components/bmi270/bmi270_context.c

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             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,
+    0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe7, 0x6f, 0x7b, 0x6f, 0x80, 0x6f, 0x60, 0x5f, 0xc8, 0x2e, 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, 0x07, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x00, 0xe1, 0x06, 0x66, 0x0a, 0x0a, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 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, 0xd7, 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, 0x9c, 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, 0xf5, 0xb0, 0x01, 0x50, 0x98,
+    0x2e, 0xd5, 0xb6, 0x10, 0x30, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0x84, 0x00, 0x04, 0xae, 0x0b, 0x2f, 0x01, 0x2e,
+    0x9c, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x01, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2, 0x02, 0x2f, 0x10, 0x30, 0x21,
+    0x2e, 0x79, 0x00, 0x01, 0x2e, 0x79, 0x00, 0x00, 0x90, 0x90, 0x2e, 0x14, 0x03, 0x01, 0x2e, 0x87, 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, 0x84, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98, 0x2e, 0x81, 0x0d,
+    0x01, 0x2e, 0x84, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x00, 0x30, 0x21, 0x2e, 0x7b,
+    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, 0x84, 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, 0xaf, 0x03, 0x21, 0x2d,
+    0x61, 0x30, 0x23, 0x2e, 0x84, 0x00, 0x98, 0x2e, 0xaf, 0x03, 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, 0x84, 0x00, 0x10, 0x30, 0x98, 0x2e, 0xaf,
+    0x03, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0x84, 0x00, 0x01, 0x2e, 0x84, 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, 0x84, 0x00, 0x20, 0x30, 0x98, 0x2e, 0x9b, 0x03, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x05, 0x2d,
+    0x98, 0x2e, 0x38, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x84, 0x00, 0x00, 0x30, 0x21, 0x2e, 0x78, 0x00, 0x18, 0x2d, 0x01,
+    0x2e, 0x84, 0x00, 0x03, 0xaa, 0x01, 0x2f, 0x98, 0x2e, 0x45, 0x0e, 0x01, 0x2e, 0x84, 0x00, 0x3f, 0x80, 0x03, 0xa2,
+    0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x5b, 0x0e, 0x30, 0x30, 0x98, 0x2e, 0xba, 0x03, 0x00, 0x30, 0x21,
+    0x2e, 0x79, 0x00, 0x50, 0x32, 0x98, 0x2e, 0x48, 0x03, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x01, 0x2e,
+    0x85, 0x00, 0x21, 0x2e, 0x90, 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, 0xaa, 0x01, 0x00, 0x30, 0x21, 0x2e, 0x19, 0x00,
+    0x21, 0x2e, 0x9c, 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,
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+    0x30, 0x30, 0x21, 0x2e, 0x84, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30, 0x23, 0x2e, 0x84, 0x00, 0x21, 0x2e, 0x7b,
+    0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0x59, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0x84, 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, 0x35, 0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f,
+    0x4b, 0x08, 0x63, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0x4f,
+    0x52, 0x65, 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, 0x55, 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, 0x84, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0x86, 0x00, 0x21, 0x2e,
+    0x87, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0x87, 0x00, 0x03, 0x2e, 0x86, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
+    0x0e, 0xb8, 0x2e, 0x67, 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, 0x67, 0x54, 0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0x69,
+    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, 0x61, 0x52, 0x00,
+    0x30, 0x40, 0x42, 0x7c, 0x86, 0x3b, 0x52, 0x09, 0x2e, 0x57, 0x0f, 0x41, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54, 0x40,
+    0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0x87, 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, 0x58, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77,
+    0xf7, 0x3f, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0x6b, 0x54, 0x50, 0x42, 0x4a, 0x0e,
+    0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0x69, 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, 0x6d, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x6d, 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, 0x6f, 0x58, 0xc2, 0x6f, 0x94, 0x09,
+    0x71, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0x6d, 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,
+    0x75, 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, 0x7d, 0x00, 0x19, 0x52, 0xe2, 0x7f, 0xd0, 0x7f, 0xc3, 0x7f,
+    0x98, 0x2e, 0xb6, 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, 0x91, 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, 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,
+    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, 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 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 20460,
+ *                          | 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 20460,
+ *                          | 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 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 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);
+
+/*!
+ * @brief This internal API is used to select the header byte frame
+ *
+ * @param[in, out] frame_to_read : Variable to indicate activity frames read.
+ * @param[in, out] act_frm_len   : Number of activity frames parsed.
+ * @param[in]      act_recog     : Structure instance of bmi2_act_recog_output.
+ * @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 fifo_header_frame(uint16_t frame_to_read,
+                                uint16_t *act_frm_len,
+                                struct bmi2_act_recog_output *act_recog,
+                                struct bmi2_fifo_frame *fifo,
+                                const struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature.
+ *
+ * @param[in] sensor_sel    : Enables the selected 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 enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to enable sensor features.
+ *
+ * @param[in] sensor_sel    : Enables features of selected 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 enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature.
+ *
+ * @param[in] sensor_sel    : Disables the selected 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 disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/*!
+ * @brief This internal API is used to disable sensor features.
+ *
+ * @param[in] sensor_sel    : Disables features of selected 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 disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev);
+
+/***************************************************************************/
+
+/*!         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 feature data.
+ */
+int8_t bmi270_context_get_feature_data(struct bmi2_feat_sensor_data *feature_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) && (feature_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((feature_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
+                (feature_data[loop].type == BMI2_GYRO_CROSS_SENSE))
+            {
+                rslt = bmi2_get_feature_data(&feature_data[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for feature
+                 * configurations
+                 */
+                if (feature_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 (feature_data[loop].type)
+                    {
+                        case BMI2_STEP_COUNTER:
+
+                            /* Get step counter output */
+                            rslt = get_step_counter_output(&feature_data[loop].sens_data.step_counter_output, dev);
+                            break;
+                        case BMI2_NVM_STATUS:
+
+                            /* Get NVM error status  */
+                            rslt = get_nvm_error_status(&feature_data[loop].sens_data.nvm_status, dev);
+                            break;
+                        case BMI2_VFRM_STATUS:
+
+                            /* Get VFRM error status  */
+                            rslt = get_vfrm_error_status(&feature_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->pp_en = 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->min_gdi_thres = 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->max_gdi_thres = msb_lsb;
+
+                /* increment idx by 1 to point buffer size */
+                idx++;
+                sett->buf_size = 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->min_seg_conf = 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->buf_size > 10) || (sett->min_seg_conf > 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->pp_en);
+
+                    /* Increment idx by 2 to point min gdi thres addres */
+                    idx = idx + 2;
+                    feat_config[idx] = BMI2_GET_LSB(sett->min_gdi_thres);
+                    idx++;
+                    feat_config[idx] = BMI2_GET_MSB(sett->min_gdi_thres);
+
+                    /* Increment idx by 1 to point max gdi thres addres */
+                    idx++;
+                    feat_config[idx] = BMI2_GET_LSB(sett->max_gdi_thres);
+                    idx++;
+                    feat_config[idx] = BMI2_GET_MSB(sett->max_gdi_thres);
+
+                    /* 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->buf_size);
+
+                    /* 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->min_seg_conf);
+
+                    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 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;
+
+        rslt = fifo_header_frame(frame_to_read, act_frm_len, act_recog, fifo, dev);
+    }
+    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 get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = enable_main_sensors(sensor_sel, 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)
+        {
+            rslt = enable_sensor_features(sensor_sel, 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 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 get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = disable_main_sensors(sensor_sel, 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)
+        {
+            rslt = disable_sensor_features(sensor_sel, 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 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);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
+            }
+        }
+    }
+    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);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
+            }
+        }
+    }
+    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);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
+            }
+        }
+    }
+    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 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;
+        }
+    }
+    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 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 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;
+}
+
+/*!
+ * @brief This internal API is used to select the header byte frame
+ */
+static int8_t fifo_header_frame(uint16_t frame_to_read,
+                                uint16_t *act_frm_len,
+                                struct bmi2_act_recog_output *act_recog,
+                                struct bmi2_fifo_frame *fifo,
+                                const struct bmi2_dev *dev)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index activity frames */
+    uint16_t act_idx = 0;
+
+    /* Check if this is the first iteration of data unpacking
+     * if yes, then consider dummy byte on SPI
+     */
+    if (fifo->act_recog_byte_start_idx == 0)
+    {
+        /* Dummy byte included */
+        fifo->act_recog_byte_start_idx = dev->dummy_byte;
+    }
+
+    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++;
+
+        if (rslt == BMI2_OK)
+        {
+            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;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature.
+ */
+static int8_t enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data;
+
+    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 is used to enable sensor features.
+ */
+static int8_t enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Enable step detector feature */
+    if (sensor_sel & BMI2_STEP_DETECT_SEL)
+    {
+        rslt = set_step_detector(BMI2_ENABLE, dev);
+    }
+
+    /* Enable step counter feature */
+    if (sensor_sel & BMI2_STEP_COUNT_SEL)
+    {
+        rslt = set_step_counter(BMI2_ENABLE, dev);
+    }
+
+    /* Enable activity recognition feature */
+    if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+    {
+        rslt = set_act_recog(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature.
+ */
+static int8_t disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data;
+
+    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 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 is used to disable sensor features.
+ */
+static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Enable step detector feature */
+    if (sensor_sel & BMI2_STEP_DETECT_SEL)
+    {
+        rslt = set_step_detector(BMI2_DISABLE, dev);
+    }
+
+    /* Enable step counter feature */
+    if (sensor_sel & BMI2_STEP_COUNT_SEL)
+    {
+        rslt = set_step_counter(BMI2_DISABLE, dev);
+    }
+
+    /* Enable activity recognition feature */
+    if (sensor_sel & BMI2_ACTIVITY_RECOGNITION_SEL)
+    {
+        rslt = set_act_recog(BMI2_DISABLE, dev);
+    }
+
+    return rslt;
+}

components/bmi270/bmi270_context.h

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/**
+ * \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 Feature Sensor Data
+ * @brief Get feature sensor data
+ */
+
+/*!
+ * \ingroup bmi270_contextApiSensorD
+ * \page bmi270_context_api_bmi270_context_get_feature_data bmi270_context_get_feature_data
+ * \code
+ * int8_t bmi270_context_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the feature data.
+ *
+ * @param[out] feature_data   : Structure instance of bmi2_feat_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_feature_data(struct bmi2_feat_sensor_data *feature_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_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_ */

