0200
Subject: [PATCH 293/336] fix problem with smartaudio on softserial

---
 src/main/io/vtx_smartaudio.c | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/main/io/vtx_smartaudio.c b/src/main/io/vtx_smartaudio.c
index 3b0ff3e178..6e0bf8e695 100644
--- a/src/main/io/vtx_smartaudio.c
+++ b/src/main/io/vtx_smartaudio.c
@@ -492,14 +492,9 @@ static void saReceiveFramer(uint8_t c)
 
 static void saSendFrame(uint8_t *buf, int len)
 {
-    switch (smartAudioSerialPort->identifier) {
-        case SERIAL_PORT_SOFTSERIAL1:
-        case SERIAL_PORT_SOFTSERIAL2:
-            break;
-        default:
-            serialWrite(smartAudioSerialPort, 0x00); // Generate 1st start bit
-            break;
-    }
+    // TBS SA definition requires that the line is low before frame is sent
+    // (for both soft and hard serial). It can be done by sending first 0x00
+    serialWrite(smartAudioSerialPort, 0x00);
 
     for (int i = 0 ; i < len ; i++) {
         serialWrite(smartAudioSerialPort, buf[i]);

From b66caae07af6efc73440a3f4ad9bb8aabb1ee811 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 22 Sep 2021 22:32:56 +0100
Subject: [PATCH 294/336] Adding loiter radius to programming

Adding a loiter radius override to the programming. This change allows pilots to change their loiter radius on the fly. The minimum loiter radius will always be that set in Advanced Tuning, for safety. The maximum radius is 100000cm.

As part of this change, I increased the min and max constraints of the basic maths conditions. The were set to int16, however operands can be int32. Before the change, this caused clipping of the radius when performing basic calculus on it.
---
 docs/Programming Framework.md              |  6 ++++--
 src/main/navigation/navigation_fixedwing.c | 14 ++++++++++---
 src/main/programming/logic_condition.c     | 24 ++++++++++++++++++----
 src/main/programming/logic_condition.h     |  6 +++++-
 4 files changed, 40 insertions(+), 10 deletions(-)

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index b6f2780870..e23d915c8f 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -74,6 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
+| 41			| LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
 
 
 ### Operands
@@ -125,8 +126,9 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 30            | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
 | 31            | 3D HOME_DISTANCE      | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
-| 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
-| 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
+| 33            | CROSSFIRE SNR         | Crossfire SNR as returned by the CRSF protocol   |
+| 34            | GPS_VALID             | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
+| 35			| LOITER_RADIUS			| The current loiter radius in cm. |
 
 #### ACTIVE_WAYPOINT_ACTION
 
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 9845bde147..d9f6e668be 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -49,6 +49,8 @@
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
 
+#include "programming/logic_condition.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"
@@ -271,10 +273,16 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
     // Limit minimum forward velocity to 1 m/s
     float trackingDistance = trackingPeriod * MAX(posControl.actualState.velXY, 100.0f);
 
+    uint32_t navLoiterRadius = navConfig()->fw.loiter_radius;
+
+#ifdef USE_PROGRAMMING_FRAMEWORK
+    navLoiterRadius = getLoiterRadius(navConfig()->fw.loiter_radius);
+#endif
+
     // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target
     #define TAN_15DEG    0.26795f
     bool needToCalculateCircularLoiter = (isApproachingLastWaypoint() || isWaypointWait())
-                                            && (distanceToActualTarget <= (navConfig()->fw.loiter_radius / TAN_15DEG))
+                                            && (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG))
                                             && (distanceToActualTarget > 50.0f)
                                             && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
 
@@ -283,8 +291,8 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
         // We are closing in on a waypoint, calculate circular loiter
         float loiterAngle = atan2_approx(-posErrorY, -posErrorX) + DEGREES_TO_RADIANS(loiterDirection() * 45.0f);
 
-        float loiterTargetX = posControl.desiredState.pos.x + navConfig()->fw.loiter_radius * cos_approx(loiterAngle);
-        float loiterTargetY = posControl.desiredState.pos.y + navConfig()->fw.loiter_radius * sin_approx(loiterAngle);
+        float loiterTargetX = posControl.desiredState.pos.x + navLoiterRadius * cos_approx(loiterAngle);
+        float loiterTargetY = posControl.desiredState.pos.y + navLoiterRadius * sin_approx(loiterAngle);
 
         // We have temporary loiter target. Recalculate distance and position error
         posErrorX = loiterTargetX - navGetCurrentActualPositionAndVelocity()->pos.x;
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 5fa6f92733..44c0d213c6 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -176,20 +176,20 @@ static int logicConditionCompute(
             break;
 
         case LOGIC_CONDITION_ADD:
-            return constrain(operandA + operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA + operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_SUB:
-            return constrain(operandA - operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA - operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_MUL:
-            return constrain(operandA * operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA * operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_DIV:
             if (operandB != 0) {
-                return constrain(operandA / operandB, INT16_MIN, INT16_MAX);
+                return constrain(operandA / operandB, INT32_MIN, INT32_MAX);
             } else {
                 return operandA;
             }
@@ -333,6 +333,11 @@ static int logicConditionCompute(
             }
             break;
 
+        case LOGIC_CONDITION_LOITER_OVERRIDE:
+            logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE] = constrain(operandA, 0, 100000);
+            LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
+            return true;
+            break;
         default:
             return false;
             break; 
@@ -533,6 +538,9 @@ static int logicConditionGetFlightOperandValue(int operand) {
         #endif
             break;
 
+        case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
+            return getLoiterRadius(navConfig()->fw.loiter_radius);
+
         default:
             return 0;
             break;
@@ -720,3 +728,11 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
         return originalValue;
     }
 }
+
+uint32_t getLoiterRadius(uint32_t loiterRadius) {
+    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS)) {
+        return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
+    } else {
+        return loiterRadius;
+    }
+}
diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index 3b795ba43e..ad0abf90f7 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -70,7 +70,8 @@ typedef enum {
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
     LOGIC_CONDITION_MODULUS                     = 40,
-    LOGIC_CONDITION_LAST                        = 41,
+    LOGIC_CONDITION_LOITER_OVERRIDE             = 41,
+    LOGIC_CONDITION_LAST                        = 42,
 } logicOperation_e;
 
 typedef enum logicOperandType_s {
@@ -120,6 +121,7 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ,                                 // 32
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR,                                // 33
     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1                        // 34
+    LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS                            // 35
 
 } logicFlightOperands_e;
 
@@ -148,6 +150,7 @@ typedef enum {
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE = (1 << 6),
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7),
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL = (1 << 8),
+    LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS = (1 << 9),
 } logicConditionsGlobalFlags_t;
 
 typedef enum {
@@ -198,3 +201,4 @@ void logicConditionReset(void);
 float getThrottleScale(float globalThrottleScale);
 int16_t getRcCommandOverride(int16_t command[], uint8_t axis);
 int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue);
+uint32_t getLoiterRadius(uint32_t loiterRadius);

From a8614bac70f94e098817c2afd3e37aa388c8a9d9 Mon Sep 17 00:00:00 2001
From: Englebert <=>
Date: Fri, 24 Sep 2021 22:58:26 +0800
Subject: [PATCH 295/336] Fixed issue #7194, The DSHOT direction command
 requires repeats = 10 rather 6 to get the right spin direction.

---
 src/main/drivers/pwm_output.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 7861984ced..f084c19a21 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -357,7 +357,7 @@ static int getDShotCommandRepeats(dshotCommands_e cmd) {
     switch (cmd) {
         case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
         case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
-            repeats = 6;
+            repeats = 10;
             break;
         default:
             break;

From df1e013da9cbcfe306ffcbe281a3ed9276852364 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sun, 26 Sep 2021 11:01:43 +0100
Subject: [PATCH 296/336] fix array overflow with 11S-14S battery in Mavlink
 (#7478)

---
 src/main/telemetry/mavlink.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 2eb3723950..c97c73076b 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -664,7 +664,7 @@ void mavlinkSendHUDAndHeartbeat(void)
     }
 #endif
 
-    
+
     int16_t thr = rxGetChannelValue(THROTTLE);
     if (navigationIsControllingThrottle()) {
         thr = rcCommand[THROTTLE];
@@ -777,7 +777,7 @@ void mavlinkSendBatteryTemperatureStatusText(void)
                 if (cell < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN) {
                     batteryVoltages[cell] = getBatteryAverageCellVoltage() * 10;
                 } else {
-                    batteryVoltagesExt[cell] = getBatteryAverageCellVoltage() * 10;
+                    batteryVoltagesExt[cell-MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN] = getBatteryAverageCellVoltage() * 10;
                 }
             }
         }

From 2fec7a0285318d9e3576d56a06d5b88cc840ea6c Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 26 Sep 2021 19:48:04 +0100
Subject: [PATCH 297/336] Added nav mode check

The override loiter radius will now only apply to POSHOLD. Tested on the ground. Will not get to test in flight for at least 5 days.
---
 src/main/programming/logic_condition.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 44c0d213c6..d5f5a9f18b 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -730,7 +730,7 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
 }
 
 uint32_t getLoiterRadius(uint32_t loiterRadius) {
-    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS)) {
+    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) && FLIGHT_MODE(NAV_POSHOLD_MODE)) {
         return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
     } else {
         return loiterRadius;

From cfbab4a275a2490ae75cde18914e0af6a0100a16 Mon Sep 17 00:00:00 2001
From: JuliooCesarMDM <juliomatias123@outlook.com>
Date: Sun, 26 Sep 2021 19:17:46 -0300
Subject: [PATCH 298/336] fccore.c fix coding style

---
 src/main/fc/fc_core.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index fba1c08894..f72a773398 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -589,10 +589,11 @@ void tryArm(void)
 
         //beep to indicate arming
 #ifdef USE_NAV
-        if (navigationPositionEstimateIsHealthy())
+        if (navigationPositionEstimateIsHealthy()) {
             beeper(BEEPER_ARMING_GPS_FIX);
-        else
+        } else {
             beeper(BEEPER_ARMING);
+        }
 #else
         beeper(BEEPER_ARMING);
 #endif
@@ -614,8 +615,9 @@ void processRx(timeUs_t currentTimeUs)
 
     // in 3D mode, we need to be able to disarm by switch at any time
     if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-        if (!IS_RC_MODE_ACTIVE(BOXARM))
+        if (!IS_RC_MODE_ACTIVE(BOXARM)) {
             disarm(DISARM_SWITCH_3D);
+        }
     }
 
     updateRSSI(currentTimeUs);

From f5b3135a168e3161f96253d0393e72733e893b84 Mon Sep 17 00:00:00 2001
From: Ray Morris <deepmagicbeginshere@gmail.com>
Date: Mon, 27 Sep 2021 10:25:50 -0500
Subject: [PATCH 299/336] Fix image links in docs/boards/

---
 docs/boards/AnyFC F7.md   |  4 ++--
 docs/boards/BetFPVF722.md |  2 +-
 docs/boards/Omnibus F4.md | 14 +++++++-------
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/docs/boards/AnyFC F7.md b/docs/boards/AnyFC F7.md
index eedaa58319..829ed05f8c 100644
--- a/docs/boards/AnyFC F7.md	
+++ b/docs/boards/AnyFC F7.md	
@@ -71,7 +71,7 @@ Airplanes
 
 Buzzer is supported with additional switching MOSFET transistor when connected to PWM Output #9. 
 
-![Buzzer](assets/images/anyfcf7_buzzer_pwm9.png)
+![Buzzer](../assets/images/anyfcf7_buzzer_pwm9.png)
 
 ## SD Card Detection
 
@@ -83,4 +83,4 @@ Buzzer is supported with additional switching MOSFET transistor when connected t
 
 # AnyFC F7 Pro from Banggood
 
-This board is not yet officially supported. It _should_ work but INAV devs did not tested it yet. Use on your own responsibility
\ No newline at end of file
+This board is not yet officially supported. It _should_ work but INAV devs did not tested it yet. Use on your own responsibility
diff --git a/docs/boards/BetFPVF722.md b/docs/boards/BetFPVF722.md
index 387c9f8de2..6f3508ba0f 100644
--- a/docs/boards/BetFPVF722.md
+++ b/docs/boards/BetFPVF722.md
@@ -9,4 +9,4 @@ BetFPVF722 does not have I2C pads broken out. I2C is shared with UART3
 
 > I2C and UART3 can not be used at the same time! Connect the serial receiver to a different serial port when I2C device like MAG is used.
 
-![BetaFPVF722 I2C](assets/betafpvf722.png)
\ No newline at end of file
+![BetaFPVF722 I2C](../assets/betafpvf722.png)
diff --git a/docs/boards/Omnibus F4.md b/docs/boards/Omnibus F4.md
index d4e09dd5b8..67e9a23c59 100644
--- a/docs/boards/Omnibus F4.md	
+++ b/docs/boards/Omnibus F4.md	
@@ -155,14 +155,14 @@ This board allows for single **SoftwareSerial** port on small soldering pads loc
 Please note that this is *not* the motor PWM5/PWM6 pins, but small surface mount pads CH5/CH6.
 
 ### Omnibus F4 Pro SoftwareSerial Connections
-![Omnibus F4 Pro SoftwareSerial Connections](assets/images/omnibusf4pro_ss.jpg)
+![Omnibus F4 Pro SoftwareSerial Connections](../assets/images/omnibusf4pro_ss.jpg)
 
 | Pad   | SoftwareSerial Role   |
 | ----  | ----                  |
 | CH5   | RX                    |
 | CH6   | TX                    |
 
-![Omnibus F4 Pro SmartPort using SoftwareSerial](assets/images/omnibusf4pro_ss.png)
+![Omnibus F4 Pro SmartPort using SoftwareSerial](../assets/images/omnibusf4pro_ss.png)
 
 ### Omnibus F4 v3/v4/v5 SoftwareSerial Connections
 
@@ -181,22 +181,22 @@ Following diagrams applies to _Pro_ version with integrated current meter and JS
 
 ## Board layout
 
-![Omnibus F4 Pro Board Layout](assets/images/omnibusf4pro.png)
+![Omnibus F4 Pro Board Layout](../assets/images/omnibusf4pro.png)
 
 ## Flying wing motor and servos
 
-![Omnibus F4 Pro Flying Wing Setup](assets/images/omnibusf4pro_flyingwing_setup.png)
+![Omnibus F4 Pro Flying Wing Setup](../assets/images/omnibusf4pro_flyingwing_setup.png)
 
 ## RX setup
 
-![Omnibus F4 Pro RX Setup](assets/images/omnibusf4pro_rx.png)
+![Omnibus F4 Pro RX Setup](../assets/images/omnibusf4pro_rx.png)
 
 ## FPV setup
 
-![Omnibus F4 Pro FPV Setup](assets/images/omnibusf4pro_fpv_setup.png)
+![Omnibus F4 Pro FPV Setup](../assets/images/omnibusf4pro_fpv_setup.png)
 
 ## GPS setup
 
-![Omnibus F4 Pro GPS Setup](assets/images/omnibusf4pro_gps_setup.png)
+![Omnibus F4 Pro GPS Setup](../assets/images/omnibusf4pro_gps_setup.png)
 
 _Diagrams created by Albert Kravcov (skaman82)_

From 8d5a0b0b8cab562269cd06b46ceb83d63adb0906 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 27 Sep 2021 16:47:37 +0100
Subject: [PATCH 300/336] Changed the logic

I've changed the logic so that it now explicitly ignores certain modes (RTH, WP, FS, and emergency landing). This way the override radius can be changed without being in POS HOLD, allowing it to be preselected.
---
 src/main/programming/logic_condition.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index d5f5a9f18b..4326e6e8b8 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -730,7 +730,8 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
 }
 
 uint32_t getLoiterRadius(uint32_t loiterRadius) {
-    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) && FLIGHT_MODE(NAV_POSHOLD_MODE)) {
+    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) && 
+        !(FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding())) {
         return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
     } else {
         return loiterRadius;

From 07b695ef2f19428737aad22904de4d9effd70a24 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Tue, 28 Sep 2021 12:52:14 +0100
Subject: [PATCH 301/336] The "Atomic Barrier.md" is obsolete (via #5557),
 remove it (#7486)

---
 docs/development/Atomic Barrier.md | 51 ------------------------------
 1 file changed, 51 deletions(-)
 delete mode 100644 docs/development/Atomic Barrier.md

diff --git a/docs/development/Atomic Barrier.md b/docs/development/Atomic Barrier.md
deleted file mode 100644
index d87275b54f..0000000000
--- a/docs/development/Atomic Barrier.md	
+++ /dev/null
@@ -1,51 +0,0 @@
-# Atomic Barrier Warning
-
-If GCC is upgraded and a warning appears when compiling then the generated asm source must be verified.
-
-e.g.  
-```
-%% serial_softserial.c
-warning "Please verify that ATOMIC_BARRIER works as intended"
-```
-
-To perform the verification, proceed as per discusson on issue #167 which reads:
-
-I hope it's enough to check that optimized-away variable still has cleanup code at end of scope.
-
-```
-static int markme=0;
-markme++;
-ATOMIC_BLOCK_NB(0xff) {
-   ATOMIC_BARRIER(markme);
-   markme++;
-};
-markme++;
-```
-
-pass `-save-temps=obj` (or `-save-temps=cwd`, but lots of files will end up in same directory as makefile) to gcc link step (LTO is in use), find resulting `*.ltrans*.ltrans.s` (grep for `markme`, on linux it ends up in `/tmp`) and check that generated assembly sequence is:
-
-```
-                 MSR basepri_max, r3
-# (possibly markme address load)
-                # barier (markme) start
-
-# (increment markme, load and store to memory)
-        ldr     r2, [r3]
-        adds    r0, r2, #1
-        str     r0, [r3]
-
-                # barier(markme)  end
-                MSR basepri, r3
-
-# (markme value should be cached in register on next increment)
-```
-
-The # barrier(markme) must surround access code and must be inside MSR basepri instructions ..
-
-Similar approach is used for ATOMIC_BLOCK in avr libraries, so gcc should not break this behavior.
-
-IMO attribute(cleanup) and asm volatile is defined in a way that should guarantee this.
-
-attribute(cleanup) is probably safer way to implement atomic sections - another possibility is to explicitly place barriers in code, but that can (and will eventually) lead to missed barrier/basepri restore on same path creating very hard to find bug.
-
-The MEMORY_BARRIER() code can be omitted and use ATOMIC_BLOCK with full memory barriers, but IMO it is better to explicitly state what memory is protected by barrier and gcc can use this knowledge to greatly improve generated code in future.

From e6faaf9f67c4602c02cbb6bd4eb5e2e39e2e60ef Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 30 Sep 2021 11:10:00 +0100
Subject: [PATCH 302/336] Update failsafe.c

---
 src/main/flight/failsafe.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 4b5f75f501..ee39176b5d 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -378,7 +378,7 @@ static bool failsafeCheckStickMotion(void)
 
 static failsafeProcedure_e failsafeChooseFailsafeProcedure(void)
 {
-    if (FLIGHT_MODE(NAV_WP_MODE) && !failsafeConfig()->failsafe_mission) {
+    if ((FLIGHT_MODE(NAV_WP_MODE) || isWaypointMissionRTHActive()) && !failsafeConfig()->failsafe_mission) {
         return FAILSAFE_PROCEDURE_NONE;
     }
 

From 1d30d0ed19cc27f0df9f68235c9c16157dfe30b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Maggioni?= <nicco.maggioni@gmail.com>
Date: Fri, 1 Oct 2021 21:18:54 +0200
Subject: [PATCH 303/336] Enable FW motors and servos on ZEEZF7V2

---
 src/main/target/ZEEZF7/target.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/target/ZEEZF7/target.c b/src/main/target/ZEEZF7/target.c
index b0ede6a513..e85f35b3fc 100755
--- a/src/main/target/ZEEZF7/target.c
+++ b/src/main/target/ZEEZF7/target.c
@@ -26,14 +26,14 @@
 
 const timerHardware_t timerHardware[] = {
 #ifdef ZEEZF7V2
-    DEF_TIM(TIM4, CH2,  PB7, TIM_USE_MC_MOTOR, 0, 0), // S1
-    DEF_TIM(TIM4, CH1,  PB6, TIM_USE_MC_MOTOR, 0, 0), // S2
-    DEF_TIM(TIM3, CH1,  PB4, TIM_USE_MC_MOTOR, 0, 0), // S3
-    DEF_TIM(TIM2, CH2,  PB3, TIM_USE_MC_MOTOR, 0, 0), // S4
-    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_MC_MOTOR, 0, 0), // S5
-    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_MC_MOTOR, 0, 0), // S6
-    DEF_TIM(TIM8, CH1,  PC6, TIM_USE_MC_MOTOR, 0, 0), // S7
-    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_MC_MOTOR, 0, 0), // S8
+    DEF_TIM(TIM4, CH2,  PB7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1
+    DEF_TIM(TIM4, CH1,  PB6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S2
+    DEF_TIM(TIM3, CH1,  PB4, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S3
+    DEF_TIM(TIM2, CH2,  PB3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S4
+    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S5
+    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S6
+    DEF_TIM(TIM8, CH1,  PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1), // S7
+    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S8
 #else
     DEF_TIM(TIM4, CH3,  PB8, TIM_USE_MC_MOTOR, 0, 0), // S1
     DEF_TIM(TIM4, CH2,  PB7, TIM_USE_MC_MOTOR, 0, 0), // S2

From 01c11c30713725e5f0d7756859925d8248ff4ff7 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 1 Oct 2021 21:18:12 +0100
Subject: [PATCH 304/336] Set manual rc expo to 35

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 3ee938f9c9..70789c9ead 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1401,7 +1401,7 @@ groups:
         max: 180
       - name: manual_rc_expo
         description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]"
-        default_value: 70
+        default_value: 35
         field: manual.rcExpo8
         min: 0
         max: 100

From 60fe1ccb10755c62cb77ed3e51241151c7e2fbf5 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 1 Oct 2021 21:44:39 +0100
Subject: [PATCH 305/336] Update Settings.md

---
 docs/Settings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 4a5f68750b..d53df0dd7e 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2478,7 +2478,7 @@ Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 70 | 0 | 100 |
+| 35 | 0 | 100 |
 
 ---
 

From 4def376ce5644c19ff55eae73b9925bc67248eab Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Fri, 8 Oct 2021 13:38:21 -0700
Subject: [PATCH 306/336] BMI270: support for reading IMU temperature

---
 src/main/drivers/accgyro/accgyro_bmi270.c | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
index b76703ab28..c578df4b70 100644
--- a/src/main/drivers/accgyro/accgyro_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_bmi270.c
@@ -283,6 +283,21 @@ static bool bmi270AccReadScratchpad(accDev_t *acc)
     return false;
 }
 
+static bool bmi270TemperatureRead(gyroDev_t *gyro, int16_t * data)
+{
+    uint8_t buffer[3];
+
+    bool readStatus = busReadBuf(gyro->busDev, BMI270_REG_TEMPERATURE_LSB, &buffer[0], sizeof(buffer));
+
+    if (readStatus) {
+        // Convert to degC*10: degC = raw / 512 + 23
+        *data = 230 + ((10 * (int32_t)((int16_t)((buffer[2] << 8) | buffer[1]))) >> 9);
+        return true;
+    }
+
+    return false;
+}
+
 static void bmi270GyroInit(gyroDev_t *gyro)
 {
     bmi270AccAndGyroInit(gyro);
@@ -331,6 +346,7 @@ bool bmi270GyroDetect(gyroDev_t *gyro)
 
     gyro->initFn = bmi270GyroInit;
     gyro->readFn = bmi270yroReadScratchpad;
+    gyro->temperatureFn = bmi270TemperatureRead;
     gyro->intStatusFn = gyroCheckDataReady;
     gyro->scale = 1.0f / 16.4f; // 2000 dps
     return true;

From 0804a0446ba9e9d4c96165837e53e534e02a9a5b Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Sun, 17 Oct 2021 14:25:59 +0100
Subject: [PATCH 307/336] make max WP 120 (#7510)

---
 src/main/target/common.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/common.h b/src/main/target/common.h
index 8416ab194a..0955a00b92 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -79,7 +79,7 @@
 
 #if (MCU_FLASH_SIZE > 256)
 
-#if defined(MAG_I2C_BUS) || defined(VCM5883_I2C_BUS)    
+#if defined(MAG_I2C_BUS) || defined(VCM5883_I2C_BUS)
 #define USE_MAG_VCM5883
 #endif
 
@@ -190,7 +190,7 @@
 //#define USE_MSP_RC_OVERRIDE
 #define USE_SERIALRX_CRSF
 #define USE_SERIAL_PASSTHROUGH
-#define NAV_MAX_WAYPOINTS       60
+#define NAV_MAX_WAYPOINTS       120
 #define USE_RCDEVICE
 
 //Enable VTX control

From d709c15aeca9f14600800545f1e227a09dd42af2 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 18 Oct 2021 12:53:46 +0100
Subject: [PATCH 308/336] Update Building in Windows 10 or 11 with Linux
 Subsystem.md

Updated the documentation for the WSL versions.
---
 .../Building in Windows 10 or 11 with Linux Subsystem.md    | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
index 24ab2be06a..2ad5a5d36d 100644
--- a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
+++ b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
@@ -148,7 +148,11 @@ If you see your Linux distribution is using WSL 2, this is the problem. WSL 2 is
 1. Put your files on the Linux file system
 2. Change to WSL 1
 
-I opted for the latter. To do this, in the elevated PowerShell window, you can see the name of your distro. Mine is **Ubuntu-20.04**, so I'll use that in this example. Simply type
+#### Using the Linux file system (recommended)
+To use the Linux file system, make sure the distro is running. Open File Explorer and navigate to `\\wsl$`. In that path you will find your distros listed. At this point, map a network drive to your distro. Inside the distro, you can find your home directory at `/home/__username__/`. Create your GitHub folders here.
+
+#### To switch back to WSL 1
+To do this, in the elevated PowerShell window, you can see the name of your distro. Mine is **Ubuntu-20.04**, so I'll use that in this example. Simply type
 ```
 wsl --set-version Ubuntu-20.04 1
 ```

From d70d964d614fbf86bc9176a371b6d5a44cb3f811 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 18 Oct 2021 13:40:13 +0100
Subject: [PATCH 309/336] Update Building in Windows 10 or 11 with Linux
 Subsystem.md

Added fix for write issue when using the linux file system for WSL2
---
 .../Building in Windows 10 or 11 with Linux Subsystem.md  | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md
index 2ad5a5d36d..0b12a48c12 100644
--- a/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
+++ b/docs/development/Building in Windows 10 or 11 with Linux Subsystem.md	
@@ -149,7 +149,13 @@ If you see your Linux distribution is using WSL 2, this is the problem. WSL 2 is
 2. Change to WSL 1
 
 #### Using the Linux file system (recommended)
-To use the Linux file system, make sure the distro is running. Open File Explorer and navigate to `\\wsl$`. In that path you will find your distros listed. At this point, map a network drive to your distro. Inside the distro, you can find your home directory at `/home/__username__/`. Create your GitHub folders here.
+To use the Linux file system, make sure the distro is running. Open File Explorer and navigate to `\\wsl$`. In that path you will find your distros listed. At this point, map a network drive to your distro. Inside the distro, you can find your home directory at `/home/~username~/`. Create your GitHub folders here.
+
+If after this you have problems with writing to the directories from within VSCode. Open the application for your distro and type
+```
+sudo chown -R ~username~ GitHub
+```
+`~Username~` is your root distro user that you created and `GitHub` should be the root folder for your GitHub repositories.
 