components/bmi270/bmi270_legacy.h

+/**
+* Copyright (c) 2023 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_legacy.h
+* @date       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/* BMI270_legacy offers same low-power features as in BMI160 */
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270_legacy BMI270_LEGACY
+ * @brief Sensor driver for BMI270_LEGACY sensor
+ */
+
+#ifndef BMI270_LEGACY_H_
+#define BMI270_LEGACY_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270_LEGACY chip identifier */
+#define BMI270_LEGACY_CHIP_ID                         UINT8_C(0x24)
+
+/*! @name BMI270_LEGACY feature input start addresses */
+#define BMI270_LEGACY_CONFIG_ID_STRT_ADDR             UINT8_C(0x00)
+#define BMI270_LEGACY_MAX_BURST_LEN_STRT_ADDR         UINT8_C(0x02)
+#define BMI270_LEGACY_CRT_GYRO_SELF_TEST_STRT_ADDR    UINT8_C(0x03)
+#define BMI270_LEGACY_ABORT_STRT_ADDR                 UINT8_C(0x03)
+#define BMI270_LEGACY_AXIS_MAP_STRT_ADDR              UINT8_C(0x04)
+#define BMI270_LEGACY_GYRO_SELF_OFF_STRT_ADDR         UINT8_C(0x05)
+#define BMI270_LEGACY_NVM_PROG_PREP_STRT_ADDR         UINT8_C(0x05)
+#define BMI270_LEGACY_ANY_MOT_STRT_ADDR               UINT8_C(0x06)
+#define BMI270_LEGACY_NO_MOT_STRT_ADDR                UINT8_C(0x0A)
+#define BMI270_LEGACY_ORIENT_STRT_ADDR                UINT8_C(0x00)
+#define BMI270_LEGACY_HIGH_G_STRT_ADDR                UINT8_C(0x04)
+#define BMI270_LEGACY_LOW_G_STRT_ADDR                 UINT8_C(0x0A)
+#define BMI270_LEGACY_FLAT_STRT_ADDR                  UINT8_C(0x00)
+#define BMI270_LEGACY_SIG_MOT_STRT_ADDR               UINT8_C(0x04)
+#define BMI270_LEGACY_STEP_COUNT_STRT_ADDR            UINT8_C(0x00)
+#define BMI270_LEGACY_GYRO_USERGAIN_UPDATE_STRT_ADDR  UINT8_C(0x04)
+#define BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR          UINT8_C(0x00)
+#define BMI270_LEGACY_TAP_DETECT_2_STRT_ADDR          UINT8_C(0x00)
+
+/*! @name BMI270_LEGACY feature output start addresses */
+#define BMI270_LEGACY_STEP_CNT_OUT_STRT_ADDR          UINT8_C(0x00)
+#define BMI270_LEGACY_STEP_ACT_OUT_STRT_ADDR          UINT8_C(0x04)
+#define BMI270_LEGACY_ORIENT_HIGH_G_OUT_STRT_ADDR     UINT8_C(0x06)
+#define BMI270_LEGACY_GYR_USER_GAIN_OUT_STRT_ADDR     UINT8_C(0x08)
+#define BMI270_LEGACY_GYRO_CROSS_SENSE_STRT_ADDR      UINT8_C(0x0C)
+#define BMI270_LEGACY_NVM_VFRM_OUT_STRT_ADDR          UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_LEGACY_MAX_PAGE_NUM                    UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_LEGACY_MAX_FEAT_IN                     UINT8_C(23)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_LEGACY_MAX_FEAT_OUT                    UINT8_C(8)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_LEGACY_SIG_MOT_STATUS_MASK             UINT8_C(0x01)
+#define BMI270_LEGACY_STEP_CNT_STATUS_MASK            UINT8_C(0x02)
+#define BMI270_LEGACY_HIGH_G_STATUS_MASK              UINT8_C(0x04)
+#define BMI270_LEGACY_LOW_G_STATUS_MASK               UINT8_C(0x04)
+#define BMI270_LEGACY_TAP_STATUS_MASK                 UINT8_C(0x08)
+#define BMI270_LEGACY_FLAT_STATUS_MASK                UINT8_C(0x10)
+#define BMI270_LEGACY_NO_MOT_STATUS_MASK              UINT8_C(0x20)
+#define BMI270_LEGACY_ANY_MOT_STATUS_MASK             UINT8_C(0x40)
+#define BMI270_LEGACY_ORIENT_STATUS_MASK              UINT8_C(0x80)
+#define BMI270_LEGACY_SINGLE_TAP_MASK                 UINT8_C(0x20)
+#define BMI270_LEGACY_DOUBLE_TAP_MASK                 UINT8_C(0x40)
+#define BMI270_LEGACY_TRIPLE_TAP_MASK                 UINT8_C(0x80)
+
+/*! @name Status register for tap */
+#define BMI270_LEGACY_TAP_STATUS_REG                  UINT8_C(0x20)
+
+/*! @name Macros for high-g interrupt axis/sign */
+#define BMI270_LEGACY_HIGH_G_DETECT_X                 UINT8_C(0x08)
+#define BMI270_LEGACY_HIGH_G_DETECT_Y                 UINT8_C(0x10)
+#define BMI270_LEGACY_HIGH_G_DETECT_Z                 UINT8_C(0x20)
+#define BMI270_LEGACY_HIGH_G_DETECT_SIGN              UINT8_C(0x40)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_LEGACY_INT_SIG_MOT_MASK                UINT8_C(0x01)
+#define BMI270_LEGACY_INT_STEP_COUNTER_MASK           UINT8_C(0x02)
+#define BMI270_LEGACY_INT_STEP_DETECTOR_MASK          UINT8_C(0x02)
+#define BMI270_LEGACY_INT_STEP_ACTIVITY_MASK          UINT8_C(0x02)
+#define BMI270_LEGACY_INT_HIGH_G_MASK                 UINT8_C(0x04)
+#define BMI270_LEGACY_INT_LOW_G_MASK                  UINT8_C(0x04)
+#define BMI270_LEGACY_INT_TAP_MASK                    UINT8_C(0x08)
+#define BMI270_LEGACY_INT_FLAT_MASK                   UINT8_C(0x10)
+#define BMI270_LEGACY_INT_NO_MOT_MASK                 UINT8_C(0x20)
+#define BMI270_LEGACY_INT_ANY_MOT_MASK                UINT8_C(0x40)
+#define BMI270_LEGACY_INT_ORIENT_MASK                 UINT8_C(0x80)
+#define BMI270_LEGACY_INT_SINGLE_TAP_MASK             UINT8_C(0x20)
+#define BMI270_LEGACY_INT_DOUBLE_TAP_MASK             UINT8_C(0x40)
+#define BMI270_LEGACY_INT_TRIPLE_TAP_MASK             UINT8_C(0x80)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_LEGACY_MAX_INT_MAP                     UINT8_C(14)
+
+/***************************************************************************/
+
+/*!     BMI270_LEGACY User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmi270_legacy
+ * \defgroup bmi270_legacyApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmi270_legacyApiInit
+ * \page bmi270_legacy_api_bmi270_legacy_init bmi270_legacy_init
+ * \code
+ * int8_t bmi270_legacy_init(struct bmi2_dev *dev);
+ * \endcode
+ * @details This API:
+ *  1) updates the device structure with address of the configuration file.
+ *  2) Initializes BMI270_LEGACY 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_legacy_init(struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_legacy
+ * \defgroup bmi270_legacyApiSensor Feature Set
+ * @brief Enable / Disable features of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_legacyApiSensor
+ * \page bmi270_legacy_api_bmi270_legacy_sensor_enable bmi270_legacy_sensor_enable
+ * \code
+ * int8_t bmi270_legacy_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_ORIENTATION            |  14
+ * BMI2_HIGH_G                 |  15
+ * BMI2_LOW_G                  |  16
+ * BMI2_FLAT                   |  17
+ * BMI2_SINGLE_TAP             |  25
+ * BMI2_DOUBLE_TAP             |  26
+ * BMI2_TRIPLE_TAP             |  27
+ * 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 bmi270_legacy_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_legacyApiSensor
+ * \page bmi270_legacy_api_bmi270_legacy_sensor_disable bmi270_legacy_sensor_disable
+ * \code
+ * int8_t bmi270_legacy_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_ORIENTATION            |  14
+ * BMI2_HIGH_G                 |  15
+ * BMI2_LOW_G                  |  16
+ * BMI2_FLAT                   |  17
+ * BMI2_SINGLE_TAP             |  25
+ * BMI2_DOUBLE_TAP             |  26
+ * BMI2_TRIPLE_TAP             |  27
+ * 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 bmi270_legacy_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_legacy
+ * \defgroup bmi270_legacyApiSensorC Sensor Configuration
+ * @brief Enable / Disable feature configuration of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_legacyApiSensorC
+ * \page bmi270_legacy_api_bmi270_legacy_set_sensor_config bmi270_legacy_set_sensor_config
+ * \code
+ * int8_t bmi270_legacy_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_ORIENTATION            |  14
+ * BMI2_HIGH_G                 |  15
+ * BMI2_LOW_G                  |  16
+ * BMI2_FLAT                   |  17
+ * BMI2_TAP                    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_legacy_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_legacyApiSensorC
+ * \page bmi270_legacy_api_bmi270_legacy_get_sensor_config bmi270_legacy_get_sensor_config
+ * \code
+ * int8_t bmi270_legacy_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_ORIENTATION            |  14
+ * BMI2_HIGH_G                 |  15
+ * BMI2_LOW_G                  |  16
+ * BMI2_FLAT                   |  17
+ * BMI2_TAP                    |  28
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_legacy_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_legacy
+ * \defgroup bmi270_legacyApiSensorD Feature Sensor Data
+ * @brief Get feature sensor data
+ */
+
+/*!
+ * \ingroup bmi270_legacyApiSensorD
+ * \page bmi270_legacy_api_bmi270_legacy_get_feature_data bmi270_legacy_get_feature_data
+ * \code
+ * int8_t bmi270_legacy_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev);
+ * \endcode
+ * @details This API gets the feature data.
+ *
+ * @param[out] feature_data   : Structure instance of bmi2_feat_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_ORIENTATION     |  14
+ * BMI2_HIGH_G          |  15
+ * BMI2_NVM_STATUS      |  38
+ * BMI2_VFRM_STATUS     |  39
+ *@endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+int8_t bmi270_legacy_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev);
+
+/**
+ * \ingroup bmi270_legacy
+ * \defgroup bmi270_legacyApiGyroUG Gyro User Gain
+ * @brief Set / Get Gyro User Gain of the sensor
+ */
+
+/*!
+ * \ingroup bmi270_legacyApiGyroUG
+ * \page bmi270_legacy_api_bmi270_legacy_update_gyro_user_gain bmi270_legacy_update_gyro_user_gain
+ * \code
+ * int8_t bmi270_legacy_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_legacy_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_legacyApiGyroUG
+ * \page bmi270_legacy_api_bmi270_legacy_read_gyro_user_gain bmi270_legacy_read_gyro_user_gain
+ * \code
+ * int8_t bmi270_legacy_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_legacy_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
+
+/*!
+ * \ingroup bmi270_legacyApiInt
+ * \page bmi270_legacy_api_bmi270_legacy_map_feat_int bmi270_legacy_map_feat_int
+ * \code
+ * int8_t bmi270_legacy_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_legacy_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_LEGACY_H_ */

components/bmi270/bmi270_maximum_fifo.c

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             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
+};
+
+/*! @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;
+}

components/bmi270/bmi270_maximum_fifo.h

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/**
+ * \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_ */