 #### To switch back to WSL 1
 To do this, in the elevated PowerShell window, you can see the name of your distro. Mine is **Ubuntu-20.04**, so I'll use that in this example. Simply type

From f9d68cea85a358b59a8bfdbac05ebc15ad5abc8a Mon Sep 17 00:00:00 2001
From: Mr D <darren@darrenlines.uk>
Date: Mon, 18 Oct 2021 18:02:21 +0100
Subject: [PATCH 310/336] Added selectable precision to the OSD RPM

I've added selectable precision to the ESC RPM, as shown in the OSD. The default is 3, which is the same as the current RPM display.
---
 docs/Settings.md          | 10 ++++++++++
 src/main/fc/settings.yaml |  8 +++++++-
 src/main/io/osd.c         | 33 +++++++++++++++++++++++++++------
 src/main/io/osd.h         |  1 +
 4 files changed, 45 insertions(+), 7 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index d53df0dd7e..f030464717 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4122,6 +4122,16 @@ Value above which to make the OSD distance from home indicator blink (meters)
 
 ---
 
+### osd_esc_rpm_precision
+
+Number of characters used to display the RPM value.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3 | 3 | 6 |
+
+---
+
 ### osd_esc_temp_alarm_max
 
 Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 70789c9ead..3becec8c4e 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3340,7 +3340,6 @@ groups:
         description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)"
         default_value: 0
         field: hud_wp_disp
-
         min: 0
         max: 3
       - name: osd_left_sidebar_scroll
@@ -3476,6 +3475,13 @@ groups:
         min: -36
         max: 36
 
+      - name: osd_esc_rpm_precision
+        description: Number of characters used to display the RPM value.
+        field: esc_rpm_precision
+        min: 3
+        max: 6
+        default_value: 3
+
   - name: PG_OSD_COMMON_CONFIG
     type: osdCommonConfig_t
     headers: ["io/osd_common.h"]
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 268815268f..b6f7c2b37f 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1037,17 +1037,37 @@ static void osdFormatRpm(char *buff, uint32_t rpm)
 {
     buff[0] = SYM_RPM;
     if (rpm) {
-        if (rpm >= 1000) {
-            osdFormatCentiNumber(buff + 1, rpm / 10, 0, 1, 1, 2);
-            buff[3] = 'K';
-            buff[4] = '\0';
+        if ( digitCount(rpm) > osdConfig()->esc_rpm_precision) {
+            uint8_t rpmMaxDecimals = (osdConfig()->esc_rpm_precision - 3);
+            osdFormatCentiNumber(buff + 1, rpm / 10, 0, rpmMaxDecimals, rpmMaxDecimals, osdConfig()->esc_rpm_precision-1);
+            buff[osdConfig()->esc_rpm_precision] = 'K';
+            buff[osdConfig()->esc_rpm_precision+1] = '\0';
         }
         else {
-            tfp_sprintf(buff + 1, "%3lu", rpm);
+            switch(osdConfig()->esc_rpm_precision) {
+                case 6:
+                    tfp_sprintf(buff + 1, "%6lu", rpm);
+                    break;
+                case 5:
+                    tfp_sprintf(buff + 1, "%5lu", rpm);
+                    break;
+                case 4:
+                    tfp_sprintf(buff + 1, "%4lu", rpm);
+                    break;
+                case 3:
+                default:
+                    tfp_sprintf(buff + 1, "%3lu", rpm);
+                    break;
+            }
+
+            
         }
     }
     else {
-        strcpy(buff + 1, "---");
+        uint8_t buffPos = 1;
+        while (buffPos <=( osdConfig()->esc_rpm_precision)) {
+            strcpy(buff + buffPos++, "-");
+        }
     }
 }
 #endif
@@ -3148,6 +3168,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .osd_home_position_arm_screen = SETTING_OSD_HOME_POSITION_ARM_SCREEN_DEFAULT,
     .pan_servo_index = SETTING_OSD_PAN_SERVO_INDEX_DEFAULT,
     .pan_servo_pwm2centideg = SETTING_OSD_PAN_SERVO_PWM2CENTIDEG_DEFAULT,
+    .esc_rpm_precision = SETTING_OSD_ESC_RPM_PRECISION_DEFAULT,
 
     .units = SETTING_OSD_UNITS_DEFAULT,
     .main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e46a3bc0bb..fffdc37bf3 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -383,6 +383,7 @@ typedef struct osdConfig_s {
     uint8_t crsf_lq_format;
     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
     uint8_t telemetry; 				    // use telemetry on displayed pixel line 0
+    uint8_t esc_rpm_precision;          // Number of characters used for the RPM numbers.
 
 } osdConfig_t;
 

From 3b45ea408619cbcbef256d7fd6397b4a65b41e84 Mon Sep 17 00:00:00 2001
From: Mr D <darren@darrenlines.uk>
Date: Tue, 19 Oct 2021 15:31:12 +0100
Subject: [PATCH 311/336] Added mission loaded to system message

Added a message to the OSD system messages to show that a waypoint mission is loaded, when disarmed.
---
 src/main/io/osd.c | 74 +++++++++++++++++++++++++++--------------------
 src/main/io/osd.h |  1 +
 2 files changed, 43 insertions(+), 32 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 268815268f..1f08da45e0 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4107,13 +4107,13 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
     if (buff != NULL) {
         const char *message = NULL;
         char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)];
-        if (ARMING_FLAG(ARMED)) {
-            // Aircraft is armed. We might have up to 5
-            // messages to show.
-            const char *messages[5];
-            unsigned messageCount = 0;
-            const char *failsafeInfoMessage = NULL;
+        // We might have up to 5 messages to show.
+        const char *messages[5];
+        unsigned messageCount = 0;
+        const char *failsafeInfoMessage = NULL;
+        const char *invertedInfoMessage = NULL;
 
+        if (ARMING_FLAG(ARMED)) {
             if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
                 if (isWaypointMissionRTHActive()) {
                     // if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
@@ -4188,45 +4188,55 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     }
                 }
             }
-            if (messageCount > 0) {
-                message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
-                if (message == failsafeInfoMessage) {
-                    // failsafeInfoMessage is not useful for recovering
-                    // a lost model, but might help avoiding a crash.
-                    // Blink to grab user attention.
-                    TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
-                }
-                // We're shoing either failsafePhaseMessage or
-                // navStateMessage. Don't BLINK here since
-                // having this text available might be crucial
-                // during a lost aircraft recovery and blinking
-                // will cause it to be missing from some frames.
-            }
         } else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) {
             unsigned invalidIndex;
+            
             // Check if we're unable to arm for some reason
             if (ARMING_FLAG(ARMING_DISABLED_INVALID_SETTING) && !settingsValidate(&invalidIndex)) {
-                if (OSD_ALTERNATING_CHOICES(1000, 2) == 0) {
+                
                     const setting_t *setting = settingGet(invalidIndex);
                     settingGetName(setting, messageBuf);
                     for (int ii = 0; messageBuf[ii]; ii++) {
                         messageBuf[ii] = sl_toupper(messageBuf[ii]);
                     }
-                    message = messageBuf;
-                } else {
-                    message = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING);
-                    TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr);
-                }
+                    invertedInfoMessage = messageBuf;
+                    messages[messageCount++] = invertedInfoMessage;
+                
+                    invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING);
+                    messages[messageCount++] = invertedInfoMessage;
+                
             } else {
-                if (OSD_ALTERNATING_CHOICES(1000, 2) == 0) {
-                    message = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM);
-                    TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr);
-                } else {
+                
+                    invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM);
+                    messages[messageCount++] = invertedInfoMessage;
+                
                     // Show the reason for not arming
-                    message = osdArmingDisabledReasonMessage();
-                }
+                    messages[messageCount++] = osdArmingDisabledReasonMessage();
+                
+            }
+        } else if (!ARMING_FLAG(ARMED)) {
+            if (isWaypointListValid()) {
+                messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_MISSION_LOADED);
             }
         }
+
+        if (messageCount > 0) {
+            message = messages[OSD_ALTERNATING_CHOICES(1000, messageCount)];
+            if (message == failsafeInfoMessage) {
+                // failsafeInfoMessage is not useful for recovering
+                // a lost model, but might help avoiding a crash.
+                // Blink to grab user attention.
+                TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
+            } else if (message == invertedInfoMessage) {
+                TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr);
+            }
+            // We're shoing either failsafePhaseMessage or
+            // navStateMessage. Don't BLINK here since
+            // having this text available might be crucial
+            // during a lost aircraft recovery and blinking
+            // will cause it to be missing from some frames.
+        }
+
         osdFormatMessage(buff, buff_size, message, isCenteredText);
     }
     return elemAttr;
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index e46a3bc0bb..3f296ba66f 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -86,6 +86,7 @@
 #define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
 #define OSD_MSG_WP_RTH_CANCEL       "CANCEL WP TO EXIT RTH"
+#define OSD_MSG_WP_MISSION_LOADED   "* MISSION LOADED *"
 #define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"
 #define OSD_MSG_LANDING             "LANDING"
 #define OSD_MSG_LOITERING_HOME      "LOITERING AROUND HOME"

From af8bc221eb1dda4fbac307f0206493cf58f1c994 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 20 Oct 2021 20:47:11 +0200
Subject: [PATCH 312/336] Simplify dynamic notch setup and set ON by default

---
 src/main/blackbox/blackbox.c  |  1 -
 src/main/fc/settings.yaml     | 12 +++---------
 src/main/flight/gyroanalyse.c | 16 +---------------
 src/main/flight/gyroanalyse.h |  1 -
 src/main/sensors/gyro.c       |  2 --
 src/main/sensors/gyro.h       |  1 -
 6 files changed, 4 insertions(+), 29 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index ebdec54d68..68f22eadef 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1809,7 +1809,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d",                     gyroConfig()->gyro_main_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d",                   gyroConfig()->gyro_main_lpf_type);
 #ifdef USE_DYNAMIC_FILTERS
-        BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchRange", "%d",           gyroConfig()->dynamicGyroNotchRange);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d",           gyroConfig()->dynamicGyroNotchMinHz);
 #endif
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 70789c9ead..a0c5314a7f 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -280,16 +280,10 @@ groups:
         max: 10
       - name: dynamic_gyro_notch_enabled
         description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
-        default_value: OFF
+        default_value: ON
         field: dynamicGyroNotchEnabled
         condition: USE_DYNAMIC_FILTERS
         type: bool
-      - name: dynamic_gyro_notch_range
-        description: "Range for dynamic gyro notches. `MEDIUM` for 5\", `HIGH` for 3\" and `MEDIUM`/`LOW` for 7\" and bigger propellers"
-        default_value: "MEDIUM"
-        field: dynamicGyroNotchRange
-        condition: USE_DYNAMIC_FILTERS
-        table: dynamicFilterRangeTable
       - name: dynamic_gyro_notch_q
         description: "Q factor for dynamic notches"
         default_value: 120
@@ -298,8 +292,8 @@ groups:
         min: 1
         max: 1000
       - name: dynamic_gyro_notch_min_hz
-        description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
-        default_value: 150
+        description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
+        default_value: 50
         field: dynamicGyroNotchMinHz
         condition: USE_DYNAMIC_FILTERS
         min: 30
diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index b85d538a15..7cffd9c0b6 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -60,25 +60,11 @@ FILE_COMPILE_FOR_SPEED
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
     uint16_t minFrequency,
-    uint8_t range,
     uint32_t targetLooptimeUs
 ) {
-    state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_LOW;
     state->minFrequency = minFrequency;
 
-    if (range == DYN_NOTCH_RANGE_HIGH) {
-        state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_HIGH;
-    }
-    else if (range == DYN_NOTCH_RANGE_MEDIUM) {
-        state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_MEDIUM;
-    }
-
-    // If we get at least 3 samples then use the default FFT sample frequency
-    // otherwise we need to calculate a FFT sample frequency to ensure we get 3 samples (gyro loops < 4K)
-    const int gyroLoopRateHz = lrintf((1.0f / targetLooptimeUs) * 1e6f);
-    
-    state->fftSamplingRateHz = MIN((gyroLoopRateHz / 3), state->fftSamplingRateHz);
-
+    state->fftSamplingRateHz = lrintf(1e6f / targetLooptimeUs / 3); // Looptime divided by 3
     state->fftResolution = (float)state->fftSamplingRateHz / FFT_WINDOW_SIZE;
 
     state->fftStartBin = state->minFrequency / lrintf(state->fftResolution);
diff --git a/src/main/flight/gyroanalyse.h b/src/main/flight/gyroanalyse.h
index b6de10e40a..949a9248a5 100644
--- a/src/main/flight/gyroanalyse.h
+++ b/src/main/flight/gyroanalyse.h
@@ -69,7 +69,6 @@ STATIC_ASSERT(FFT_WINDOW_SIZE <= (uint8_t) -1, window_size_greater_than_underlyi
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
     uint16_t minFrequency,
-    uint8_t range,
     uint32_t targetLooptimeUs
 );
 void gyroDataAnalysePush(gyroAnalyseState_t *gyroAnalyse, int axis, float sample);
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index e1e12bc4d8..7b90e52292 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -131,7 +131,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT,
     .gyroDynamicLpfCurveExpo = SETTING_GYRO_DYN_LPF_CURVE_EXPO_DEFAULT,
 #ifdef USE_DYNAMIC_FILTERS
-    .dynamicGyroNotchRange = SETTING_DYNAMIC_GYRO_NOTCH_RANGE_DEFAULT,
     .dynamicGyroNotchQ = SETTING_DYNAMIC_GYRO_NOTCH_Q_DEFAULT,
     .dynamicGyroNotchMinHz = SETTING_DYNAMIC_GYRO_NOTCH_MIN_HZ_DEFAULT,
     .dynamicGyroNotchEnabled = SETTING_DYNAMIC_GYRO_NOTCH_ENABLED_DEFAULT,
@@ -384,7 +383,6 @@ bool gyroInit(void)
     gyroDataAnalyseStateInit(
         &gyroAnalyseState, 
         gyroConfig()->dynamicGyroNotchMinHz,
-        gyroConfig()->dynamicGyroNotchRange,
         getLooptime()
     );
 #endif
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 545493763e..db1ec22421 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -78,7 +78,6 @@ typedef struct gyroConfig_s {
     uint16_t gyroDynamicLpfMaxHz;
     uint8_t gyroDynamicLpfCurveExpo;
 #ifdef USE_DYNAMIC_FILTERS
-    uint8_t dynamicGyroNotchRange;
     uint16_t dynamicGyroNotchQ;
     uint16_t dynamicGyroNotchMinHz;
     uint8_t dynamicGyroNotchEnabled;