components/bmi270/bmi2_defs.h

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+#ifndef BMI2_DEFS_H_
+#define BMI2_DEFS_H_
+
+/******************************************************************************/
+/*! @name       Header includes                           */
+/******************************************************************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdio.h>
+#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))
+
+#define BMI2_MAX_BUFFER_SIZE                          UINT8_C(128)
+
+/*! @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 Macro to define maximum length of read */
+#define BMI2_MAX_LEN                                  UINT8_C(128)
+
+/*! @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 delay */
+#define BMI2_POWER_SAVE_MODE_DELAY_IN_US              UINT16_C(450)
+#define BMI2_NORMAL_MODE_DELAY_IN_US                  UINT8_C(2)
+
+/*! @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)
+#define BMI2_W_DUMMY_BYTE                             INT8_C(3)
+
+/*! @name Macros to define dummy frame header  FIFO headerless mode */
+#define BMI2_FIFO_HEADERLESS_DUMMY_ACC                UINT8_C(0x01)
+#define BMI2_FIFO_HEADERLESS_DUMMY_GYR                UINT8_C(0x02)
+#define BMI2_FIFO_HEADERLESS_DUMMY_AUX                UINT8_C(0x03)
+#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_1             UINT8_C(0x7F)
+#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_2             UINT8_C(0x00)
+#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_3             UINT8_C(0x80)
+
+/*! @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_SENSORTIME_ADDR                          UINT8_C(0x18)
+#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_TEMPERATURE_0_ADDR                       UINT8_C(0x22)
+#define BMI2_TEMPERATURE_1_ADDR                       UINT8_C(0x23)
+#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_SATURATION_ADDR                          UINT8_C(0x4A)
+#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_ERR_REG_MSK_ADDR                         UINT8_C(0x52)
+#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_INTERNAL_ERR_ADDR                        UINT8_C(0x5F)
+#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_DRV_STR_ADDR                             UINT8_C(0x6C)
+#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_AUX_NUM_BYTES                            UINT8_C(8)
+#define BMI2_ACC_NUM_BYTES                            UINT8_C(6)
+#define BMI2_GYR_NUM_BYTES                            UINT8_C(6)
+#define BMI2_STATUS_INDEX                             UINT8_C(0)
+#define BMI2_AUX_START_INDEX                          UINT8_C(1)
+#define BMI2_ACC_START_INDEX                          UINT8_C(9)
+#define BMI2_GYR_START_INDEX                          UINT8_C(15)
+#define BMI2_ACC_GYR_AUX_SENSORTIME_NUM_BYTES         UINT8_C(24)
+#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)
+#define BMI2_CONFIG_LOAD_STATUS_MASK                  UINT8_C(0x0F)
+
+/*! @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_PARSE_SENSOR_TIME_LSB_BYTE               UINT8_C(21)
+#define BMI2_PARSE_SENSOR_TIME_XLSB_BYTE              UINT8_C(22)
+#define BMI2_PARSE_SENSOR_TIME_MSB_BYTE               UINT8_C(23)
+
+#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)
+#define BMI2_FUP_EN_POS                               UINT8_C(0x02)
+#define BMI2_FUP_EN_MASK                              UINT8_C(0x04)
+
+/*! @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_SPI_EN_MASK                           UINT8_C(0x01)
+#define BMI2_NV_I2C_WD_SEL_MASK                       UINT8_C(0x02)
+#define BMI2_NV_I2C_WD_EN_MASK                        UINT8_C(0x04)
+#define BMI2_NV_ACC_OFFSET_MASK                       UINT8_C(0x08)
+
+/*! @name Mask definitions of DRV register */
+#define BMI2_DRV_STR_MASK                             UINT8_C(0xFF)
+
+/*! @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 definition for internal error register */
+#define BMI2_INTERNAL_ERROR_REG_POS                   UINT8_C(0x00)
+
+/*! @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_SPI_EN_POS                            UINT8_C(0x00)
+#define BMI2_NV_I2C_WD_SEL_POS                        UINT8_C(0x01)
+#define BMI2_NV_I2C_WD_EN_POS                         UINT8_C(0x02)
+#define BMI2_NV_ACC_OFFSET_POS                        UINT8_C(0x03)
+
+/*! @name Mask definitions of DRV register */
+#define BMI2_DRV_STR_POS                              UINT8_C(0x00)
+
+/*! @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)
+
+#define BMI2_FOC_INVERT_VALUE                         INT8_C(-1)
+
+/*! @name Macro for delay to read internal status */
+#define BMI2_INTERNAL_STATUS_READ_DELAY_MS            UINT32_C(20000)
+
+/******************************************************************************/
+/*! @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)
+#define BMI2_EXT_TCO                                  UINT8_C(48)
+#define BMI2_LPD                                      UINT8_C(49)
+#define BMI2_LAPTOP_POSITION_DETECTOR_1               UINT8_C(50)
+#define BMI2_LAPTOP_POSITION_DETECTOR_2               UINT8_C(51)
+#define BMI2_LAPTOP_POSITION_DETECTOR_3               UINT8_C(52)
+#define BMI2_LAPTOP_POSITION_DETECTOR_4               UINT8_C(53)
+#define BMI2_WRIST_GESTURE_WH_1                       UINT8_C(54)
+#define BMI2_WRIST_GESTURE_WH_2                       UINT8_C(55)
+#define BMI2_WRIST_WEAR_DROP_WH                       UINT8_C(56)
+#define BMI2_DOOR_STATE_DETECTOR                      UINT8_C(57)
+
+/*! @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)
+#define BMI2_EXT_TCO_SEL                              ((uint64_t)1 << BMI2_EXT_TCO)
+#define BMI2_LPD_SEL                                  ((uint64_t)1 << BMI2_LPD)
+#define BMI2_WRIST_WEAR_DROP_WH_SEL                   ((uint64_t)1 << BMI2_WRIST_WEAR_DROP_WH)
+#define BMI2_DOOR_STATE_DETECTOR_SEL                  ((uint64_t)1 << BMI2_DOOR_STATE_DETECTOR)
+
+/*! @name Macro definitions for Internal error */
+#define BMI2_INTERNAL_ERROR_REG_MASK                  UINT8_C(0xFF)
+#define BMI2_INTERNAL_ERROR_1_MASK                    UINT8_C(0x02)
+#define BMI2_INTERNAL_ERROR_2_MASK                    UINT8_C(0x04)
+#define BMI2_FEAT_ENG_DIS_MASK                        UINT8_C(0x10)
+
+/*! @name Mask definitions for saturation register */
+#define BMI2_SATURATION_REG_MASK                      UINT8_C(0x3F)
+#define BMI2_SATURATION_ACC_X_MASK                    UINT8_C(0x01)
+#define BMI2_SATURATION_ACC_Y_MASK                    UINT8_C(0x02)
+#define BMI2_SATURATION_ACC_Z_MASK                    UINT8_C(0x04)
+#define BMI2_SATURATION_GYR_X_MASK                    UINT8_C(0x08)
+#define BMI2_SATURATION_GYR_Y_MASK                    UINT8_C(0x10)
+#define BMI2_SATURATION_GYR_Z_MASK                    UINT8_C(0x20)
+
+/*! @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_WRIST_WEAR_DROP_FEAT_EN_MASK             UINT8_C(0x20)
+#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)
+#define BMI2_DOOR_STATE_DETECTOR_FEAT_EN_MASK         UINT8_C(0x01)
+
+/*! @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_WRIST_WEAR_DROP_FEAT_EN_POS              UINT8_C(0x05)
+#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)
+
+/*! @name Bit position and mask definitions for BMI2 Error register  */
+#define BMI2_ERR_REG_READ_MASK                        UINT8_C(0xFF)
+#define BMI2_ERR_REG_READ_POS                         UINT8_C(0x00)
+
+#define BMI2_FATAL_ERR_MASK                           UINT8_C(0x01)
+#define BMI2_FATAL_ERR_POS                            UINT8_C(0x00)
+
+#define BMI2_INTERNAL_ERR_MASK                        UINT8_C(0x1E)
+#define BMI2_INTERNAL_ERR_POS                         UINT8_C(0x02)
+
+#define BMI2_FIFO_ERR_MASK                            UINT8_C(0x40)
+#define BMI2_FIFO_ERR_POS                             UINT8_C(0x06)
+
+#define BMI2_AUX_ERR_MASK                             UINT8_C(0x80)
+#define BMI2_AUX_ERR_POS                              UINT8_C(0x07)
+
+/*! 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)
+#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_MASK      UINT16_C(0x00FF)
+#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_LOC_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)
+#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_LOC_POS   UINT16_C(0x0008)
+
+/*! @name Mask definition for BMI2 EXT TCO configuration */
+#define BMI2_EXT_TCO_MASK                             UINT8_C(0x01)
+
+/*! @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 Mask definitions of BMI2 virtual frame */
+#define BMI2_EIS_VFRM_DATA_MASK                       UINT8_C(0x08)
+
+/*! @name Bit position definitions of BMI2 virtual frame */
+#define BMI2_EIS_VFRM_DATA_POS                        UINT8_C(3)
+
+/*! @name Macro to define virtual frame length */
+#define BMI2_VIRTUAL_FRAME_LEN                        UINT8_C(19)
+
+/*! @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)
+
+/* Reference value with positive and negative noise range in lsb */
+
+/*
+ * For Gyro FOC, axes values after FOC must be 0 +/- 1 dps
+ *
+ * In 2000 dps, 1 dps is  16.384 (~16)
+ * In 1000 dps, 1 dps is  32.768 (~33)
+ * In  500 dps, 1 dps is  65.536 (~66)
+ * In  250 dps, 1 dps is 131.072 (~131)
+ * In  125 dps, 1 dps is 262.144 (~262)
+ */
+#define BMI2_GYRO_FOC_2000_DPS_REF                    UINT16_C(16)
+#define BMI2_GYRO_FOC_1000_DPS_REF                    UINT16_C(33)
+#define BMI2_GYRO_FOC_500_DPS_REF                     UINT16_C(66)
+#define BMI2_GYRO_FOC_250_DPS_REF                     UINT16_C(131)
+#define BMI2_GYRO_FOC_125_DPS_REF                     UINT16_C(262)
+
+/* Reference value with positive and negative noise range in lsb */
+
+/*
+ * As per datasheet, Zero-g offset : +/- 20mg
+ *
+ * In range 2G,  1G is 16384. so, 16384 x 20 x (10 ^ -3) = 328
+ * In range 4G,  1G is 8192.  so,  8192 x 20 x (10 ^ -3) = 164
+ * In range 8G,  1G is 4096.  so,  4096 x 20 x (10 ^ -3) = 82
+ * In range 16G, 1G is 2048.  so,  2048 x 20 x (10 ^ -3) = 41
+ */
+#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_ACC_FOC_2G_OFFSET                        UINT16_C(328)
+#define BMI2_ACC_FOC_4G_OFFSET                        UINT16_C(164)
+#define BMI2_ACC_FOC_8G_OFFSET                        UINT16_C(82)
+#define BMI2_ACC_FOC_16G_OFFSET                       UINT16_C(41)
+
+#define BMI2_FOC_SAMPLE_LIMIT                         UINT8_C(128)
+
+#define BMI2_ACC_2G_MAX_NOISE_LIMIT                   (BMI2_ACC_FOC_2G_REF + BMI2_ACC_FOC_2G_OFFSET)
+#define BMI2_ACC_2G_MIN_NOISE_LIMIT                   (BMI2_ACC_FOC_2G_REF - BMI2_ACC_FOC_2G_OFFSET)
+#define BMI2_ACC_4G_MAX_NOISE_LIMIT                   (BMI2_ACC_FOC_4G_REF + BMI2_ACC_FOC_4G_OFFSET)
+#define BMI2_ACC_4G_MIN_NOISE_LIMIT                   (BMI2_ACC_FOC_4G_REF - BMI2_ACC_FOC_4G_OFFSET)
+#define BMI2_ACC_8G_MAX_NOISE_LIMIT                   (BMI2_ACC_FOC_8G_REF + BMI2_ACC_FOC_8G_OFFSET)
+#define BMI2_ACC_8G_MIN_NOISE_LIMIT                   (BMI2_ACC_FOC_8G_REF - BMI2_ACC_FOC_8G_OFFSET)
+#define BMI2_ACC_16G_MAX_NOISE_LIMIT                  (BMI2_ACC_FOC_16G_REF + BMI2_ACC_FOC_16G_OFFSET)
+#define BMI2_ACC_16G_MIN_NOISE_LIMIT                  (BMI2_ACC_FOC_16G_REF - BMI2_ACC_FOC_16G_OFFSET)
+
+/*! @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)
+
+#define BMI2_AUX_RD_BURST_FRM_LEN_1                   UINT8_C(1)
+#define BMI2_AUX_RD_BURST_FRM_LEN_2                   UINT8_C(2)
+#define BMI2_AUX_RD_BURST_FRM_LEN_6                   UINT8_C(6)
+#define BMI2_AUX_RD_BURST_FRM_LEN_8                   UINT8_C(8)
+
+/*! @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 Sensortime resolution in seconds */
+#define BMI2_SENSORTIME_RESOLUTION                    0.0000390625f
+
+/*! @name FIFO sensor data lengths */
+#define BMI2_FIFO_ACC_LENGTH                          UINT8_C(6)
+#define BMI2_FIFO_GYR_LENGTH                          UINT8_C(6)
+#define BMI2_FIFO_ACC_GYR_LENGTH                      UINT8_C(12)
+#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_SPI3_MODE_MASK                           UINT8_C(0x01)
+#define BMI2_SPI3_OIS_MASK                            UINT8_C(0x02)
+#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_SPI3_MODE_POS                            UINT8_C(0x00)
+#define BMI2_SPI3_OIS_POS                             UINT8_C(0x01)
+#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 Structure to define BMI2 sensor data */
+struct 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];
+
+    /*! Sensor time */
+    uint32_t sens_time;
+
+    /*! Status register data */
+    uint8_t status;
+};
+
+/*! @name Structure to define BMI2 DSD data */
+struct bmi2_door_state_detector_output
+{
+    /*! Door event output */
+    uint8_t door_event_output;
+
+    /*! Heading output */
+    int16_t heading_output;
+};
+
+/*! @name Union to define BMI2 feature data */
+union bmi2_feature_data
+{
+    /*! 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;
+
+    /*! Wrist wear wakeup output */
+    uint8_t wrist_wear_wakeup_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;
+
+    /*! DSD output */
+    struct bmi2_door_state_detector_output door_state_detector_output;
+};
+
+/*! @name Structure to define type of sensor and their respective data */
+struct bmi2_feat_sensor_data
+{
+    /*! Defines the type of sensor */
+    uint8_t type;
+
+    /*! Defines various sensor data */
+    union bmi2_feature_data sens_data;
+};
+
+/*!
+ * @brief 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 */
+    struct 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 */
+    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 */
+    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;
+};
+
+/*! @name Structure to define EXT TCO configuration */
+struct bmi2_ext_tco
+{
+    /*! Enable(1) / Disable(0) hardware compensation.  */
+    uint8_t hw_comp_enable;
+};
+
+/*! @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 */
+    uint16_t sensitivity;
+
+    /*!
+     * For Single tap, single_tap_en = 1
+     * For Double tap, single_tap_en = 0
+     */
+    uint16_t single_tap_en;
+};
+
+/*! @name Structure to define tap configuration */
+struct bmi2_tap_config
+{
+    /*! 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 */
+    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 minimum 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 minimum 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 maximum 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 maximum 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 maximum 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 wear wake-up configuration for wearable configuration */
+struct bmi2_wrist_wear_wake_up_wh_config
+{
+    /*! Cosine of minimum 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 1774.
+     */
+    uint16_t min_angle_focus;
+
+    /*! Cosine of minimum 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 1522.
+     */
+    uint16_t min_angle_nonfocus;
+
+    /*! Sine of the maximum allowed 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_landscape_right;
+
+    /*! Sine of the maximum allowed 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_landscape_left;
+
+    /*! Sine of the maximum 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 to179. Default value is 22.
+     */
+    uint8_t angle_portrait_down;
+
+    /*! 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_portrait_up;
+
+    /*! Minimum duration the arm should be moved while performing gesture.
+     *  Range: 1 to 10, resolution = 20 ms
+     */
+    uint8_t min_dur_moved;
+
+    /*! Minimum duration the arm should be static between two consecutive gestures.
+     * Range: 1 to 10, resolution = 20 ms
+     */
+    uint8_t min_dur_quite;
+};
+
+/*! @name Structure to define primary OIS configuration */
+struct bmi2_primary_ois_config
+{
+    /*! Low pass filter control */
+    uint8_t lp_filter_enabled;
+
+    /*! Lp filter cut-off frequency */
+    uint8_t lp_filter_config;
+
+    /*! Enable gyroscope on OIS interface in registers
+     *  OIS_DATA_6 till OIS_DATA_11 with minimum group delay at 6.4KHz ODR
+     */
+    uint8_t gyr_en;
+
+    /*! Enable accelerometer on OIS interface in registers
+     * OIS_DATA_0 till OIS_DATA_5 with minimum group delay at 1.6KHz ODR
+     */
+    uint8_t acc_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 Structure to define wrist gesture configuration for wearable variant */
+struct bmi2_wrist_gest_w_config
+{
+    /*! Device in left (0) or right (1) arm.
+     *  By default, the wearable device is assumed to be in left arm
+     *  i.e. default value is 0.
+     */
+    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 configure Laptop position recognition settings for bmi260lpd */
+struct bmi2_lpd_config
+{
+    /*! Sets the bit for filtered data enable */
+    uint8_t flit_data_en;
+
+    /*! lpd enable bit */
+    uint8_t lpd_enable;
+
+    /*! Sets angle for portrait oriented in bag cases */
+    uint8_t portrait_theta;
+
+    /*! Sets Hysteresis for portrait oriented in bag theta detection */
+    uint8_t portrait_hysteresis;
+
+    /*! Sets angle for landscape oriented in bag cases */
+    uint8_t landscape_theta;
+
+    /*! Sets Hysteresis for landscape oriented in bag theta detection */
+    uint8_t landscape_hysteresis;
+
+    /*! Sets angle for flat oriented in bag cases */
+    uint8_t flat_posture_theta;
+
+    /*! Sets Hysteresis for landscape oriented in bag theta detection */
+    uint8_t flat_posture_hysteresis;
+
+    /*! Sets blocking mode, if blocking mode is set no interrupt will be triggered */
+    uint8_t blocking_mode;
+
+    /*! Sets the hold time for which the condition has to be respected */
+    uint8_t hold_time;
+
+    /*! Sets threshold slope for block mode conditions */
+    uint8_t blockingslope_thres;
+
+    /*! Segment size for which the predictors are computed on */
+    uint16_t segment_size;
+
+    /* Post processing enable for the lap status detected */
+    uint8_t post_processing_enable;
+
+    /* Minimum threshold of the Gini's diversity index for accepting position */
+    uint16_t mingdithreshold;
+
+    /* Maximum threshold of the Gini's diversity index for rejecting position */
+    uint16_t maxgdithreshold;
+
+    /* Buffer size for the post processing of the position detected */
+    uint8_t output_buffersize;
+
+    /* Minimum segments classified with moderate confidence as belonging to certain position */
+    uint16_t minseg_moderateconf;
+};
+
+/*! @name Structure to configure wrist gesture configuration */
+struct bmi2_wrist_gesture_config
+{
+    /* 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 negaitive gravitational acceleration on y-axis when arm is in focus pose */
+    uint16_t gravity_bounds_y_neg;
+
+    /* Maximum expected value of negaitive 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 */
+    uint16_t max_duration_jiggle_peaks;
+
+    /* Device in left (0) or right (1) arm. By default, the wearable device is assumed to be in left arm i.e. default
+     * value is 0. */
+    uint16_t device_position;
+};
+
+/*! @name Structure to define door state detector configuration */
+struct bmi2_door_state_detector_config
+{
+    /*! DSD feature enable/disable */
+    uint8_t dsd_enable;
+
+    /*! Axis remap status */
+    uint8_t remap_flag;
+
+    /*! Map the desired axis sign to z axis */
+    uint8_t z_sign;
+
+    /*! Map the desired axis to z axis */
+    uint8_t z_axis;
+
+    /*! Initial calibration threshold */
+    uint8_t init_calib_thr;
+
+    /*! Manual reset enable */
+    uint8_t reset_enable_flag;
+
+    /*! Value of lower word of bias_x */
+    int32_t bias_x_low_word;
+
+    /*! Value of higher word of bias_x */
+    int32_t bias_x_high_word;
+
+    /*! Value of lower word of bias_y */
+    int32_t bias_y_low_word;
+
+    /*! Value of higher word of bias_y */
+    int32_t bias_y_high_word;
+
+    /* Value of lower word of bias_z */
+    int32_t bias_z_low_word;
+
+    /*! Value of higher word of bias_z */
+    int32_t bias_z_high_word;
+};
+
+/*!  @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;
+
+    /*! EXT TCO configuration */
+    struct bmi2_ext_tco ext_tco;
+
+    /*! 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 wake_up_conf;
+
+    /*! 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;
+
+    /*! Laptop position detection configurations */
+    struct bmi2_lpd_config lap_pos_det;
+
+    /*! Structure to configure wrist gesture configurations */
+    struct bmi2_wrist_gesture_config wrist_g_config;
+
+    /*! Structure to configure door state detector */
+    struct bmi2_door_state_detector_config door_state_detector;
+};
+
+/*!  @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;
+
+    /*! Store load status value */
+    uint8_t load_status;
+
+    /*! 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
+{
+    /*! Enable/Disable post processing of the activity detected by the classifier */
+    uint8_t pp_en;
+
+    /*! Minimum threshold of the Gini's diversity index (GDI) for
+     * accepting and adding activity detected by the classifier to activity buffer
+     */
+    uint16_t min_gdi_thres;
+
+    /*! Maximum threshold of the Gini's diversity index (GDI) for
+     *  rejecting the activity detected by the classifier
+     */
+    uint16_t max_gdi_thres;
+
+    /*! Buffer size for post processing of the activity detected by the classifier */
+    uint8_t buf_size;
+
+    /*! Minimum segments classified with moderate confidence as belonging
+     *  to a certain activity type to be added to activity buffer.
+     */
+    uint8_t min_seg_conf;
+};
+
+/*! @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_ */

components/bmi270/bmi2_ois.c

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/******************************************************************************/
+
+/*!  @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 */

components/bmi270/bmi2_ois.h

+/**
+* Copyright (c) 2023 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       2023-05-03
+* @version    v2.86.1
+*
+*/
+
+/**
+ * \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
+
+#include "bmi2_defs.h"
+
+/******************************************************************************/
+/*!  @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))
+
+/*! @name For enable and disable */
+#define BMI2_OIS_ENABLE                 UINT8_C(1)
+#define BMI2_OIS_DISABLE                UINT8_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 */

components/bmp581/CMakeLists.txt

+idf_component_register(
+    SRCS
+        bmp5.c
+    INCLUDE_DIRS
+        .
+)

components/bmp581/LICENSE

+Copyright (c) 2022 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

components/bmp581/README.md

+# BMP5 Sensor API
+
+### Sensor overview
+
+The BMP580/BMP581/BMP585 is an absolute barometric pressure sensor. 
+Its small dimensions, its low power consumption and the highend performance allow the implementation in a wide range of 
+applications.
+
+### Target Application
+- Enhancement of GPS navigation (e.g. dead-reckoning, slope detection)
+- Indoor navigation (floor detection, elevator detection)
+- Outdoor navigation
+- Sports applications like calorie counting, fitness activity identification
+- Emergency caller location
+- Weather forecast
+- Vertical velocity indication (e.g. rise/sink speed)
+- Altitude control of drones and flying toys 
+
+### Feature
+- Pressure data
+- Temperature data
+
+### Important links
+
+- [Community support page](https://community.bosch-sensortec.com)
+
+---
+
+
+