From f00ffd931b774f5a226441d6bfe4d13387842ace Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 20 Oct 2021 21:48:26 +0200
Subject: [PATCH 313/336] Increase FFT window to 64 samples

---
 src/main/flight/gyroanalyse.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/flight/gyroanalyse.h b/src/main/flight/gyroanalyse.h
index b6de10e40a..54b5c37eff 100644
--- a/src/main/flight/gyroanalyse.h
+++ b/src/main/flight/gyroanalyse.h
@@ -25,8 +25,7 @@
 #include "arm_math.h"
 #include "common/filter.h"
 
-// max for F3 targets
-#define FFT_WINDOW_SIZE 32
+#define FFT_WINDOW_SIZE 64
 
 typedef struct gyroAnalyseState_s {
     // accumulator for oversampled data => no aliasing and less noise

From 8471a2871824ae1837d6ddb57beaeafcc75caf70 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 20 Oct 2021 21:50:29 +0200
Subject: [PATCH 314/336] Docs update

---
 docs/Settings.md | 16 +++-------------
 1 file changed, 3 insertions(+), 13 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index d53df0dd7e..e65f2f1d0d 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -788,17 +788,17 @@ Enable/disable dynamic gyro notch also known as Matrix Filter
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF |  |  |
+| ON |  |  |
 
 ---
 
 ### dynamic_gyro_notch_min_hz
 
-Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70`
+Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70`
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 150 | 30 | 1000 |
+| 50 | 30 | 1000 |
 
 ---
 
@@ -812,16 +812,6 @@ Q factor for dynamic notches
 
 ---
 
-### dynamic_gyro_notch_range
-
-Range for dynamic gyro notches. `MEDIUM` for 5", `HIGH` for 3" and `MEDIUM`/`LOW` for 7" and bigger propellers
-
-| Default | Min | Max |
-| --- | --- | --- |
-| MEDIUM |  |  |
-
----
-
 ### eleres_freq
 
 _// TODO_

From e67f1ff197057ef4fca329338f7d2e3e8897c41e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 20 Oct 2021 22:01:41 +0200
Subject: [PATCH 315/336] Further cleanup

---
 src/main/fc/settings.yaml |  3 ---
 src/main/sensors/gyro.h   | 10 ----------
 2 files changed, 13 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index a0c5314a7f..d585856fb1 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -144,9 +144,6 @@ tables:
   - name: rssi_source
     values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
     enum: rssiSource_e
-  - name: dynamicFilterRangeTable
-    values: ["HIGH", "MEDIUM", "LOW"]
-    enum: dynamicFilterRange_e
   - name: pidTypeTable
     values: ["NONE", "PID", "PIFF", "AUTO"]
     enum: pidType_e
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index db1ec22421..7d76c3b057 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -41,16 +41,6 @@ typedef enum {
     GYRO_FAKE
 } gyroSensor_e;
 
-typedef enum {
-    DYN_NOTCH_RANGE_HIGH = 0,
-    DYN_NOTCH_RANGE_MEDIUM,
-    DYN_NOTCH_RANGE_LOW
-} dynamicFilterRange_e;
-
-#define DYN_NOTCH_RANGE_HZ_HIGH 2000
-#define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
-#define DYN_NOTCH_RANGE_HZ_LOW 1000
-
 typedef struct gyro_s {
     bool initialized;
     uint32_t targetLooptime;

From cc4ad9e76e46ec112ae12eb9432548230b1d395b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 20 Oct 2021 22:21:07 +0200
Subject: [PATCH 316/336] Enable gyro kalman by default

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index d53df0dd7e..e2ab09d0b1 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5188,7 +5188,7 @@ Enable Kalman filter on the gyro data
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF |  |  |
+| ON |  |  |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 70789c9ead..ed6c46fa0a 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -332,7 +332,7 @@ groups:
         max: 10
       - name: setpoint_kalman_enabled
         description: "Enable Kalman filter on the gyro data"
-        default_value: OFF
+        default_value: ON
         condition: USE_GYRO_KALMAN
         field: kalmanEnabled
         type: bool

From 743300c19e8d269cab2cf8703c311adb1d2a0aee Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 20 Oct 2021 23:01:41 +0100
Subject: [PATCH 317/336] Made requested changes

Made changes suggested by Pawel.
---
 src/main/navigation/navigation_fixedwing.c |  6 +-----
 src/main/programming/logic_condition.c     | 12 ++++++++----
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index d9f6e668be..e711877c60 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -273,11 +273,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
     // Limit minimum forward velocity to 1 m/s
     float trackingDistance = trackingPeriod * MAX(posControl.actualState.velXY, 100.0f);
 
-    uint32_t navLoiterRadius = navConfig()->fw.loiter_radius;
-
-#ifdef USE_PROGRAMMING_FRAMEWORK
-    navLoiterRadius = getLoiterRadius(navConfig()->fw.loiter_radius);
-#endif
+    uint32_t navLoiterRadius = getLoiterRadius(navConfig()->fw.loiter_radius);
 
     // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target
     #define TAN_15DEG    0.26795f
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 4326e6e8b8..d9908a5cfe 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -82,10 +82,10 @@ void pgResetFn_logicConditions(logicCondition_t *instance)
 logicConditionState_t logicConditionStates[MAX_LOGIC_CONDITIONS];
 
 static int logicConditionCompute(
-    int currentVaue,
+    int32_t currentVaue,
     logicOperation_e operation,
-    int operandA,
-    int operandB
+    int32_t operandA,
+    int32_t operandB
 ) {
     int temporaryValue;
     vtxDeviceCapability_t vtxDeviceCapability;
@@ -327,7 +327,7 @@ static int logicConditionCompute(
 
         case LOGIC_CONDITION_MODULUS:
             if (operandB != 0) {
-                return constrain(operandA % operandB, INT16_MIN, INT16_MAX);
+                return constrain(operandA % operandB, INT32_MIN, INT32_MAX);
             } else {
                 return operandA;
             }
@@ -730,10 +730,14 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
 }
 
 uint32_t getLoiterRadius(uint32_t loiterRadius) {
+#ifdef USE_PROGRAMMING_FRAMEWORK
     if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) && 
         !(FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding())) {
         return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
     } else {
         return loiterRadius;
     }
+#else
+    return loiterRadius;
+#endif
 }

From d2daec8222c2dca5116e76e4d14fd7c80950b7dd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 21 Oct 2021 09:22:33 +0200
Subject: [PATCH 318/336] Drop ABG filtering

---
 src/main/build/debug.h    |  1 -
 src/main/common/filter.c  | 66 ---------------------------------------
 src/main/fc/config.c      |  2 +-
 src/main/fc/settings.yaml | 23 +-------------
 src/main/sensors/gyro.c   | 37 +---------------------
 src/main/sensors/gyro.h   |  5 ---
 src/main/target/common.h  |  1 -
 7 files changed, 3 insertions(+), 132 deletions(-)

diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 9fd78f251d..83e4dcbd9f 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -82,7 +82,6 @@ typedef enum {
     DEBUG_AUTOLEVEL,
     DEBUG_IMU2,
     DEBUG_ALTITUDE,
-    DEBUG_GYRO_ALPHA_BETA_GAMMA,
     DEBUG_SMITH_PREDICTOR,
     DEBUG_AUTOTRIM,
     DEBUG_AUTOTUNE,
diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 71b420eccc..6738169fc2 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -317,72 +317,6 @@ FAST_CODE void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint
     filter->y2 = y2;
 }
 
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-void alphaBetaGammaFilterInit(alphaBetaGammaFilter_t *filter, float alpha, float boostGain, float halfLife, float dT) {
-    // beta, gamma, and eta gains all derived from
-    // http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.baztech-922ff6cb-e991-417f-93f0-77448f1ef4ec/c/A_Study_Jeong_1_2017.pdf
-
-    const float xi = powf(-alpha + 1.0f, 0.25); // fourth rool of -a + 1
-    filter->xk = 0.0f;
-    filter->vk = 0.0f;
-    filter->ak = 0.0f;
-    filter->jk = 0.0f;
-    filter->a = alpha;
-    filter->b = (1.0f / 6.0f) * powf(1.0f - xi, 2) * (11.0f + 14.0f * xi + 11 * xi * xi);
-    filter->g = 2 * powf(1.0f - xi, 3) * (1 + xi);
-    filter->e = (1.0f / 6.0f) * powf(1 - xi, 4);
-	filter->dT = dT;
-	filter->dT2 = dT * dT;
-    filter->dT3 = dT * dT * dT;
-    pt1FilterInit(&filter->boostFilter, 100, dT);
-
-    const float boost = boostGain * 100;
-
-    filter->boost = (boost * boost / 10000) * 0.003;
-    filter->halfLife = halfLife != 0 ? powf(0.5f, dT / halfLife): 1.0f;
-}
-
-FAST_CODE float alphaBetaGammaFilterApply(alphaBetaGammaFilter_t *filter, float input) {
-    //xk - current system state (ie: position)
-	//vk - derivative of system state (ie: velocity)
-    //ak - derivative of system velociy (ie: acceleration)
-    //jk - derivative of system acceleration (ie: jerk)
-    float rk;   // residual error
-
-    // give the filter limited history
-    filter->xk *= filter->halfLife;
-    filter->vk *= filter->halfLife;
-    filter->ak *= filter->halfLife;
-    filter->jk *= filter->halfLife;
-
-    // update our (estimated) state 'x' from the system (ie pos = pos + vel (last).dT)
-    filter->xk += filter->dT * filter->vk + (1.0f / 2.0f) * filter->dT2 * filter->ak + (1.0f / 6.0f) * filter->dT3 * filter->jk;
-    
-    // update (estimated) velocity (also estimated dterm from measurement)
-    filter->vk += filter->dT * filter->ak + 0.5f * filter->dT2 * filter->jk;
-    filter->ak += filter->dT * filter->jk;
-    
-    // what is our residual error (measured - estimated)
-    rk = input - filter->xk;
-
-    // artificially boost the error to increase the response of the filter
-    rk += pt1FilterApply(&filter->boostFilter, fabsf(rk) * rk * filter->boost);
-    if ((fabsf(rk * filter->a) > fabsf(input - filter->xk))) {
-        rk = (input - filter->xk) / filter->a;
-    }
-    filter->rk = rk; // for logging
-
-    // update our estimates given the residual error.
-    filter->xk += filter->a * rk;
-    filter->vk += filter->b / filter->dT * rk;
-    filter->ak += filter->g / (2.0f * filter->dT2) * rk;
-    filter->jk += filter->e / (6.0f * filter->dT3) * rk;
-
-	return filter->xk;
-}
-
-#endif
-
 FUNCTION_COMPILE_FOR_SIZE
 void initFilter(const uint8_t filterType, filter_t *filter, const float cutoffFrequency, const uint32_t refreshRate) {
     const float dT = refreshRate * 1e-6f;
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index f37f9701ea..e4610cddf7 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -107,7 +107,7 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
     .enabledFeatures = DEFAULT_FEATURES | COMMON_DEFAULT_FEATURES
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 5);
 
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .current_profile_index = 0,
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index ed6c46fa0a..876bd16648 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -94,7 +94,7 @@ tables:
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
       "IRLOCK", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "IMU2", "ALTITUDE",
-      "GYRO_ALPHA_BETA_GAMMA", "SMITH_PREDICTOR", "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS"]
+      "SMITH_PREDICTOR", "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
@@ -309,27 +309,6 @@ groups:
         min: 0
         max: 2
         default_value: 0
-      - name: gyro_abg_alpha
-        description: "Alpha factor for Gyro Alpha-Beta-Gamma filter"
-        default_value: 0
-        field: alphaBetaGammaAlpha
-        condition: USE_ALPHA_BETA_GAMMA_FILTER
-        min: 0
-        max: 1
-      - name: gyro_abg_boost
-        description: "Boost factor for Gyro Alpha-Beta-Gamma filter"
-        default_value: 0.35
-        field: alphaBetaGammaBoost
-        condition: USE_ALPHA_BETA_GAMMA_FILTER
-        min: 0
-        max: 2
-      - name: gyro_abg_half_life
-        description: "Sample half-life for Gyro Alpha-Beta-Gamma filter"
-        default_value: 0.5
-        field: alphaBetaGammaHalfLife
-        condition: USE_ALPHA_BETA_GAMMA_FILTER
-        min: 0
-        max: 10
       - name: setpoint_kalman_enabled
         description: "Enable Kalman filter on the gyro data"
         default_value: ON
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index e1e12bc4d8..db585cccd0 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -103,14 +103,7 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
 