components/bmp581/bmp5.c

+/**
+* Copyright (c) 2022 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       bmp5.c
+* @date       2022-08-11
+* @version    v1.1.1
+*
+*/
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmp5.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to validate the chip id of the sensor.
+ *
+ * @param[in] chip_id : Variable that hold the chip id from register.
+ * @param[in,out] dev : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t validate_chip_id(uint8_t chip_id, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to validate the post power-up procedure.
+ *
+ * @param[in] dev     : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t power_up_check(struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to check if sensor is in deepstandby mode.
+ *
+ * @param[out] powermode : To store whether sensor is in deepstanby mode.
+ * @param[in] dev        : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t check_deepstandby_mode(enum bmp5_powermode *powermode, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to set sensor in deep standby powermode.
+ *
+ * @param[in] dev     : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_deep_standby_mode(struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to set sensor in standby or
+ * normal or forced or continous powermode.
+ *
+ * @param[in] powermode : Select desired powermode.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_power_mode(enum bmp5_powermode powermode, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to set sensor in standby powermode when powermode is deepstandby mode.
+ *
+ * @param[in] dev   : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_standby_mode(struct bmp5_dev *dev);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+/*!
+ * @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 uint32_t power(uint8_t base, uint8_t resolution);
+
+#endif
+
+/*!
+ * @brief This internal API is used to set the IIR for temperature and pressure.
+ *
+ * @param[in] iir_cfg : Structure instance of bmp5_iir_config.
+ * @param[in] dev     : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_iir_config(const struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to set fifo threshold based on the frame type selected.
+ *
+ * @param[in,out] reg_data : Stores the register data.
+ * @param[in] fifo         : Structure instance of bmp5_fifo.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_fifo_threshold(uint8_t *reg_data, const struct bmp5_fifo *fifo);
+
+/*!
+* @brief This internal API sets the configuration for IIR of fifo.
+*
+* @param[in] set_fifo_iir_t : Variable to store the fifo IIR value for temperature.
+* @param[in] set_fifo_iir_p : Variable to store the fifo IIR value for pressure.
+* @param[in] dev            : Structure instance of bmp5_dev.
+*
+* @return Result of API execution status
+* @retval 0 -> Success
+* @retval <0 -> Fail
+*/
+static int8_t set_fifo_iir_config(uint8_t set_fifo_iir_t, uint8_t set_fifo_iir_p, struct bmp5_dev *dev);
+
+/*!
+* @brief This internal API is used to unpack the fifo data and store it in the bmp5_sensor_data structure.
+*
+* @param[out] sensor_data    : Stores the pressure and temperature data in bmp5_sensor_data structure.
+* @param[in,out] data_index  : Contains the beginning of set of bytes parsed to unpack.
+* @param[in] fifo            : Structure instance of bmp5_fifo.
+*
+* @return Result of API execution status
+* @retval 0 -> Success
+* @retval <0 -> Fail
+*/
+static int8_t unpack_sensor_data(struct bmp5_sensor_data *sensor_data,
+                                 uint16_t *data_index,
+                                 const struct bmp5_fifo *fifo);
+
+/*!
+ * @brief This internal API sets the IIR configuration and count limit of OOR pressure.
+ *
+ * @param[in] set_oor_iir_p   : Variable to store the OOR IIR value for pressure.
+ * @param[in] set_count_limit : Variable to store the OOR count limit value for pressure.
+ * @param[in] dev             : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_oor_iir_count_limit(uint8_t set_oor_iir_p, uint8_t set_count_limit, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to read the nvm data.
+ *
+ * @param[out] nvm_data : Variable to store nvm data.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t get_nvm_data(uint16_t *nvm_data, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to get the nvm status (NVM ready interrupt, NVM error interrupt
+ * and NVM command error interrupt).
+ *
+ * @param[out] nvm_status  : Variable to store nvm status.
+ * @param[in] dev          : Structure instance of bmp5_dev.
+ *
+ * @note : Below are values of nvm_status possible.
+ *
+ *     nvm_status       |  Functionality
+ * ---------------------|----------------------------
+ * BMP5_INT_NVM_RDY     |  NVM ready status
+ * BMP5_INT_NVM_ERR     |  NVM error status
+ * BMP5_NVM_CMD_ERR     |  NVM command error status
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+static int8_t get_nvm_status(uint8_t *nvm_status, struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to write the nvm address and prog_en.
+ *
+ * @param[out] nvm_addr        : Variable that holds the nvm address.
+ * @param[in] prog_en          : Variable that holds the prog_en value.
+ * @param[in,out] curr_pwrmode : Stores current powermode.
+ * @param[in] dev              : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t nvm_write_addr(uint8_t nvm_addr, uint8_t prog_en, enum bmp5_powermode *curr_pwrmode,
+                             struct bmp5_dev *dev);
+
+/*!
+ * @brief This internal API is used to set the nvm address and prog_enable based on NVM read/write selected.
+ *
+ * @param[out] nvm_addr    : Variable that holds the nvm address.
+ * @param[in] prog_en      : Variable that holds the prog_en value.
+ * @param[in] dev          : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval <0 -> Fail
+ */
+static int8_t set_nvm_addr(uint8_t nvm_addr, uint8_t prog_en, struct bmp5_dev *dev);
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+*  @brief This API is the entry point.
+*  It performs the selection of I2C/I3C/SPI read mechanism according to the
+*  selected interface and reads the chip-id of the sensor.
+*/
+int8_t bmp5_init(struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+    uint8_t chip_id;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMP5_OK)
+    {
+        dev->chip_id = 0;
+
+        if (dev->intf == BMP5_SPI_INTF)
+        {
+            /* Performing a single read via SPI of registers,
+             * e.g. registers CHIP_ID, before the actual
+             * SPI communication with the device.
+             */
+            rslt = bmp5_get_regs(BMP5_REG_CHIP_ID, &reg_data, 1, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Read chip_id */
+            rslt = bmp5_get_regs(BMP5_REG_CHIP_ID, &chip_id, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                if (chip_id != 0)
+                {
+                    /* Validate post power-up procedure */
+                    rslt = power_up_check(dev);
+                }
+                else
+                {
+                    rslt = BMP5_E_INVALID_CHIP_ID;
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    rslt = validate_chip_id(chip_id, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from the given register address of the sensor.
+ */
+int8_t bmp5_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    /* Proceed if null check is fine */
+    if ((rslt == BMP5_OK) && (reg_data != NULL))
+    {
+        if (dev->intf == BMP5_SPI_INTF)
+        {
+            /* If interface selected is SPI */
+            reg_addr = reg_addr | BMP5_SPI_RD_MASK;
+        }
+
+        /* Read the data from the reg_addr */
+        dev->intf_rslt = dev->read(reg_addr, reg_data, len, dev->intf_ptr);
+
+        if (dev->intf_rslt != BMP5_INTF_RET_SUCCESS)
+        {
+            /* Failure case */
+            rslt = BMP5_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the given data to the register address
+ * of the sensor.
+ */
+int8_t bmp5_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t idx = 0;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    /* Proceed if null check is fine */
+    if ((rslt == BMP5_OK) && (reg_data != NULL))
+    {
+        if (dev->intf == BMP5_SPI_INTF)
+        {
+            /* Write the data to the reg_addr */
+            do
+            {
+                dev->intf_rslt = dev->write((reg_addr + idx), &reg_data[idx], 1, dev->intf_ptr);
+                idx++;
+            } while ((idx < len) && (dev->intf_rslt == BMP5_INTF_RET_SUCCESS));
+        }
+        else if ((dev->intf == BMP5_I2C_INTF) || (dev->intf == BMP5_I3C_INTF))
+        {
+            /* Write the data to the reg_addr */
+            dev->intf_rslt = dev->write(reg_addr, reg_data, len, dev->intf_ptr);
+        }
+
+        if (dev->intf_rslt != BMP5_INTF_RET_SUCCESS)
+        {
+            /* Failure case */
+            rslt = BMP5_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs the soft reset of the sensor.
+ */
+int8_t bmp5_soft_reset(struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+    uint8_t por_status;
+    uint8_t data = BMP5_SOFT_RESET_CMD;
+
+    /* Reset the device */
+    rslt = bmp5_set_regs(BMP5_REG_CMD, &data, 1, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Soft-reset execution takes 2 ms */
+        dev->delay_us(BMP5_DELAY_US_SOFT_RESET, dev->intf_ptr);
+
+        if (dev->intf == BMP5_SPI_INTF)
+        {
+            /* Performing a single read via SPI of registers,
+            * e.g. registers CHIP_ID, before the actual
+            * SPI communication with the device.
+            */
+            rslt = bmp5_get_regs(BMP5_REG_CHIP_ID, &reg_data, 1, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_interrupt_status(&por_status, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                if (por_status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE)
+                {
+                    rslt = BMP5_OK;
+                }
+                else
+                {
+                    rslt = BMP5_E_POR_SOFTRESET;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to get interrupt status.
+ */
+int8_t bmp5_get_interrupt_status(uint8_t *int_status, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    if (int_status != NULL)
+    {
+        rslt = bmp5_get_regs(BMP5_REG_INT_STATUS, int_status, 1, dev);
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to get powermode of the sensor.
+ */
+int8_t bmp5_get_power_mode(enum bmp5_powermode *powermode, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t deep_dis;
+    uint8_t reg_data;
+    uint8_t pwrmode;
+
+    if (powermode != NULL)
+    {
+        /* Read the power mode register */
+        rslt = bmp5_get_regs(BMP5_REG_ODR_CONFIG, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            pwrmode = BMP5_GET_BITS_POS_0(reg_data, BMP5_POWERMODE);
+
+            switch (pwrmode)
+            {
+                case BMP5_POWERMODE_STANDBY:
+
+                    /* Getting deep disable status */
+                    deep_dis = BMP5_GET_BITSLICE(reg_data, BMP5_DEEP_DISABLE);
+
+                    /* Checking deepstandby status only when powermode is in standby mode */
+
+                    /* If deep_dis = 0(BMP5_DEEP_ENABLED) then deepstandby mode is enabled.
+                     * If deep_dis = 1(BMP5_DEEP_DISABLED) then deepstandby mode is disabled
+                     */
+                    *powermode = BMP5_POWERMODE_STANDBY;
+                    if (deep_dis == BMP5_DEEP_ENABLED)
+                    {
+                        rslt = check_deepstandby_mode(powermode, dev);
+                    }
+                    break;
+                case BMP5_POWERMODE_NORMAL:
+                    *powermode = BMP5_POWERMODE_NORMAL;
+                    break;
+                case BMP5_POWERMODE_FORCED:
+                    *powermode = BMP5_POWERMODE_FORCED;
+                    break;
+                case BMP5_POWERMODE_CONTINOUS:
+                    *powermode = BMP5_POWERMODE_CONTINOUS;
+                    break;
+                default:
+                    rslt = BMP5_E_INVALID_POWERMODE;
+                    break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to set powermode of the sensor.
+ */
+int8_t bmp5_set_power_mode(enum bmp5_powermode powermode, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    enum bmp5_powermode lst_pwrmode;
+
+    /* Existing power mode of the device is received in lst_pwrmode */
+    rslt = bmp5_get_power_mode(&lst_pwrmode, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* If the sensor is not in standby mode set the device to
+         *  standby mode.
+         */
+        if (lst_pwrmode != BMP5_POWERMODE_STANDBY)
+        {
+            /* Device should be set to standby before transiting to
+             * forced mode or normal mode or continous mode.
+             */
+            rslt = set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Give t_standby(as per data sheet) time for device to go into standby mode */
+                dev->delay_us(BMP5_DELAY_US_STANDBY, dev->intf_ptr);
+            }
+        }
+
+        /* Set the desired power mode */
+        if (rslt == BMP5_OK)
+        {
+            switch (powermode)
+            {
+                case BMP5_POWERMODE_DEEP_STANDBY:
+                    rslt = set_deep_standby_mode(dev);
+                    break;
+                case BMP5_POWERMODE_STANDBY:
+
+                    /* Since switching between powermodes require sensor to be in standby mode
+                     * it is performed above. So it is not explicitly performed here.
+                     */
+                    break;
+                case BMP5_POWERMODE_NORMAL:
+                case BMP5_POWERMODE_FORCED:
+                case BMP5_POWERMODE_CONTINOUS:
+                    rslt = set_power_mode(powermode, dev);
+                    break;
+                default:
+                    rslt = BMP5_E_INVALID_POWERMODE;
+                    break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API reads the temperature(deg C) or both pressure(Pa) and temperature(deg C) data from the
+ * sensor and store it in the bmp5_sensor_data structure instance passed by the user.
+ */
+int8_t bmp5_get_sensor_data(struct bmp5_sensor_data *sensor_data,
+                            const struct bmp5_osr_odr_press_config *osr_odr_press_cfg,
+                            struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data[6] = { 0 };
+    int32_t raw_data_t;
+    uint32_t raw_data_p;
+
+    rslt = bmp5_get_regs(BMP5_REG_TEMP_DATA_XLSB, reg_data, 6, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        raw_data_t = (int32_t) ((int32_t) ((uint32_t)(((uint32_t)reg_data[2] << 16) | ((uint16_t)reg_data[1] << 8) | reg_data[0]) << 8) >> 8);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+        /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data and followed by fixed point digit
+         * precision in deg C
+         */
+        sensor_data->temperature =
+            (int64_t)((raw_data_t / (float)65536.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+#else
+
+        /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data in deg C */
+        sensor_data->temperature = (float)(raw_data_t / 65536.0);
+#endif
+
+        if (osr_odr_press_cfg->press_en == BMP5_ENABLE)
+        {
+            raw_data_p = (uint32_t)((uint32_t)(reg_data[5] << 16) | (uint16_t)(reg_data[4] << 8) | reg_data[3]);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+            /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data and followed by fixed point digit
+             * precision in Pa
+             */
+            sensor_data->pressure =
+                (uint64_t)((raw_data_p / (float)64.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+#else
+
+            /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data in Pa */
+            sensor_data->pressure = (float)(raw_data_p / 64.0);
+#endif
+        }
+        else
+        {
+            sensor_data->pressure = 0.0;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to enable the interrupts(drdy interrupt, fifo full interrupt,
+ *   fifo threshold enable and pressure data out of range interrupt).
+ */
+int8_t bmp5_int_source_select(const struct bmp5_int_source_select *int_source_select, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    if (int_source_select != NULL)
+    {
+        rslt = bmp5_get_regs(BMP5_REG_INT_SOURCE, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_DRDY_EN, int_source_select->drdy_en);
+
+            reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_FULL_EN, int_source_select->fifo_full_en);
+
+            reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_FIFO_THRES_EN, int_source_select->fifo_thres_en);
+
+            reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OOR_PRESS_EN, int_source_select->oor_press_en);
+
+            rslt = bmp5_set_regs(BMP5_REG_INT_SOURCE, &reg_data, 1, dev);
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+* @brief This API is used to configure the interrupt settings.
+*/
+int8_t bmp5_configure_interrupt(enum bmp5_intr_mode int_mode,
+                                enum bmp5_intr_polarity int_pol,
+                                enum bmp5_intr_drive int_od,
+                                enum bmp5_intr_en_dis int_en,
+                                struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt;
+
+    /* Variable to get interrupt configuration */
+    uint8_t reg_data = 0;
+
+    /* Variable to set interrupt source */
+    uint8_t int_source = 0;
+
+    /* Variable to get interrupt status */
+    uint8_t int_status = 0;
+
+    /* Get interrupt configuration */
+    rslt = bmp5_get_regs(BMP5_REG_INT_CONFIG, &reg_data, 1, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Any change between latched/pulsed mode has to be applied while interrupt is disabled */
+        /* Step 1 : Turn off all INT sources (INT_SOURCE -> 0x00) */
+        rslt = bmp5_set_regs(BMP5_REG_INT_SOURCE, &int_source, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* Step 2 : Read the INT_STATUS register to clear the status */
+            rslt = bmp5_get_regs(BMP5_REG_INT_STATUS, &int_status, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Step 3 : Set the desired mode in INT_CONFIG.int_mode */
+                reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_INT_MODE, int_mode);
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_POL, int_pol);
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_OD, int_od);
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_INT_EN, int_en);
+
+                /* Finally transfer the interrupt configurations */
+                rslt = bmp5_set_regs(BMP5_REG_INT_CONFIG, &reg_data, 1, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the configuration for oversampling of temperature, oversampling of
+ *  pressure and ODR configuration along with pressure enable.
+ */
+int8_t bmp5_get_osr_odr_press_config(struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt;
+
+    /* Variable to store OSR and ODR config */
+    uint8_t reg_data[2];
+
+    if (osr_odr_press_cfg != NULL)
+    {
+        /* Get OSR and ODR configuration in burst read */
+        rslt = bmp5_get_regs(BMP5_REG_OSR_CONFIG, reg_data, 2, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            osr_odr_press_cfg->osr_t = BMP5_GET_BITS_POS_0(reg_data[0], BMP5_TEMP_OS);
+            osr_odr_press_cfg->osr_p = BMP5_GET_BITSLICE(reg_data[0], BMP5_PRESS_OS);
+            osr_odr_press_cfg->press_en = BMP5_GET_BITSLICE(reg_data[0], BMP5_PRESS_EN);
+            osr_odr_press_cfg->odr = BMP5_GET_BITSLICE(reg_data[1], BMP5_ODR);
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the configuration for oversampling temperature, oversampling of
+ *  pressure and ODR configuration along with pressure enable.
+ *
+ *  @note If ODR is set to a value higher than 5Hz then powermode is set as standby mode, as ODR value greater than 5HZ
+ *  without disabling deep-standby mode makes powermode invalid.
+ */
+int8_t bmp5_set_osr_odr_press_config(const struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt = 0;
+
+    /* Variable to set ODR and OSR config */
+    uint8_t reg_data[2] = { 0 };
+
+    if (osr_odr_press_cfg != NULL)
+    {
+        /* If ODR is set to a value higher than 5Hz then powermode is set as standby mode, as ODR value greater than 5HZ
+         * without disabling deep-standby mode makes powermode invalid.
+         * NOTE: Register value for 5Hz is greater compared to ODRs higher than it. Thus in this below condition odr
+         * is checked whether less than 5Hz macro.
+         */
+        if (osr_odr_press_cfg->odr < BMP5_ODR_05_HZ)
+        {
+            rslt = set_standby_mode(dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_regs(BMP5_REG_OSR_CONFIG, reg_data, 2, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_TEMP_OS, osr_odr_press_cfg->osr_t);
+                reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_OS, osr_odr_press_cfg->osr_p);
+                reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_PRESS_EN, osr_odr_press_cfg->press_en);
+                reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_ODR, osr_odr_press_cfg->odr);
+
+                /* Set ODR and OSR configuration */
+                rslt = bmp5_set_regs(BMP5_REG_OSR_CONFIG, reg_data, 2, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the configuration for IIR of temperature and pressure.
+ */
+int8_t bmp5_get_iir_config(struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt;
+
+    /* Variable to get IIR config */
+    uint8_t reg_data[2];
+
+    if (iir_cfg != NULL)
+    {
+        /* Get IIR configuration */
+        rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, reg_data, 2, dev);
+
+        iir_cfg->shdw_set_iir_t = BMP5_GET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_TEMP);
+        iir_cfg->shdw_set_iir_p = BMP5_GET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_PRESS);
+        iir_cfg->iir_flush_forced_en = BMP5_GET_BITSLICE(reg_data[0], BMP5_IIR_FLUSH_FORCED_EN);
+
+        iir_cfg->set_iir_t = BMP5_GET_BITS_POS_0(reg_data[1], BMP5_SET_IIR_TEMP);
+        iir_cfg->set_iir_p = BMP5_GET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS);
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the configuration for IIR of temperature and pressure.
+ *
+ *  @note If IIR value for both temperature and pressure is set a value other than bypass then powermode is set
+ *  as standby mode, as IIR with value other than bypass without disabling deep-standby mode makes powermode invalid.
+ */
+int8_t bmp5_set_iir_config(const struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt = 0;
+
+    /* Variable to store existing powermode */
+    enum bmp5_powermode curr_pwrmode;
+
+    if (iir_cfg != NULL)
+    {
+        /* If IIR value for both temperature and pressure is set a value other than bypass then powermode is set
+         * as standby mode, as IIR with value other than bypass without disabling deep-standby mode makes powermode
+         * invalid.
+         */
+        if ((iir_cfg->set_iir_t != BMP5_IIR_FILTER_BYPASS) || (iir_cfg->set_iir_p != BMP5_IIR_FILTER_BYPASS))
+        {
+            rslt = set_standby_mode(dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_power_mode(&curr_pwrmode, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* IIR configuration is writable only during STANDBY mode(as per datasheet) */
+                if (curr_pwrmode != BMP5_POWERMODE_STANDBY)
+                {
+                    /* If sensor is not in standby mode, set sensor in standby mode */
+                    rslt = bmp5_set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    rslt = set_iir_config(iir_cfg, dev);
+                }
+
+                /* If previous mode is not standbymode return sensor to that previous mode
+                * after setting iir configuration
+                */
+                if (rslt == BMP5_OK)
+                {
+                    /* Since IIR works only in standby mode we are not re-writing to deepstandby mode
+                    * as deep standby mode resets the IIR settings to default
+                    */
+                    if ((curr_pwrmode != BMP5_POWERMODE_STANDBY) && (curr_pwrmode != BMP5_POWERMODE_DEEP_STANDBY))
+                    {
+                        rslt = bmp5_set_power_mode(curr_pwrmode, dev);
+                    }
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the configuration for effective OSR of temperature,
+ *  effective OSR of pressure and ODR valid status.
+ */
+int8_t bmp5_get_osr_odr_eff(struct bmp5_osr_odr_eff *osr_odr_eff, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt;
+
+    /* Variable to store effective OSR */
+    uint8_t reg_data;
+
+    if (osr_odr_eff != NULL)
+    {
+        /* Get effective OSR configuration and ODR valid status */
+        rslt = bmp5_get_regs(BMP5_REG_OSR_EFF, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            osr_odr_eff->osr_t_eff = BMP5_GET_BITS_POS_0(reg_data, BMP5_OSR_TEMP_EFF);
+            osr_odr_eff->osr_p_eff = BMP5_GET_BITSLICE(reg_data, BMP5_OSR_PRESS_EFF);
+            osr_odr_eff->odr_is_valid = BMP5_GET_BITSLICE(reg_data, BMP5_ODR_IS_VALID);
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API used to get the configurations of fifo from the sensor.
+ */
+int8_t bmp5_get_fifo_configuration(struct bmp5_fifo *fifo, struct bmp5_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t reg_data;
+
+    if (fifo != NULL)
+    {
+        /* Get the fifo congifurations */
+        rslt = bmp5_get_regs(BMP5_REG_FIFO_CONFIG, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            fifo->threshold = BMP5_GET_BITS_POS_0(reg_data, BMP5_FIFO_THRESHOLD);
+            fifo->mode = BMP5_GET_BITSLICE(reg_data, BMP5_FIFO_MODE);
+
+            rslt = bmp5_get_regs(BMP5_REG_FIFO_SEL, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                fifo->frame_sel = BMP5_GET_BITS_POS_0(reg_data, BMP5_FIFO_FRAME_SEL);
+                fifo->dec_sel = BMP5_GET_BITSLICE(reg_data, BMP5_FIFO_DEC_SEL);
+            }
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                fifo->set_fifo_iir_t = BMP5_GET_BITSLICE(reg_data, BMP5_SET_FIFO_IIR_TEMP);
+                fifo->set_fifo_iir_p = BMP5_GET_BITSLICE(reg_data, BMP5_SET_FIFO_IIR_PRESS);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API used to set the configurations of fifo in the sensor.
+ *
+ *  @note If Fifo frame selection is enabled then powermode is set as standby mode, as fifo frame selection
+ *  enabled without disabling deep-standby mode makes powermode invalid.
+ */
+int8_t bmp5_set_fifo_configuration(const struct bmp5_fifo *fifo, struct bmp5_dev *dev)
+{
+    int8_t rslt = 0;
+    uint8_t reg_data;
+    uint8_t set_fifo_iir_t, set_fifo_iit_p;
+
+    if (fifo != NULL)
+    {
+        /* If Fifo frame selection is enabled then powermode is set as standby mode, as fifo frame selection
+         * enabled without disabling deep-standby mode makes powermode invalid.
+         */
+        if (fifo->frame_sel != BMP5_DISABLE)
+        {
+            rslt = set_standby_mode(dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            set_fifo_iir_t = fifo->set_fifo_iir_t;
+            set_fifo_iit_p = fifo->set_fifo_iir_p;
+
+            rslt = set_fifo_iir_config(set_fifo_iir_t, set_fifo_iit_p, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Get the fifo congifurations */
+                rslt = bmp5_get_regs(BMP5_REG_FIFO_CONFIG, &reg_data, 1, dev);
+
+                if (rslt == BMP5_OK)
+                {
+                    reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_FIFO_MODE, fifo->mode);
+
+                    rslt = set_fifo_threshold(&reg_data, fifo);
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    /* Set the fifo congifurations */
+                    rslt = bmp5_set_regs(BMP5_REG_FIFO_CONFIG, &reg_data, 1, dev);
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    rslt = bmp5_get_regs(BMP5_REG_FIFO_SEL, &reg_data, 1, dev);