 #endif
 
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-
-STATIC_FASTRAM filterApplyFnPtr abgFilterApplyFn;
-STATIC_FASTRAM alphaBetaGammaFilter_t abgFilter[XYZ_AXIS_COUNT];
-
-#endif
-
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 15);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 16);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
@@ -136,11 +129,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .dynamicGyroNotchMinHz = SETTING_DYNAMIC_GYRO_NOTCH_MIN_HZ_DEFAULT,
     .dynamicGyroNotchEnabled = SETTING_DYNAMIC_GYRO_NOTCH_ENABLED_DEFAULT,
 #endif
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-    .alphaBetaGammaAlpha = SETTING_GYRO_ABG_ALPHA_DEFAULT,
-    .alphaBetaGammaBoost = SETTING_GYRO_ABG_BOOST_DEFAULT,
-    .alphaBetaGammaHalfLife = SETTING_GYRO_ABG_HALF_LIFE_DEFAULT,
-#endif
 #ifdef USE_GYRO_KALMAN
     .kalman_q = SETTING_SETPOINT_KALMAN_Q_DEFAULT,
     .kalmanEnabled = SETTING_SETPOINT_KALMAN_ENABLED_DEFAULT,
@@ -313,23 +301,6 @@ static void gyroInitFilters(void)
         }
     }
 
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-    
-    abgFilterApplyFn = (filterApplyFnPtr)nullFilterApply;
-
-    if (gyroConfig()->alphaBetaGammaAlpha > 0) {
-        abgFilterApplyFn = (filterApplyFnPtr)alphaBetaGammaFilterApply;
-        for (int axis = 0; axis < 3; axis++) {
-            alphaBetaGammaFilterInit(
-                &abgFilter[axis], 
-                gyroConfig()->alphaBetaGammaAlpha, 
-                gyroConfig()->alphaBetaGammaBoost, 
-                gyroConfig()->alphaBetaGammaHalfLife, 
-                getLooptime() * 1e-6f
-            );
-        }
-    } 
-#endif
 #ifdef USE_GYRO_KALMAN
     if (gyroConfig()->kalmanEnabled) {
         gyroKalmanInitialize(gyroConfig()->kalman_q);
@@ -503,12 +474,6 @@ void FAST_CODE NOINLINE gyroFilter()
         gyroADCf = gyroLpf2ApplyFn((filter_t *) &gyroLpf2State[axis], gyroADCf);
         gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
 
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-        DEBUG_SET(DEBUG_GYRO_ALPHA_BETA_GAMMA, axis, gyroADCf);
-        gyroADCf = abgFilterApplyFn(&abgFilter[axis], gyroADCf);
-        DEBUG_SET(DEBUG_GYRO_ALPHA_BETA_GAMMA, axis + 3, gyroADCf);
-#endif
-
 #ifdef USE_DYNAMIC_FILTERS
         if (dynamicGyroNotchState.enabled) {
             gyroDataAnalysePush(&gyroAnalyseState, axis, gyroADCf);
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 545493763e..4f14071ad2 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -83,11 +83,6 @@ typedef struct gyroConfig_s {
     uint16_t dynamicGyroNotchMinHz;
     uint8_t dynamicGyroNotchEnabled;
 #endif
-#ifdef USE_ALPHA_BETA_GAMMA_FILTER
-    float alphaBetaGammaAlpha;
-    float alphaBetaGammaBoost;
-    float alphaBetaGammaHalfLife;
-#endif
 #ifdef USE_GYRO_KALMAN
     uint16_t kalman_q;
     uint8_t kalmanEnabled;
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 0955a00b92..6817ec7e37 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -87,7 +87,6 @@
 #define USE_PITOT
 #define USE_PITOT_ADC
 
-#define USE_ALPHA_BETA_GAMMA_FILTER
 #define USE_DYNAMIC_FILTERS
 #define USE_GYRO_KALMAN
 #define USE_SMITH_PREDICTOR

From 5dd614e3d134f1d6d22714552dab0aaddd630e18 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 21 Oct 2021 10:05:56 +0200
Subject: [PATCH 319/336] Docs update

---
 docs/Settings.md | 30 ------------------------------
 1 file changed, 30 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index e2ab09d0b1..2e10ed8548 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1542,36 +1542,6 @@ Enable use of Galileo satellites. This is at the expense of other regional const
 
 ---
 
-### gyro_abg_alpha
-
-Alpha factor for Gyro Alpha-Beta-Gamma filter
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1 |
-
----
-
-### gyro_abg_boost
-
-Boost factor for Gyro Alpha-Beta-Gamma filter
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0.35 | 0 | 2 |
-
----
-
-### gyro_abg_half_life
-
-Sample half-life for Gyro Alpha-Beta-Gamma filter
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0.5 | 0 | 10 |
-
----
-
 ### gyro_anti_aliasing_lpf_hz
 
 Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz

From 2bfe3067643a2d5abbe3ebb68c5e7e669d5149b7 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 21 Oct 2021 11:17:03 +0200
Subject: [PATCH 320/336] Fix compilation

---
 src/main/sensors/gyro.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index db585cccd0..76ae9f60d9 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -103,7 +103,7 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 16);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,

From 6e8d6f6b0d194e531700b9063eb2baeefc247d2b Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Thu, 21 Oct 2021 14:41:00 +0100
Subject: [PATCH 321/336] remove duplicate MSYS2 documents, differing only in
 name

---
 .../Building in Windows 10 with MSYS2.md      | 80 -------------------
 1 file changed, 80 deletions(-)
 delete mode 100644 docs/development/Building in Windows 10 with MSYS2.md

diff --git a/docs/development/Building in Windows 10 with MSYS2.md b/docs/development/Building in Windows 10 with MSYS2.md
deleted file mode 100644
index 2593e25c61..0000000000
--- a/docs/development/Building in Windows 10 with MSYS2.md	
+++ /dev/null
@@ -1,80 +0,0 @@
-# General Info
-
-This is a guide on how to use Windows MSYS2 distribution and building platform to build iNav firmware. This environment is very simple to manage and does not require installing docker for Windows which may get in the way of VMWare or any other virtualization software you already have running for other reasons. Another benefit of this approach is that the compiler runs natively on Windows, so performance is much better than compiling in a virtual environment or a container. You can also integrate with whatever IDE you are using to make code edits and work with github, which makes the entire development and testing workflow a lot more efficient. In addition to MSYS2, this build environment also uses Arm Embedded GCC tolkit from The xPack Project, which provides many benefits over the toolkits maintained by arm.com
-
-Some of those benefits are described here:
-
-https://xpack.github.io/arm-none-eabi-gcc/
-
-## Setting up build environment
-
-Download MSYS2 for your architecture (most likely 64-bit)
-
-https://www.msys2.org/wiki/MSYS2-installation/
-
-Click on 64-bit, scroll all the way down for the latest release
-
-pacman is the package manager which makes it a lot easier to install and maintain all the dependencies
-
-## Installing dependencies
-
-Once MSYS2 is installed, you can open up a new terminal window by running:
-
-"C:\msys64\mingw64.exe"
-
-You can also make a shortcut of this somewhere on your taskbar, desktop, etc, or even setup a shortcut key to open it up every time you need to get a terminal window. If you right click on the window you can customize the font and layout to make it more comfortable to work with. This is very similar to cygwin or any other terminal program you might have used before
-
-This is the best part:
-```
-pacman -S git ruby make cmake gcc mingw-w64-x86_64-libwinpthread-git unzip wget
-```
-
-Now, each release needs a different version of arm toolchain. To setup the xPack ARM toolchain, use the following process:
-
-First, setup your work path, get the release you want to build or master if you want the latest/greatest
-```
-mkdir /c/Workspace
-cd /c/Workspace
-# you can also check out your own fork here which makes contributing easier
-git clone https://github.com/iNavFlight/inav
-cd inav
-# switch to release you want or skip next 2 lines if you want latest
-git fetch origin
-git checkout -b release_2.6.1 origin/release_2.6.1
-```
-Now create the build and xpack directories and get the toolkit version you need for your inav version
-```
-mkdir build
-cd build
-mkdir /c/Workspace/xpack
-cd /c/Workspace/xpack
-cat /c/Workspace/inav/cmake/arm-none-eabi-checks.cmake | grep "set(arm_none_eabi_gcc_version" | cut -d\" -f2
-```
-This will give you the version you need for any given release or master branch. You can get to all the releases here and find the version you need
-
-https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/
-```
-# for version 2.6.1, version needed is 9.2.1
-wget https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v9.2.1-1.1/xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
-unzip xpack-arm-none-eabi-gcc-9.2.1-1.1-win32-x64.zip
-```
-This is important, put the toolkit first before your path so that it is  picked up ahead of any other versions that may be present on your system
-```
-export PATH=/c/Workspace/xpack/xpack-arm-none-eabi-gcc-9.2.1-1.1/bin:$PATH
-cd /c/Workspace/inav/build
-```
-You may need to run rm -rf * in build directory if you had any failed previous runs now run cmake
-```
-# while inside the build directory
-cmake ..
-```
-Once that's done you can compile the firmware for your controller
-```
-make DALRCF405
-```
-To get a list of available targets in iNav, see the target src folder
-https://github.com/tednv/inav/tree/master/src/main/target
-
-The generated hex file will be in /c/Workspace/inav/build folder
-
-At the time of writting this document, I believe this is the fastest, easiest, and most efficient Windows build environment that is available. I have used this approach several years ago and was very happy with it building iNav 2.1 and 2.2, and now I'm getting back into it so figured I would share my method

From 45be762da1660a131bbc8ae66f1e44eba31ecf2c Mon Sep 17 00:00:00 2001
From: Vasily Elkin <elkin.vasily@gmail.com>
Date: Fri, 22 Oct 2021 17:58:19 +0300
Subject: [PATCH 322/336] mlx90393 support added

---
 src/main/CMakeLists.txt                     |   2 +
 src/main/drivers/bus.h                      |   1 +
 src/main/drivers/compass/compass_mlx90393.c | 176 ++++++++++++++++++++
 src/main/drivers/compass/compass_mlx90393.h |  20 +++
 src/main/fc/settings.yaml                   |   2 +-
 src/main/sensors/compass.c                  |  14 ++
 src/main/sensors/compass.h                  |   3 +-
 src/main/target/KAKUTEF7/target.h           |   1 +
 src/main/target/common_hardware.c           |   7 +
 9 files changed, 224 insertions(+), 2 deletions(-)
 create mode 100644 src/main/drivers/compass/compass_mlx90393.c
 create mode 100644 src/main/drivers/compass/compass_mlx90393.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 0eb60439c2..47edcaeee4 100644
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -161,6 +161,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_rm3100.h
     drivers/compass/compass_vcm5883.c
     drivers/compass/compass_vcm5883.h
+    drivers/compass/compass_mlx90393.c
+    drivers/compass/compass_mlx90393.h
     drivers/compass/compass_msp.c
     drivers/compass/compass_msp.h
 
diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
index e031f4ef4a..bc44825251 100755
--- a/src/main/drivers/bus.h
+++ b/src/main/drivers/bus.h
@@ -118,6 +118,7 @@ typedef enum {
     DEVHW_LIS3MDL,
     DEVHW_RM3100,
     DEVHW_VCM5883,
+    DEVHW_MLX90393,
 