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_FIFO_FRAME_SEL, fifo->frame_sel);
+                    reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_FIFO_DEC_SEL, fifo->dec_sel);
+                }
+
+                if (rslt == BMP5_OK)
+                {
+                    /* Set the fifo congifurations */
+                    rslt = bmp5_set_regs(BMP5_REG_FIFO_SEL, &reg_data, 1, dev);
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to get the length of fifo from the sensor.
+ */
+int8_t bmp5_get_fifo_len(uint16_t *fifo_len, struct bmp5_fifo *fifo, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    if ((fifo != NULL) && (fifo_len != NULL))
+    {
+        /* Get the fifo frame count */
+        rslt = bmp5_get_regs(BMP5_REG_FIFO_COUNT, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            fifo->fifo_count = BMP5_GET_BITS_POS_0(reg_data, BMP5_FIFO_COUNT);
+
+            if ((fifo->frame_sel == BMP5_FIFO_TEMPERATURE_DATA) || (fifo->frame_sel == BMP5_FIFO_PRESSURE_DATA))
+            {
+                /* Maximum of 32 frames if either one of temperature or pressure is selected
+                 * and each frame comprises of 3 bytes of data
+                 */
+                *fifo_len = fifo->fifo_count * 3;
+            }
+            else if (fifo->frame_sel == BMP5_FIFO_PRESS_TEMP_DATA)
+            {
+                /* Maximum of 16 frames if both temperature and pressure is selected
+                 * and each frame comprises of 6 bytes of data
+                 */
+                *fifo_len = fifo->fifo_count * 6;
+            }
+            else
+            {
+                return BMP5_E_FIFO_FRAME_EMPTY;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to get the fifo data from the sensor.
+ */
+int8_t bmp5_get_fifo_data(struct bmp5_fifo *fifo, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint16_t fifo_len;
+
+    if (fifo != NULL)
+    {
+        /* Get the fifo length */
+        rslt = bmp5_get_fifo_len(&fifo_len, fifo, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            if (fifo->length > fifo_len)
+            {
+                fifo->length = fifo_len;
+            }
+
+            /* Read the fifo data */
+            rslt = bmp5_get_regs(BMP5_REG_FIFO_DATA, fifo->data, fifo->length, dev);
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API extract the temperature and/or pressure data from the fifo data which is
+ *  already read from the fifo.
+ */
+int8_t bmp5_extract_fifo_data(const struct bmp5_fifo *fifo, struct bmp5_sensor_data *sensor_data)
+{
+    int8_t rslt = 0;
+    uint8_t idx = 0;
+    uint16_t data_indx;
+
+    /* Proceed if null check is fine */
+    if ((fifo != NULL) && (sensor_data != NULL))
+    {
+        for (data_indx = 0; (data_indx < fifo->length) && (rslt != BMP5_E_FIFO_FRAME_EMPTY);)
+        {
+            /* Inside unpack_sensor_data function, data_index is incremented */
+            rslt = unpack_sensor_data(&sensor_data[idx], &data_indx, fifo);
+            idx++;
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API gets the configuration for out-of-range pressure threshold, range
+ *  count limit and IIR.
+ */
+int8_t bmp5_get_oor_configuration(struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data[4];
+
+    if (oor_press_config != NULL)
+    {
+        rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, &reg_data[0], 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            oor_press_config->oor_sel_iir_p = BMP5_GET_BITSLICE(reg_data[0], BMP5_OOR_SEL_IIR_PRESS);
+
+            rslt = bmp5_get_regs(BMP5_REG_OOR_THR_P_LSB, reg_data, 4, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                oor_press_config->oor_thr_p = reg_data[0] | (reg_data[1] << 8) |
+                                              ((reg_data[3] & BMP5_OOR_THR_P_XMSB_REG_MSK) << 16);
+                oor_press_config->oor_range_p = reg_data[2];
+                oor_press_config->cnt_lim = BMP5_GET_BITSLICE(reg_data[3], BMP5_OOR_COUNT_LIMIT);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API sets the configuration for out-of-range pressure threshold, range
+ *  count limit and IIR.
+ */
+int8_t bmp5_set_oor_configuration(const struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data[4];
+    uint8_t thres_xmsb;
+    uint8_t set_oor_iir_p, set_count_limit;
+
+    if (oor_press_config != NULL)
+    {
+        set_oor_iir_p = oor_press_config->oor_sel_iir_p;
+        set_count_limit = oor_press_config->cnt_lim;
+
+        rslt = set_oor_iir_count_limit(set_oor_iir_p, set_count_limit, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* Get the OOR configurations */
+            rslt = bmp5_get_regs(BMP5_REG_OOR_THR_P_LSB, reg_data, 4, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_OOR_THR_P_LSB, oor_press_config->oor_thr_p);
+                reg_data[1] =
+                    (uint8_t)(BMP5_SET_BITS_POS_0(reg_data[1], BMP5_OOR_THR_P_MSB, oor_press_config->oor_thr_p) >> 8);
+                reg_data[2] = oor_press_config->oor_range_p;
+                thres_xmsb = BMP5_GET_BITSLICE(oor_press_config->oor_thr_p, BMP5_OOR_THR_P_XMSB);
+                reg_data[3] = BMP5_SET_BITS_POS_0(reg_data[3], BMP5_OOR_THR_P_XMSB_REG, thres_xmsb);
+
+                /* Set the OOR congifurations */
+                rslt = bmp5_set_regs(BMP5_REG_OOR_THR_P_LSB, reg_data, 4, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to perform NVM read.
+ */
+int8_t bmp5_nvm_read(uint8_t nvm_addr, uint16_t *nvm_data, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    /* Variable to store existing powermode */
+    enum bmp5_powermode curr_pwrmode;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    /* Proceed if null check is fine */
+    if ((rslt == BMP5_OK) && (nvm_data != NULL))
+    {
+        rslt = nvm_write_addr(nvm_addr, BMP5_DISABLE, &curr_pwrmode, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* First NVM command for user read sequence */
+            reg_data = BMP5_NVM_FIRST_CMND;
+            rslt = bmp5_set_regs(BMP5_REG_CMD, &reg_data, 1, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Read enable NVM command for user read sequence */
+            reg_data = BMP5_NVM_READ_ENABLE_CMND;
+            rslt = bmp5_set_regs(BMP5_REG_CMD, &reg_data, 1, dev);
+
+            /* Delay required for NVM ready status to change to 1 before NVM read */
+            dev->delay_us(BMP5_DELAY_US_NVM_READY_READ, dev->intf_ptr);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = get_nvm_data(nvm_data, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* If previous mode is not standbymode return sensor to that previous mode
+             * after performing NVM
+             */
+            if (curr_pwrmode != BMP5_POWERMODE_STANDBY)
+            {
+                rslt = bmp5_set_power_mode(curr_pwrmode, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to perform NVM write.
+ */
+int8_t bmp5_nvm_write(uint8_t nvm_addr, const uint16_t *nvm_data, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    uint8_t nvm_status = 0;
+
+    uint8_t reg_data = 0;
+
+    uint8_t nvmdata[2];
+
+    /* Variable to store existing powermode */
+    enum bmp5_powermode curr_pwrmode;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    /* Proceed if null check is fine */
+    if ((rslt == BMP5_OK) && (nvm_data != NULL))
+    {
+        rslt = nvm_write_addr(nvm_addr, BMP5_ENABLE, &curr_pwrmode, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* Write data to be written to NVM address */
+            rslt = bmp5_get_regs(BMP5_REG_NVM_DATA_LSB, nvmdata, 2, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                nvmdata[0] = (uint8_t)(*nvm_data & BMP5_NVM_DATA_LSB_MSK);
+                nvmdata[1] = (uint8_t)((*nvm_data & BMP5_NVM_DATA_MSB_MSK) >> 8);
+
+                rslt = bmp5_set_regs(BMP5_REG_NVM_DATA_LSB, nvmdata, 2, dev);
+            }
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* First NVM command for user write sequence */
+            reg_data = BMP5_NVM_FIRST_CMND;
+            rslt = bmp5_set_regs(BMP5_REG_CMD, &reg_data, 1, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Write enable NVM command for user write sequence */
+            reg_data = BMP5_NVM_WRITE_ENABLE_CMND;
+            rslt = bmp5_set_regs(BMP5_REG_CMD, &reg_data, 1, dev);
+
+            /* Delay required for NVM ready status to change to 1 */
+            dev->delay_us(BMP5_DELAY_US_NVM_READY_WRITE, dev->intf_ptr);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Check if NVM ready status = 1, NVM error status = 0 and NVM command error status = 0 */
+            rslt = get_nvm_status(&nvm_status, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                if ((nvm_status & BMP5_INT_NVM_RDY) && (!(nvm_status & BMP5_INT_NVM_ERR)) &&
+                    (!(nvm_status & BMP5_INT_NVM_CMD_ERR)))
+                {
+                    /* Reset NVM prog_en */
+                    reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_NVM_PROG_EN);
+
+                    rslt = bmp5_set_regs(BMP5_REG_NVM_ADDR, &reg_data, 1, dev);
+                }
+                else
+                {
+                    rslt = BMP5_E_NVM_NOT_READY;
+                }
+            }
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* If previous mode is not standbymode return sensor to that previous mode
+             * after performing NVM
+             */
+            if (curr_pwrmode != BMP5_POWERMODE_STANDBY)
+            {
+                rslt = bmp5_set_power_mode(curr_pwrmode, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/****************** Static 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 bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMP5_E_NULL_PTR;
+    }
+    else
+    {
+        /* Device structure is fine */
+        rslt = BMP5_OK;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to validate the chip id of the sensor.
+ */
+static int8_t validate_chip_id(uint8_t chip_id, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    if ((chip_id == BMP5_CHIP_ID_PRIM) || (chip_id == BMP5_CHIP_ID_SEC))
+    {
+        /* Updating chip_id in device structure */
+        dev->chip_id = chip_id;
+        rslt = BMP5_OK;
+    }
+    else
+    {
+        rslt = BMP5_E_DEV_NOT_FOUND;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to validate the post power-up procedure.
+ */
+static int8_t power_up_check(struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t nvm_status;
+    uint8_t por_status;
+
+    rslt = get_nvm_status(&nvm_status, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Check if nvm_rdy status = 1 and nvm_err status = 0 to proceed */
+        if ((nvm_status & BMP5_INT_NVM_RDY) && (!(nvm_status & BMP5_INT_NVM_ERR)))
+        {
+            rslt = bmp5_get_interrupt_status(&por_status, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Check if por/soft-reset complete status = 1 to proceed */
+                if (por_status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE)
+                {
+                    rslt = BMP5_OK;
+                }
+                else
+                {
+                    rslt = BMP5_E_POWER_UP;
+                }
+            }
+        }
+        else
+        {
+            rslt = BMP5_E_POWER_UP;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to check if sensor is in deepstandby mode.
+ */
+static int8_t check_deepstandby_mode(enum bmp5_powermode *powermode, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t fifo_frame_sel;
+    struct bmp5_iir_config iir_cfg = { 0 };
+    struct bmp5_osr_odr_press_config osr_odr_press_cfg = { 0 };
+
+    rslt = bmp5_get_regs(BMP5_REG_FIFO_SEL, &fifo_frame_sel, 1, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        fifo_frame_sel = BMP5_GET_BITS_POS_0(fifo_frame_sel, BMP5_FIFO_FRAME_SEL);
+        rslt = bmp5_get_osr_odr_press_config(&osr_odr_press_cfg, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_iir_config(&iir_cfg, dev);
+
+            /* As per datasheet odr should be less than 5Hz. But register value for 5Hz is less than 4Hz and so,
+            * thus in this below condition odr is checked whether greater than 5Hz macro.
+            */
+            if ((osr_odr_press_cfg.odr > BMP5_ODR_05_HZ) && (fifo_frame_sel == BMP5_DISABLE) &&
+                (iir_cfg.set_iir_t == BMP5_IIR_FILTER_BYPASS) && (iir_cfg.set_iir_p == BMP5_IIR_FILTER_BYPASS))
+            {
+                *powermode = BMP5_POWERMODE_DEEP_STANDBY;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set sensor in deep standby mode.
+ */
+static int8_t set_deep_standby_mode(struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    rslt = bmp5_get_regs(BMP5_REG_ODR_CONFIG, &reg_data, 1, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Setting deep_dis = 0(BMP5_DEEP_ENABLED) enables the deep standby mode */
+        reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_DEEP_DISABLE);
+
+        /* Set ODR less then 5Hz - ODR used is 1Hz */
+        reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_ODR, BMP5_ODR_01_HZ);
+
+        /* Write the value to the odr config register(0x37) */
+        rslt = bmp5_set_regs(BMP5_REG_ODR_CONFIG, &reg_data, 1, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_regs(BMP5_REG_DSP_IIR, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Set iir_t and iir_p as Bypass(0x00) */
+
+                /* The register holds only iir_t and iir_p and the last 2 bits are reserved.
+                 * Thus using the macro BMP5_IIR_BYPASS(0xC0) the register value is set as zero.
+                 */
+                reg_data = reg_data & BMP5_IIR_BYPASS;
+
+                /* Write the value to the IIR register(0x31) */
+                rslt = bmp5_set_regs(BMP5_REG_DSP_IIR, &reg_data, 1, dev);
+            }
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            rslt = bmp5_get_regs(BMP5_REG_FIFO_SEL, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Disable fifo frame selct */
+                reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_FIFO_FRAME_SEL);
+
+                /* Write the value to the fifo select register(0x18) */