     /* Temp sensor chips */
     DEVHW_LM75_0,
diff --git a/src/main/drivers/compass/compass_mlx90393.c b/src/main/drivers/compass/compass_mlx90393.c
new file mode 100644
index 0000000000..a88c290102
--- /dev/null
+++ b/src/main/drivers/compass/compass_mlx90393.c
@@ -0,0 +1,176 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_MAG_MLX90393
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <math.h>
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/io.h"
+#include "drivers/bus.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#define MLX90393_MEASURE_3D                         0b00001110
+
+#define MLX90393_NOP                                0b00000000
+#define MLX90393_START_BURST_MODE                   0b00010000 //uses with zyxt flags
+#define MLX90393_START_WAKE_UP_ON_CHANGE_MODE       0b00100000 //uses with zyxt flags
+#define MLX90393_START_SINGLE_MEASUREMENT_MODE      0b00110000 //uses with zyxt flags
+#define MLX90393_READ_MEASUREMENT                   0b01000000 //uses with zyxt flags
+#define MLX90393_READ_REGISTER                      0b01010000
+#define MLX90393_WRITE_REGISTER                     0b01100000
+#define MLX90393_EXIT_MODE                          0b10000000
+#define MLX90393_MEMORY_RECALL                      0b11010000
+#define MLX90393_MEMORY_STORE                       0b11100000
+#define MLX90393_RESET                              0b11110000
+
+#define MLX90393_BURST_MODE_FLAG                    0b10000000
+#define MLX90393_WAKE_UP_ON_CHANGE_MODE_FLAG        0b01000000
+#define MLX90393_SINGLE_MEASUREMENT_MODE_FLAG       0b00100000
+#define MLX90393_ERROR_FLAG                         0b00010000
+#define MLX90393_SINGLE_ERROR_DETECTION_FLAG        0b00001000
+#define MLX90393_RESET_FLAG                         0b00000100
+#define MLX90393_D1_FLAG                            0b00000010
+#define MLX90393_D0_FLAG                            0b00000001
+
+#define DETECTION_MAX_RETRY_COUNT   5
+
+#define REG_BUF_LEN                 3
+
+// Register 1
+#define GAIN_SEL_HALLCONF_REG       0x0 //from datasheet 0x0 << 2 = 0x0 
+// GAIN - 0b111
+// Hall_conf - 0xC
+#define GAIN_SEL_HALLCONF_REG_VALUE 0x007C
+// Register 2
+#define TCMP_EN_REG                 0x4 //from datasheet 0x1 << 2 = 0x4
+// Burst Data Rate 0b000100
+#define TCMP_EN_REG_VALUE           0x62C4
+// Register 3
+#define RES_XYZ_OSR_FLT_REG         0x8 //from datasheet 0x2 << 2 = 0x8 
+// Oversampling 0b01
+// Filtering 0b111
+#define RES_XYZ_OSR_FLT_REG_VALUE   0x001D
+
+
+static void mlx_write_register(magDev_t * mag, uint8_t reg_val, uint16_t value) {
+
+    uint8_t buf[REG_BUF_LEN] = {0};
+
+    buf[0] = (value >> 8) & 0xFF;
+    buf[1] = (value >> 0) & 0xFF;
+    buf[2] = reg_val;
+
+    busWriteBuf(mag->busDev, MLX90393_WRITE_REGISTER, buf, REG_BUF_LEN);
+
+    // PAUSE
+    delay(20);
+    // To skip ACK FLAG of Write
+    uint8_t sig = 0;
+    busRead(mag->busDev, MLX90393_NOP, &sig);
+
+    return;
+}
+
+// =======================================================================================
+static bool mlx90393Read(magDev_t * mag)
+{
+
+    uint8_t buf[7] = {0};
+
+    busReadBuf(mag->busDev, MLX90393_READ_MEASUREMENT | MLX90393_MEASURE_3D, buf, 7);
+
+    mag->magADCRaw[X] = ((short)(buf[1] << 8 | buf[2]));
+    mag->magADCRaw[Y] = ((short)(buf[3] << 8 | buf[4]));
+    mag->magADCRaw[Z] = ((short)(buf[5] << 8 | buf[6]));
+
+    return true;
+
+}
+
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        uint8_t sig = 0;
+
+        bool ack = busRead(mag->busDev, MLX90393_RESET, &sig);
+        delay(20);
+
+        if (ack && ((sig & MLX90393_RESET_FLAG) == MLX90393_RESET_FLAG)) { // Check Reset Flag -> MLX90393
+            return true;
+        }
+    }
+    return false;
+}
+
+//--------------------------------------------------
+static bool mlx90393Init(magDev_t * mag)
+{
+    uint8_t sig = 0;
+
+    delay(20);
+    // Remove reset flag
+    busRead(mag->busDev, MLX90393_NOP, &sig);
+    // Exit if already in burst mode. (For example when external i2c source power the bus.)
+    busRead(mag->busDev, MLX90393_EXIT_MODE, &sig);
+
+    // Writing Registers
+    mlx_write_register(mag, GAIN_SEL_HALLCONF_REG, GAIN_SEL_HALLCONF_REG_VALUE);
+    mlx_write_register(mag, TCMP_EN_REG, TCMP_EN_REG_VALUE);
+    mlx_write_register(mag, RES_XYZ_OSR_FLT_REG, RES_XYZ_OSR_FLT_REG_VALUE);
+
+    // Start burst mode
+    busRead(mag->busDev, MLX90393_START_BURST_MODE | MLX90393_MEASURE_3D, &sig);
+
+    return true;
+}
+
+// ==========================================================================
+
+bool mlx90393Detect(magDev_t * mag)
+{
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MLX90393, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(mag)) {
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+
+    mag->init = mlx90393Init;
+    mag->read = mlx90393Read;
+
+    return true;
+}
+
+
+#endif
diff --git a/src/main/drivers/compass/compass_mlx90393.h b/src/main/drivers/compass/compass_mlx90393.h
new file mode 100644
index 0000000000..c23cc61d31
--- /dev/null
+++ b/src/main/drivers/compass/compass_mlx90393.h
@@ -0,0 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool mlx90393Detect(magDev_t* mag);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 876bd16648..c79b4383eb 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -13,7 +13,7 @@ tables:
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index a6ca548dd1..150d716c51 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -42,6 +42,7 @@
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_rm3100.h"
 #include "drivers/compass/compass_vcm5883.h"
+#include "drivers/compass/compass_mlx90393.h"
 #include "drivers/compass/compass_msp.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -260,6 +261,19 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_MLX90393:
+#ifdef USE_MAG_MLX90393
+        if (mlx90393Detect(dev)) {
+            magHardware = MAG_MLX90393;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index 389e516847..9f798f28c5 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -43,7 +43,8 @@ typedef enum {
     MAG_MSP = 12,
     MAG_RM3100 = 13,
     MAG_VCM5883 = 14,
-    MAG_FAKE = 15,
+    MAG_MLX90393 = 15,
+    MAG_FAKE = 16,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 97764f6e92..1beb8db7ba 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -144,6 +144,7 @@
 #define USE_MAG_IST8310
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
+#define USE_MAG_MLX90393
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index a02d8b683d..072473e596 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -260,6 +260,13 @@
     BUSDEV_REGISTER_I2C(busdev_vcm5883,     DEVHW_VCM5883,      VCM5883_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
 #endif
 
+#if defined(USE_MAG_MLX90393)
+    #if !defined(MLX90393_I2C_BUS)
+        #define MLX90393_I2C_BUS MAG_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_mlx90393,     DEVHW_MLX90393,      MLX90393_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
+#endif
+
 #endif
 
 

From 1d7ba3a926c9b17bdb14986a82f162eae405009c Mon Sep 17 00:00:00 2001
From: Ilia Novoselov <ilya.novoselov@gmail.com>
Date: Sat, 23 Oct 2021 17:04:43 +0500
Subject: [PATCH 323/336] Fix WSL build

---
 cmake/settings.cmake | 2 +-
 cmake/stm32.cmake    | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cmake/settings.cmake b/cmake/settings.cmake
index 5d4e4e3862..065f3a87db 100644
--- a/cmake/settings.cmake
+++ b/cmake/settings.cmake
@@ -33,7 +33,7 @@ function(enable_settings exe name)
     add_custom_command(
         OUTPUT ${output}
         COMMAND
-            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH=$ENV{PATH} SETTINGS_CXX=${args_SETTINGS_CXX}
+            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH="$ENV{PATH}" SETTINGS_CXX=${args_SETTINGS_CXX}
             ${RUBY_EXECUTABLE} ${SETTINGS_GENERATOR} ${MAIN_DIR} ${SETTINGS_FILE} -o "${dir}"
         DEPENDS ${SETTINGS_GENERATOR} ${SETTINGS_FILE}
     )
diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
index ab29a524b8..e3f749bf7d 100644
--- a/cmake/stm32.cmake
+++ b/cmake/stm32.cmake
@@ -189,7 +189,7 @@ endfunction()
 
 function(add_hex_target name exe hex)
     add_custom_target(${name} ALL
-        cmake -E env PATH=$ENV{PATH}
+        cmake -E env PATH="$ENV{PATH}"
         # TODO: Overriding the start address with --set-start 0x08000000
         # seems to be required due to some incorrect assumptions about .hex
         # files in the configurator. Verify wether that's the case and fix
@@ -201,7 +201,7 @@ endfunction()
 
 function(add_bin_target name exe bin)
     add_custom_target(${name}
-        cmake -E env PATH=$ENV{PATH}
+        cmake -E env PATH="$ENV{PATH}"
         ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${exe}> ${bin}
         BYPRODUCTS ${bin}
     )

From ac3bce02cc18c2a6e49a5ae2d8e2dfaf73991067 Mon Sep 17 00:00:00 2001
From: Vasily Elkin <elkin.vasily@gmail.com>
Date: Sun, 24 Oct 2021 22:41:53 +0300
Subject: [PATCH 324/336] copyrights changed

---
 src/main/drivers/compass/compass_mlx90393.c | 8 ++++----
 src/main/drivers/compass/compass_mlx90393.h | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/compass/compass_mlx90393.c b/src/main/drivers/compass/compass_mlx90393.c
index a88c290102..f98526ca1e 100644
--- a/src/main/drivers/compass/compass_mlx90393.c
+++ b/src/main/drivers/compass/compass_mlx90393.c
@@ -1,18 +1,18 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of iNav.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * iNav is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * iNav is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include "platform.h"
diff --git a/src/main/drivers/compass/compass_mlx90393.h b/src/main/drivers/compass/compass_mlx90393.h
index c23cc61d31..5d73607294 100644
--- a/src/main/drivers/compass/compass_mlx90393.h
+++ b/src/main/drivers/compass/compass_mlx90393.h
@@ -1,18 +1,18 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of iNav.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * iNav is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
  * (at your option) any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * iNav is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #pragma once

From c926976d35effcd37aa4ebf3c644c2a98cc7502a Mon Sep 17 00:00:00 2001
From: Vasily Elkin <elkin.vasily@gmail.com>
Date: Tue, 26 Oct 2021 18:04:16 +0300
Subject: [PATCH 325/336] mlx_write_register renamed to mlx90393WriteRegister

---
 src/main/drivers/compass/compass_mlx90393.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/compass/compass_mlx90393.c b/src/main/drivers/compass/compass_mlx90393.c
index f98526ca1e..c2b5e40114 100644
--- a/src/main/drivers/compass/compass_mlx90393.c
+++ b/src/main/drivers/compass/compass_mlx90393.c
@@ -80,7 +80,7 @@
 #define RES_XYZ_OSR_FLT_REG_VALUE   0x001D
 
 
-static void mlx_write_register(magDev_t * mag, uint8_t reg_val, uint16_t value) {
+static void mlx90393WriteRegister(magDev_t * mag, uint8_t reg_val, uint16_t value) {
 
     uint8_t buf[REG_BUF_LEN] = {0};
 
@@ -142,9 +142,9 @@ static bool mlx90393Init(magDev_t * mag)
     busRead(mag->busDev, MLX90393_EXIT_MODE, &sig);
 
     // Writing Registers
-    mlx_write_register(mag, GAIN_SEL_HALLCONF_REG, GAIN_SEL_HALLCONF_REG_VALUE);
-    mlx_write_register(mag, TCMP_EN_REG, TCMP_EN_REG_VALUE);
-    mlx_write_register(mag, RES_XYZ_OSR_FLT_REG, RES_XYZ_OSR_FLT_REG_VALUE);
+    mlx90393WriteRegister(mag, GAIN_SEL_HALLCONF_REG, GAIN_SEL_HALLCONF_REG_VALUE);
+    mlx90393WriteRegister(mag, TCMP_EN_REG, TCMP_EN_REG_VALUE);
+    mlx90393WriteRegister(mag, RES_XYZ_OSR_FLT_REG, RES_XYZ_OSR_FLT_REG_VALUE);
 
     // Start burst mode
     busRead(mag->busDev, MLX90393_START_BURST_MODE | MLX90393_MEASURE_3D, &sig);

From 79541448161315d5869c35b9abe83c4ff4c8447d Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 12:25:43 +0200
Subject: [PATCH 326/336] Correctly compute FFT resolution and max frequency

---
 src/main/flight/gyroanalyse.c | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 7cffd9c0b6..77db9987e2 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -64,13 +64,12 @@ void gyroDataAnalyseStateInit(
 ) {
     state->minFrequency = minFrequency;
 
-    state->fftSamplingRateHz = lrintf(1e6f / targetLooptimeUs / 3); // Looptime divided by 3
-    state->fftResolution = (float)state->fftSamplingRateHz / FFT_WINDOW_SIZE;
+    state->fftSamplingRateHz = 1e6f / targetLooptimeUs;
+    state->maxFrequency = state->fftSamplingRateHz / 2; //Nyquist
+    state->fftResolution = (float)state->maxFrequency / FFT_BIN_COUNT;
 
     state->fftStartBin = state->minFrequency / lrintf(state->fftResolution);
 
-    state->maxFrequency = state->fftSamplingRateHz / 2; //Nyquist
-
     for (int i = 0; i < FFT_WINDOW_SIZE; i++) {
         state->hanningWindow[i] = (0.5f - 0.5f * cos_approx(2 * M_PIf * i / (FFT_WINDOW_SIZE - 1)));
     }

From fb1e3119c16ad231008b545d253bc49ec07e3395 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 13:02:43 +0200
Subject: [PATCH 327/336] Drop downsampling and simplufy hanning window
 processing

---
 src/main/flight/gyroanalyse.c | 41 +++++++++--------------------------
 src/main/flight/gyroanalyse.h |  5 +----
 2 files changed, 11 insertions(+), 35 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 77db9987e2..9df3b8e3c4 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -74,10 +74,6 @@ void gyroDataAnalyseStateInit(
         state->hanningWindow[i] = (0.5f - 0.5f * cos_approx(2 * M_PIf * i / (FFT_WINDOW_SIZE - 1)));
     }
 
-    const uint16_t samplingFrequency = 1000000 / targetLooptimeUs;
-    state->maxSampleCount = samplingFrequency / state->fftSamplingRateHz;
-    state->maxSampleCountRcp = 1.f / state->maxSampleCount;
-
     arm_rfft_fast_init_f32(&state->fftInstance, FFT_WINDOW_SIZE);
 
 //    recalculation of filters takes 4 calls per axis => each filter gets updated every DYN_NOTCH_CALC_TICKS calls
@@ -94,7 +90,7 @@ void gyroDataAnalyseStateInit(
 
 void gyroDataAnalysePush(gyroAnalyseState_t *state, const int axis, const float sample)
 {
-    state->oversampledGyroAccumulator[axis] += sample;
+    state->currentSample[axis] = sample;
 }
 
 static void gyroDataAnalyseUpdate(gyroAnalyseState_t *state);
@@ -106,28 +102,16 @@ void gyroDataAnalyse(gyroAnalyseState_t *state)
 {
     state->filterUpdateExecute = false; //This will be changed to true only if new data is present
 
-    // samples should have been pushed by `gyroDataAnalysePush`
-    // if gyro sampling is > 1kHz, accumulate multiple samples
-    state->sampleCount++;
-
-    // this runs at 1kHz
-    if (state->sampleCount == state->maxSampleCount) {
-        state->sampleCount = 0;
-
-        // calculate mean value of accumulated samples
-        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            float sample = state->oversampledGyroAccumulator[axis] * state->maxSampleCountRcp;
-            state->downsampledGyroData[axis][state->circularBufferIdx] = sample;
-
-            state->oversampledGyroAccumulator[axis] = 0;
-        }
-
-        state->circularBufferIdx = (state->circularBufferIdx + 1) % FFT_WINDOW_SIZE;
-
-        // We need DYN_NOTCH_CALC_TICKS tick to update all axis with newly sampled value
-        state->updateTicks = DYN_NOTCH_CALC_TICKS;
+    // calculate mean value of accumulated samples
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        state->downsampledGyroData[axis][state->circularBufferIdx] = state->currentSample[axis];
     }
 
+    state->circularBufferIdx = (state->circularBufferIdx + 1) % FFT_WINDOW_SIZE;
+
+    // We need DYN_NOTCH_CALC_TICKS tick to update all axis with newly sampled value
+    state->updateTicks = DYN_NOTCH_CALC_TICKS;
+
     // calculate FFT and update filters
     if (state->updateTicks > 0) {
         gyroDataAnalyseUpdate(state);
@@ -278,14 +262,9 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
         }
         case STEP_HANNING:
         {
-            // 5us
             // apply hanning window to gyro samples and store result in fftData
             // hanning starts and ends with 0, could be skipped for minor speed improvement
-            const uint8_t ringBufIdx = FFT_WINDOW_SIZE - state->circularBufferIdx;
-            arm_mult_f32(&state->downsampledGyroData[state->updateAxis][state->circularBufferIdx], &state->hanningWindow[0], &state->fftData[0], ringBufIdx);
-            if (state->circularBufferIdx > 0) {
-                arm_mult_f32(&state->downsampledGyroData[state->updateAxis][0], &state->hanningWindow[ringBufIdx], &state->fftData[ringBufIdx], state->circularBufferIdx);
-            }
+            arm_mult_f32(state->downsampledGyroData[state->updateAxis], state->hanningWindow, state->fftData, FFT_WINDOW_SIZE);
         }
     }
 
diff --git a/src/main/flight/gyroanalyse.h b/src/main/flight/gyroanalyse.h
index a3f3d7f8a7..333eee01c6 100644
--- a/src/main/flight/gyroanalyse.h
+++ b/src/main/flight/gyroanalyse.h
@@ -29,10 +29,7 @@
 
 typedef struct gyroAnalyseState_s {
     // accumulator for oversampled data => no aliasing and less noise
-    uint8_t sampleCount;
-    uint8_t maxSampleCount;
-    float maxSampleCountRcp;
-    float oversampledGyroAccumulator[XYZ_AXIS_COUNT];
+    float currentSample[XYZ_AXIS_COUNT];
 
     // downsampled gyro data circular buffer for frequency analysis
     uint8_t circularBufferIdx;

From 6ded40a8a1c18caa2ade9d2765e7d3660a4b8510 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 13:28:57 +0200
Subject: [PATCH 328/336] Simplify peak frequency processing

---
 src/main/flight/gyroanalyse.c | 73 +++++++++++++++--------------------
 1 file changed, 31 insertions(+), 42 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 9df3b8e3c4..ef07773fb2 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -186,9 +186,9 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
         case STEP_CALC_FREQUENCIES:
         {
             bool fftIncreased = false;
-            float dataMax = 0;
+            float peakValue = 0;
             uint8_t binStart = 0;
-            uint8_t binMax = 0;
+            uint8_t peakBin = 0;
             //for bins after initial decline, identify start bin and max bin 
             for (int i = state->fftStartBin; i < FFT_BIN_COUNT; i++) {
                 if (fftIncreased || (state->fftData[i] > state->fftData[i - 1])) {
@@ -196,51 +196,40 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
                         binStart = i; // first up-step bin
                         fftIncreased = true;
                     }
-                    if (state->fftData[i] > dataMax) {
-                        dataMax = state->fftData[i];
-                        binMax = i;  // tallest bin
+                    if (state->fftData[i] > peakValue) {
+                        peakValue = state->fftData[i];
+                        peakBin = i;  // tallest bin
                     }
                 }
             }
-            // accumulate fftSum and fftWeightedSum from peak bin, and shoulder bins either side of peak
-            float cubedData = state->fftData[binMax] * state->fftData[binMax] * state->fftData[binMax];
-            float fftSum = cubedData;
-            float fftWeightedSum = cubedData * (binMax + 1);
-            // accumulate upper shoulder
-            for (int i = binMax; i < FFT_BIN_COUNT - 1; i++) {
-                if (state->fftData[i] > state->fftData[i + 1]) {
-                    cubedData = state->fftData[i] * state->fftData[i] * state->fftData[i];
-                    fftSum += cubedData;
-                    fftWeightedSum += cubedData * (i + 1);
-                } else {
-                break;
-                }
+            
+            // Failsafe to ensure the last bin is not a peak bin
+            peakBin = constrain(peakBin, state->fftStartBin, FFT_BIN_COUNT - 1);
+            peakValue = state->fftData[peakBin];
+
+            /*
+             * Calculate center frequency using the parabola method
+             */
+            float preciseBin = peakBin;
+
+            // Height of peak bin (y1) and shoulder bins (y0, y2)
+            const float y0 = state->fftData[peakBin - 1];
+            const float y1 = state->fftData[peakBin];
+            const float y2 = state->fftData[peakBin - 1];
+
+            // Estimate true peak position aka. preciseBin (fit parabola y(x) over y0, y1 and y2, solve dy/dx=0 for x)
+            const float denom = 2.0f * (y0 - 2 * y1 + y2);
+            if (denom != 0.0f) {
+                preciseBin += (y0 - y2) / denom;
             }
-            // accumulate lower shoulder
-            for (int i = binMax; i > binStart + 1; i--) {
-                if (state->fftData[i] > state->fftData[i - 1]) {
-                    cubedData = state->fftData[i] * state->fftData[i] * state->fftData[i];
-                    fftSum += cubedData;
-                    fftWeightedSum += cubedData * (i + 1);
-                } else {
-                break;
-                }
-            }
-            // get weighted center of relevant frequency range (this way we have a better resolution than 31.25Hz)
-            float centerFreq = state->maxFrequency;
-            float fftMeanIndex = 0;
-             // idx was shifted by 1 to start at 1, not 0
-            if (fftSum > 0) {
-                fftMeanIndex = (fftWeightedSum / fftSum) - 1;
-                // the index points at the center frequency of each bin so index 0 is actually 16.125Hz
-                centerFreq = fftMeanIndex * state->fftResolution;
-            } else {
-                centerFreq = state->prevCenterFreq[state->updateAxis];
-            }
-            centerFreq = fmax(centerFreq, state->minFrequency);
-            centerFreq = biquadFilterApply(&state->detectedFrequencyFilter[state->updateAxis], centerFreq);
+
+            float peakFrequency = preciseBin * state->fftResolution;
+
+            peakFrequency = biquadFilterApply(&state->detectedFrequencyFilter[state->updateAxis], peakFrequency);
+            peakFrequency = constrainf(peakFrequency, state->minFrequency, state->maxFrequency);
+
             state->prevCenterFreq[state->updateAxis] = state->centerFreq[state->updateAxis];
-            state->centerFreq[state->updateAxis] = centerFreq;
+            state->centerFreq[state->updateAxis] = peakFrequency;
             break;
         }
         case STEP_UPDATE_FILTERS:

From f08b7a7cbe3a3ebf034579e1895ebddb1fbf1766 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 13:39:34 +0200
Subject: [PATCH 329/336] Simplify peak detection

---
 src/main/flight/gyroanalyse.c | 37 ++++++++++++++---------------------
 1 file changed, 15 insertions(+), 22 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index ef07773fb2..d43c4844a5 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -76,9 +76,6 @@ void gyroDataAnalyseStateInit(
 
     arm_rfft_fast_init_f32(&state->fftInstance, FFT_WINDOW_SIZE);
 
-//    recalculation of filters takes 4 calls per axis => each filter gets updated every DYN_NOTCH_CALC_TICKS calls
-//    at 4khz gyro loop rate this means 4khz / 4 / 3 = 333Hz => update every 3ms
-//    for gyro rate > 16kHz, we have update frequency of 1kHz => 1ms
     const float looptime = MAX(1000000u / state->fftSamplingRateHz, targetLooptimeUs * DYN_NOTCH_CALC_TICKS);
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         // any init value
@@ -125,6 +122,18 @@ void arm_cfft_radix8by4_f32(arm_cfft_instance_f32 *S, float32_t *p1);
 void arm_radix8_butterfly_f32(float32_t *pSrc, uint16_t fftLen, const float32_t *pCoef, uint16_t twidCoefModifier);
 void arm_bitreversal_32(uint32_t *pSrc, const uint16_t bitRevLen, const uint16_t *pBitRevTable);
 
+static uint8_t findPeakBinIndex(gyroAnalyseState_t *state) {
+    uint8_t peakBinIndex = state->fftStartBin;
+    float peakValue = 0;
+    for (int i = state->fftStartBin; i < FFT_BIN_COUNT; i++) {
+        if (state->fftData[i] > peakValue) {
+            peakValue = state->fftData[i];
+            peakBinIndex = i;
+        }
+    }
+    return peakBinIndex;
+}
+
 /*
  * Analyse last gyro data from the last FFT_WINDOW_SIZE milliseconds
  */
@@ -185,27 +194,11 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
         }
         case STEP_CALC_FREQUENCIES:
         {
-            bool fftIncreased = false;
-            float peakValue = 0;
-            uint8_t binStart = 0;
-            uint8_t peakBin = 0;
-            //for bins after initial decline, identify start bin and max bin 
-            for (int i = state->fftStartBin; i < FFT_BIN_COUNT; i++) {
-                if (fftIncreased || (state->fftData[i] > state->fftData[i - 1])) {
-                    if (!fftIncreased) {
-                        binStart = i; // first up-step bin
-                        fftIncreased = true;
-                    }
-                    if (state->fftData[i] > peakValue) {
-                        peakValue = state->fftData[i];
-                        peakBin = i;  // tallest bin
-                    }
-                }
-            }
-            
+           
+            uint8_t peakBin = findPeakBinIndex(state);
+
             // Failsafe to ensure the last bin is not a peak bin
             peakBin = constrain(peakBin, state->fftStartBin, FFT_BIN_COUNT - 1);
-            peakValue = state->fftData[peakBin];
 
             /*
              * Calculate center frequency using the parabola method

From eda0be05abf7f926df303c9034e05eec1627ba4b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 14:27:43 +0200
Subject: [PATCH 330/336] Further simplify the code

---
 src/main/flight/gyroanalyse.c | 18 ++----------------
 src/main/flight/gyroanalyse.h |  4 ++++
 2 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index d43c4844a5..0ef467a81f 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -117,9 +117,7 @@ void gyroDataAnalyse(gyroAnalyseState_t *state)
 }
 
 void stage_rfft_f32(arm_rfft_fast_instance_f32 *S, float32_t *p, float32_t *pOut);
-void arm_cfft_radix8by2_f32(arm_cfft_instance_f32 *S, float32_t *p1);
 void arm_cfft_radix8by4_f32(arm_cfft_instance_f32 *S, float32_t *p1);
-void arm_radix8_butterfly_f32(float32_t *pSrc, uint16_t fftLen, const float32_t *pCoef, uint16_t twidCoefModifier);
 void arm_bitreversal_32(uint32_t *pSrc, const uint16_t bitRevLen, const uint16_t *pBitRevTable);
 
 static uint8_t findPeakBinIndex(gyroAnalyseState_t *state) {
@@ -155,20 +153,8 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
     switch (state->updateStep) {
         case STEP_ARM_CFFT_F32:
         {
-            switch (FFT_BIN_COUNT) {
-            case 16:
-                // 16us
-                arm_cfft_radix8by2_f32(Sint, state->fftData);
-                break;
-            case 32:
-                // 35us
-                arm_cfft_radix8by4_f32(Sint, state->fftData);
-                break;
-            case 64:
-                // 70us
-                arm_radix8_butterfly_f32(state->fftData, FFT_BIN_COUNT, Sint->pTwiddle, 1);
-                break;
-            }
+            // Important this works only with FFT windows size of 64 elements!
+            arm_cfft_radix8by4_f32(Sint, state->fftData);
             break;
         }
         case STEP_BITREVERSAL:
diff --git a/src/main/flight/gyroanalyse.h b/src/main/flight/gyroanalyse.h
index 333eee01c6..0d95be42cc 100644
--- a/src/main/flight/gyroanalyse.h
+++ b/src/main/flight/gyroanalyse.h
@@ -25,6 +25,10 @@
 #include "arm_math.h"
 #include "common/filter.h"
 
+/*
+ * Current code works only with 64 window size. Changing it do a different size would require
+ * adapting the gyroDataAnalyseUpdate in STEP_ARM_CFFT_F32 step
+ */
 #define FFT_WINDOW_SIZE 64
 
 typedef struct gyroAnalyseState_s {

From aece6f65cbe77b3aea0750b8142413aea52c8f45 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 14:39:45 +0200
Subject: [PATCH 331/336] Extract peak mean to separate function

---
 src/main/flight/gyroanalyse.c | 31 ++++++++++++++++++-------------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 0ef467a81f..1416c3960d 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -132,6 +132,23 @@ static uint8_t findPeakBinIndex(gyroAnalyseState_t *state) {
     return peakBinIndex;
 }
 
+static float computeParabolaMean(gyroAnalyseState_t *state, uint8_t peakBinIndex) {
+    float preciseBin = peakBinIndex;
+
+    // Height of peak bin (y1) and shoulder bins (y0, y2)
+    const float y0 = state->fftData[peakBinIndex - 1];
+    const float y1 = state->fftData[peakBinIndex];
+    const float y2 = state->fftData[peakBinIndex - 1];
+
+    // Estimate true peak position aka. preciseBin (fit parabola y(x) over y0, y1 and y2, solve dy/dx=0 for x)
+    const float denom = 2.0f * (y0 - 2 * y1 + y2);
+    if (denom != 0.0f) {
+        preciseBin += (y0 - y2) / denom;
+    }
+
+    return preciseBin;
+}
+
 /*
  * Analyse last gyro data from the last FFT_WINDOW_SIZE milliseconds
  */
@@ -189,19 +206,7 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
             /*
              * Calculate center frequency using the parabola method
              */
-            float preciseBin = peakBin;
-
-            // Height of peak bin (y1) and shoulder bins (y0, y2)
-            const float y0 = state->fftData[peakBin - 1];
-            const float y1 = state->fftData[peakBin];
-            const float y2 = state->fftData[peakBin - 1];
-
-            // Estimate true peak position aka. preciseBin (fit parabola y(x) over y0, y1 and y2, solve dy/dx=0 for x)
-            const float denom = 2.0f * (y0 - 2 * y1 + y2);
-            if (denom != 0.0f) {
-                preciseBin += (y0 - y2) / denom;
-            }
-
+            float preciseBin = computeParabolaMean(state, peakBin);
             float peakFrequency = preciseBin * state->fftResolution;
 
             peakFrequency = biquadFilterApply(&state->detectedFrequencyFilter[state->updateAxis], peakFrequency);

From f0a0d540810c098c2d6668e01962234a5d15eb0b Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 15:22:41 +0200
Subject: [PATCH 332/336] Fix center frequency filter

---
 src/main/flight/gyroanalyse.c | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 1416c3960d..69d5bfe709 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -54,8 +54,6 @@ FILE_COMPILE_FOR_SPEED
 #define FFT_BIN_COUNT             (FFT_WINDOW_SIZE / 2)
 // smoothing frequency for FFT centre frequency
 #define DYN_NOTCH_SMOOTH_FREQ_HZ  50
-// we need 4 steps for each axis
-#define DYN_NOTCH_CALC_TICKS      (XYZ_AXIS_COUNT * 4)
 
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
@@ -76,12 +74,15 @@ void gyroDataAnalyseStateInit(
 
     arm_rfft_fast_init_f32(&state->fftInstance, FFT_WINDOW_SIZE);
 
-    const float looptime = MAX(1000000u / state->fftSamplingRateHz, targetLooptimeUs * DYN_NOTCH_CALC_TICKS);
+    // Frequency filter is executed every 12 cycles. 4 steps per cycle, 3 axises
+    const uint32_t filterUpdateUs = targetLooptimeUs * 12; //TODO reflect this in actual number of steps
+    
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         // any init value
         state->centerFreq[axis] = state->maxFrequency;
         state->prevCenterFreq[axis] = state->maxFrequency;
-        biquadFilterInitLPF(&state->detectedFrequencyFilter[axis], DYN_NOTCH_SMOOTH_FREQ_HZ, looptime);
+
+        biquadFilterInitLPF(&state->detectedFrequencyFilter[axis], DYN_NOTCH_SMOOTH_FREQ_HZ, filterUpdateUs);
     }
 }
 
@@ -106,14 +107,7 @@ void gyroDataAnalyse(gyroAnalyseState_t *state)
 
     state->circularBufferIdx = (state->circularBufferIdx + 1) % FFT_WINDOW_SIZE;
 
-    // We need DYN_NOTCH_CALC_TICKS tick to update all axis with newly sampled value
-    state->updateTicks = DYN_NOTCH_CALC_TICKS;
-
-    // calculate FFT and update filters
-    if (state->updateTicks > 0) {
-        gyroDataAnalyseUpdate(state);
-        --state->updateTicks;
-    }
+    gyroDataAnalyseUpdate(state);
 }
 
 void stage_rfft_f32(arm_rfft_fast_instance_f32 *S, float32_t *p, float32_t *pOut);

From 572883f407f15ed5a841ea0580edfa9d8f686098 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 15:41:45 +0200
Subject: [PATCH 333/336] Cleanup steps and get rid of magic number of cycles
 between updates

---
 src/main/flight/gyroanalyse.c | 51 ++++++++++++-----------------------
 1 file changed, 17 insertions(+), 34 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 69d5bfe709..1f1a54863a 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -46,6 +46,14 @@ FILE_COMPILE_FOR_SPEED
 
 #include "gyroanalyse.h"
 
+enum {
+    STEP_ARM_CFFT_F32,
+    STEP_BITREVERSAL_AND_STAGE_RFFT_F32,
+    STEP_MAGNITUDE_AND_FREQUENCY,
+    STEP_UPDATE_FILTERS_AND_HANNING,
+    STEP_COUNT
+};
+
 // The FFT splits the frequency domain into an number of bins
 // A sampling frequency of 1000 and max frequency of 500 at a window size of 32 gives 16 frequency bins each 31.25Hz wide
 // Eg [0,31), [31,62), [62, 93) etc
@@ -75,8 +83,8 @@ void gyroDataAnalyseStateInit(
     arm_rfft_fast_init_f32(&state->fftInstance, FFT_WINDOW_SIZE);
 
     // Frequency filter is executed every 12 cycles. 4 steps per cycle, 3 axises
-    const uint32_t filterUpdateUs = targetLooptimeUs * 12; //TODO reflect this in actual number of steps
-    
+    const uint32_t filterUpdateUs = targetLooptimeUs * STEP_COUNT * XYZ_AXIS_COUNT;
+
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         // any init value
         state->centerFreq[axis] = state->maxFrequency;
@@ -148,16 +156,6 @@ static float computeParabolaMean(gyroAnalyseState_t *state, uint8_t peakBinIndex
  */
 static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
 {
-    enum {
-        STEP_ARM_CFFT_F32,
-        STEP_BITREVERSAL,
-        STEP_STAGE_RFFT_F32,
-        STEP_ARM_CMPLX_MAG_F32,
-        STEP_CALC_FREQUENCIES,
-        STEP_UPDATE_FILTERS,
-        STEP_HANNING,
-        STEP_COUNT
-    };
 
     arm_cfft_instance_f32 *Sint = &(state->fftInstance.Sint);
 
@@ -168,30 +166,18 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
             arm_cfft_radix8by4_f32(Sint, state->fftData);
             break;
         }
-        case STEP_BITREVERSAL:
+        case STEP_BITREVERSAL_AND_STAGE_RFFT_F32:
         {
-            // 6us
             arm_bitreversal_32((uint32_t*) state->fftData, Sint->bitRevLength, Sint->pBitRevTable);
-            state->updateStep++;
-            FALLTHROUGH;
-        }
-        case STEP_STAGE_RFFT_F32:
-        {
-            // 14us
-            // this does not work in place => fftData AND rfftData needed
             stage_rfft_f32(&state->fftInstance, state->fftData, state->rfftData);
             break;
         }
-        case STEP_ARM_CMPLX_MAG_F32:
+        case STEP_MAGNITUDE_AND_FREQUENCY:
         {
             // 8us
             arm_cmplx_mag_f32(state->rfftData, state->fftData, FFT_BIN_COUNT);
-            state->updateStep++;
-            FALLTHROUGH;
-        }
-        case STEP_CALC_FREQUENCIES:
-        {
-           
+
+            //Find peak frequency           
             uint8_t peakBin = findPeakBinIndex(state);
 
             // Failsafe to ensure the last bin is not a peak bin
@@ -210,7 +196,7 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
             state->centerFreq[state->updateAxis] = peakFrequency;
             break;
         }
-        case STEP_UPDATE_FILTERS:
+        case STEP_UPDATE_FILTERS_AND_HANNING:
         {
             // 7us
             // calculate cutoffFreq and notch Q, update notch filter  =1.8+((A2-150)*0.004)
@@ -223,12 +209,9 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
                 state->filterUpdateFrequency = state->centerFreq[state->updateAxis];
             }
 
+            //Switch to the next axis
             state->updateAxis = (state->updateAxis + 1) % XYZ_AXIS_COUNT;
-            state->updateStep++;
-            FALLTHROUGH;
-        }
-        case STEP_HANNING:
-        {
+            
             // apply hanning window to gyro samples and store result in fftData
             // hanning starts and ends with 0, could be skipped for minor speed improvement
             arm_mult_f32(state->downsampledGyroData[state->updateAxis], state->hanningWindow, state->fftData, FFT_WINDOW_SIZE);

From b3430ecd377d97aec74447fa4a8309182f30ff91 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 28 Oct 2021 17:00:45 +0200
Subject: [PATCH 334/336] Increase a resolution by lowering sampling rate

---
 src/main/flight/gyroanalyse.c | 25 +++++++++++++++++++------
 1 file changed, 19 insertions(+), 6 deletions(-)

diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 1f1a54863a..2037b4712c 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -63,6 +63,13 @@ enum {
 // smoothing frequency for FFT centre frequency
 #define DYN_NOTCH_SMOOTH_FREQ_HZ  50
 
+/*
+ * Slow down gyro sample acquisition. This lowers the max frequency but increases the resolution.
+ * On default 500us looptime and denominator 1, max frequency is 1000Hz with a resolution of 31.25Hz
+ * On default 500us looptime and denominator 2, max frequency is 500Hz with a resolution of 15.6Hz
+ */
+#define FFT_SAMPLING_DENOMINATOR 2
+
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
     uint16_t minFrequency,
@@ -70,8 +77,8 @@ void gyroDataAnalyseStateInit(
 ) {
     state->minFrequency = minFrequency;
 
-    state->fftSamplingRateHz = 1e6f / targetLooptimeUs;
-    state->maxFrequency = state->fftSamplingRateHz / 2; //Nyquist
+    state->fftSamplingRateHz = 1e6f / targetLooptimeUs / FFT_SAMPLING_DENOMINATOR;
+    state->maxFrequency = state->fftSamplingRateHz / 2; //max possible frequency is half the sampling rate
     state->fftResolution = (float)state->maxFrequency / FFT_BIN_COUNT;
 
     state->fftStartBin = state->minFrequency / lrintf(state->fftResolution);
@@ -108,12 +115,18 @@ void gyroDataAnalyse(gyroAnalyseState_t *state)
 {
     state->filterUpdateExecute = false; //This will be changed to true only if new data is present
 
-    // calculate mean value of accumulated samples
-    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        state->downsampledGyroData[axis][state->circularBufferIdx] = state->currentSample[axis];
+    static uint8_t samplingIndex = 0;
+
+    if (samplingIndex == 0) {
+        // calculate mean value of accumulated samples
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            state->downsampledGyroData[axis][state->circularBufferIdx] = state->currentSample[axis];
+        }
+
+        state->circularBufferIdx = (state->circularBufferIdx + 1) % FFT_WINDOW_SIZE;
     }
 
-    state->circularBufferIdx = (state->circularBufferIdx + 1) % FFT_WINDOW_SIZE;
+    samplingIndex = (samplingIndex + 1) % FFT_SAMPLING_DENOMINATOR;
 
     gyroDataAnalyseUpdate(state);
 }

From bd4c4da4caa624a1e305dbdb553a656f2c8bdf5f Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 28 Oct 2021 18:26:51 +0100
Subject: [PATCH 335/336] changes for conflict resolution

---
 docs/Programming Framework.md          | 2 +-
 src/main/programming/logic_condition.c | 1 +
 src/main/programming/logic_condition.h | 4 ++--
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index 0b849e4b3d..e6e878bc2b 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -74,7 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
-| 41            | SET_PROFILE   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
+| 42            | SET_PROFILE   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
 
 
 ### Operands
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 792283e684..36777fc4a9 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -341,6 +341,7 @@ static int logicConditionCompute(
                 if (setConfigProfile(operandA)) {
                     pidInit();
                     pidInitFilters();
+                    schedulePidGainsUpdate();
                     profileChanged = true;
                 }
                 return profileChanged;
diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index b6226c0d20..8b64ab6d7f 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -70,8 +70,8 @@ typedef enum {
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
     LOGIC_CONDITION_MODULUS                     = 40,
-    LOGIC_CONDITION_SET_PROFILE                 = 41,
-    LOGIC_CONDITION_LAST                        = 42,
+    LOGIC_CONDITION_SET_PROFILE                 = 42,
+    LOGIC_CONDITION_LAST                        = 43,
 } logicOperation_e;
 
 typedef enum logicOperandType_s {

From fedfa7a8d7a548b55c3a7c7c4a00f71507324034 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 28 Oct 2021 18:39:46 +0100
Subject: [PATCH 336/336] fixed a little comma that slipped through

---
 src/main/programming/logic_condition.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index f20faa8bba..4e32bd0ac9 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -122,7 +122,7 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ,                                 // 32
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR,                                // 33
     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1                        // 34
-    LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS                            // 35
+    LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS,                           // 35
     LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int                    // 36
 
 } logicFlightOperands_e;