+                rslt = bmp5_set_regs(BMP5_REG_FIFO_SEL, &reg_data, 1, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set sensor in standby or normal or forced or continous powermode.
+ */
+static int8_t set_power_mode(enum bmp5_powermode powermode, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    rslt = bmp5_get_regs(BMP5_REG_ODR_CONFIG, &reg_data, 1, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Setting deep_dis = 1(BMP5_DEEP_DISABLED) disables the deep standby mode */
+        reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_DEEP_DISABLE, BMP5_DEEP_DISABLED);
+
+        reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_POWERMODE, powermode);
+
+        rslt = bmp5_set_regs(BMP5_REG_ODR_CONFIG, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set sensor in standby powermode when powermode is deepstandby mode.
+ */
+static int8_t set_standby_mode(struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    enum bmp5_powermode pwrmode;
+
+    rslt = bmp5_get_power_mode(&pwrmode, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        if (pwrmode == BMP5_POWERMODE_DEEP_STANDBY)
+        {
+            rslt = bmp5_set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+        }
+    }
+
+    return rslt;
+}
+
+#ifdef BMP5_USE_FIXED_POINT
+
+/*!
+ * @brief This internal API is used to calculate the power of a value.
+ */
+static uint32_t power(uint8_t base, uint8_t resolution)
+{
+    /* Initialize loop */
+    uint8_t loop = 1;
+
+    /* Initialize variable to store the power of 2 value */
+    uint32_t value = 1;
+
+    for (; loop <= resolution; loop++)
+    {
+        value = (uint32_t)(value * base);
+    }
+
+    return value;
+}
+
+#endif
+
+/*!
+ * @brief This internal API is used to set the IIR for temperature and pressure.
+ */
+static int8_t set_iir_config(const struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    /* Variable to set IIR config */
+    uint8_t reg_data[2];
+
+    rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, reg_data, 2, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_TEMP, iir_cfg->shdw_set_iir_t);
+        reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_SHDW_SET_IIR_PRESS, iir_cfg->shdw_set_iir_p);
+        reg_data[0] = BMP5_SET_BITSLICE(reg_data[0], BMP5_IIR_FLUSH_FORCED_EN, iir_cfg->iir_flush_forced_en);
+
+        reg_data[1] = iir_cfg->set_iir_t;
+        reg_data[1] = BMP5_SET_BITSLICE(reg_data[1], BMP5_SET_IIR_PRESS, iir_cfg->set_iir_p);
+
+        /* Set IIR configuration */
+        rslt = bmp5_set_regs(BMP5_REG_DSP_CONFIG, reg_data, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API sets the configuration for IIR of fifo.
+ */
+static int8_t set_fifo_iir_config(uint8_t set_fifo_iir_t, uint8_t set_fifo_iir_p, struct bmp5_dev *dev)
+{
+    /* Variable to store the function result */
+    int8_t rslt;
+
+    /* Variable to set fifo IIR config */
+    uint8_t reg_data = 0;
+
+    /* Variable to store existing powermode */
+    enum bmp5_powermode curr_pwrmode;
+
+    rslt = bmp5_get_power_mode(&curr_pwrmode, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* Fifo IIR configuration is writable only during STANDBY mode(as per datasheet) */
+        if (curr_pwrmode != BMP5_POWERMODE_STANDBY)
+        {
+            /* If sensor is not in standby mode, set sensor in standby mode */
+            rslt = bmp5_set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Get fifo IIR configuration */
+            rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_SET_FIFO_IIR_TEMP, set_fifo_iir_t);
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_SET_FIFO_IIR_PRESS, set_fifo_iir_p);
+
+                /* Set fifo IIR configuration */
+                rslt = bmp5_set_regs(BMP5_REG_DSP_CONFIG, &reg_data, 1, dev);
+            }
+        }
+
+        /* If previous mode is not standbymode return sensor to that previous mode
+         * after setting fifo iir configuration
+         */
+        if (rslt == BMP5_OK)
+        {
+            /* Since fifo IIR works only in standby mode we are not re-writing to deepstandby mode
+             * as deep standby mode resets the fifo IIR settings to default
+             */
+            if ((curr_pwrmode != BMP5_POWERMODE_STANDBY) && (curr_pwrmode != BMP5_POWERMODE_DEEP_STANDBY))
+            {
+                rslt = bmp5_set_power_mode(curr_pwrmode, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+* @brief This internal API is used to set fifo threshold based on the frame type selected.
+ */
+static int8_t set_fifo_threshold(uint8_t *reg_data, const struct bmp5_fifo *fifo)
+{
+    int8_t rslt = 0;
+
+    if ((fifo->frame_sel == BMP5_FIFO_TEMPERATURE_DATA) || (fifo->frame_sel == BMP5_FIFO_PRESSURE_DATA))
+    {
+        /* If Pressure or Temperature is selected, maximum 31 frames can be set as threshold */
+        if (fifo->threshold <= BMP5_FIFO_MAX_THRESHOLD_P_MODE)
+        {
+            reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_FIFO_THRESHOLD, fifo->threshold);
+        }
+        else
+        {
+            rslt = BMP5_E_INVALID_THRESHOLD;
+        }
+    }
+    else if (fifo->frame_sel == BMP5_FIFO_PRESS_TEMP_DATA)
+    {
+        /* If both pressure and temperature is selected, maximum 15 frames can be set as threshold */
+        if (fifo->threshold <= BMP5_FIFO_MAX_THRESHOLD_P_T_MODE)
+        {
+            reg_data[0] = BMP5_SET_BITS_POS_0(reg_data[0], BMP5_FIFO_THRESHOLD, fifo->threshold);
+        }
+        else
+        {
+            rslt = BMP5_E_INVALID_THRESHOLD;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+* @brief This internal API is used to unpack the fifo data and store it in the bmp5_sensor_data structure.
+ */
+static int8_t unpack_sensor_data(struct bmp5_sensor_data *sensor_data,
+                                 uint16_t *data_index,
+                                 const struct bmp5_fifo *fifo)
+{
+    int8_t rslt = 0;
+    int32_t raw_data_t;
+    uint32_t raw_data_p;
+
+    switch (fifo->frame_sel)
+    {
+        case BMP5_FIFO_TEMPERATURE_DATA:
+
+            /* Check if fifo frame is empty */
+            if (!((fifo->data[*data_index] == BMP5_FIFO_EMPTY) && (fifo->data[*data_index + 1] == BMP5_FIFO_EMPTY) &&
+                  (fifo->data[*data_index + 2] == BMP5_FIFO_EMPTY)))
+            {
+                raw_data_t =
+                    (int32_t)((uint32_t)fifo->data[*data_index + 2] << 16 | (uint16_t)fifo->data[*data_index + 1] << 8 |
+                        fifo->data[*data_index]);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+                /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data and followed by fixed point digit
+                 * precision in deg C
+                 */
+                sensor_data->temperature =
+                    (int64_t)((raw_data_t / (float)65536.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+#else
+
+                /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data in deg C */
+                sensor_data->temperature = (float)(raw_data_t / 65536.0);
+#endif
+
+                sensor_data->pressure = 0.0;
+                *data_index += 3;
+            }
+            else
+            {
+                rslt = BMP5_E_FIFO_FRAME_EMPTY;
+
+                /* Move the data index to the last byte to mark completion */
+                *data_index = fifo->length;
+            }
+
+            break;
+        case BMP5_FIFO_PRESSURE_DATA:
+
+            /* Check if fifo frame is empty */
+            if (!((fifo->data[*data_index] == BMP5_FIFO_EMPTY) && (fifo->data[*data_index + 1] == BMP5_FIFO_EMPTY) &&
+                  (fifo->data[*data_index + 2] == BMP5_FIFO_EMPTY)))
+            {
+                raw_data_p =
+                    (uint32_t)((uint32_t)fifo->data[(*data_index) + 2] << 16 |
+                               (uint16_t)fifo->data[(*data_index) + 1] << 8 |
+                        fifo->data[*data_index]);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+                /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data and followed by fixed point digit
+                 * precision in Pa
+                 */
+                sensor_data->pressure =
+                    (uint64_t)((raw_data_p / (float)64.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+#else
+
+                /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data in Pa */
+                sensor_data->pressure = (float)(raw_data_p / 64.0);
+#endif
+
+                sensor_data->temperature = 0.0;
+                *data_index += 3;
+            }
+            else
+            {
+                rslt = BMP5_E_FIFO_FRAME_EMPTY;
+
+                /* Move the data index to the last byte to mark completion */
+                *data_index = fifo->length;
+            }
+
+            break;
+        case BMP5_FIFO_PRESS_TEMP_DATA:
+            if (!((fifo->data[*data_index] == BMP5_FIFO_EMPTY) && (fifo->data[*data_index + 1] == BMP5_FIFO_EMPTY) &&
+                  (fifo->data[*data_index + 2] == BMP5_FIFO_EMPTY) &&
+                  (fifo->data[*data_index + 3] == BMP5_FIFO_EMPTY) &&
+                  (fifo->data[*data_index + 4] == BMP5_FIFO_EMPTY) && (fifo->data[*data_index + 5] == BMP5_FIFO_EMPTY)))
+            {
+                raw_data_t =
+                    (int32_t)((uint32_t)fifo->data[*data_index + 2] << 16 | (uint16_t)fifo->data[*data_index + 1] << 8 |
+                        fifo->data[*data_index]);
+
+                raw_data_p =
+                    (uint32_t)((uint32_t)fifo->data[(*data_index) + 5] << 16 |
+                               (uint16_t)fifo->data[(*data_index) + 4] << 8 |
+                        fifo->data[*data_index + 3]);
+
+#ifdef BMP5_USE_FIXED_POINT
+
+                /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data and followed by fixed point digit
+                 * precision in deg C
+                 */
+                sensor_data->temperature =
+                    (int64_t)((raw_data_t / (float)(float)64.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+
+                /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data and followed by fixed point digit
+                 * precision in Pa
+                 */
+                sensor_data->pressure =
+                    (uint64_t)((raw_data_p / (float)64.0) * (power(10, BMP5_FIXED_POINT_DIGIT_PRECISION)));
+#else
+
+                /* Division by 2^16(whose equivalent value is 65536) is performed to get temperature data in deg C */
+                sensor_data->temperature = (float)(raw_data_t / 65536.0);
+
+                /* Division by 2^6(whose equivalent value is 64) is performed to get pressure data in Pa */
+                sensor_data->pressure = (float)(raw_data_p / 64.0);
+#endif
+
+                *data_index += 6;
+            }
+            else
+            {
+                rslt = BMP5_E_FIFO_FRAME_EMPTY;
+
+                /* Move the data index to the last byte to mark completion */
+                *data_index = fifo->length;
+            }
+
+            break;
+        default:
+            sensor_data->pressure = 0.0;
+            sensor_data->temperature = 0.0;
+            break;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API sets the IIR configuration and count limit of OOR pressure.
+ */
+static int8_t set_oor_iir_count_limit(uint8_t set_oor_iir_p, uint8_t set_count_limit, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    /* Variable to store existing powermode */
+    enum bmp5_powermode curr_pwrmode;
+
+    rslt = bmp5_get_power_mode(&curr_pwrmode, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        /* OOR IIR configuration and count limit is writable only during STANDBY mode(as per datasheet) */
+        if (curr_pwrmode != BMP5_POWERMODE_STANDBY)
+        {
+            /* If sensor is not in standby mode, set sensor in standby mode */
+            rslt = bmp5_set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+        }
+
+        if (rslt == BMP5_OK)
+        {
+            /* Get OOR pressure IIR configuration */
+            rslt = bmp5_get_regs(BMP5_REG_DSP_CONFIG, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_OOR_SEL_IIR_PRESS, set_oor_iir_p);
+
+                /* Set OOR pressure IIR configuration */
+                rslt = bmp5_set_regs(BMP5_REG_DSP_CONFIG, &reg_data, 1, dev);
+            }
+
+            if (rslt == BMP5_OK)
+            {
+                /* Get OOR pressure count limit */
+                rslt = bmp5_get_regs(BMP5_REG_OOR_CONFIG, &reg_data, 1, dev);
+            }
+
+            if (rslt == BMP5_OK)
+            {
+                reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_OOR_COUNT_LIMIT, set_count_limit);
+            }
+
+            if (rslt == BMP5_OK)
+            {
+                /* Set OOR pressure count limit */
+                rslt = bmp5_set_regs(BMP5_REG_OOR_CONFIG, &reg_data, 1, dev);
+            }
+        }
+
+        /* If previous mode is not standbymode return sensor to that previous mode
+         * after setting oor iir configuration and count limit
+         */
+        if (rslt == BMP5_OK)
+        {
+            /* Since oor IIR and count limit works only in standby mode we are not re-writing to deepstandby mode
+             * as deep standby mode resets the oor iir configuration and count limit to default
+             */
+            if ((curr_pwrmode != BMP5_POWERMODE_STANDBY) && (curr_pwrmode != BMP5_POWERMODE_DEEP_STANDBY))
+            {
+                rslt = bmp5_set_power_mode(curr_pwrmode, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to write the nvm address and prog_en.
+ */
+static int8_t nvm_write_addr(uint8_t nvm_addr, uint8_t prog_en, enum bmp5_powermode *curr_pwrmode, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    if ((nvm_addr >= BMP5_NVM_START_ADDR) && (nvm_addr <= BMP5_NVM_END_ADDR))
+    {
+        /* Get current powermode */
+        rslt = bmp5_get_power_mode(curr_pwrmode, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* NVM write can be performed only during STANDBY mode */
+            if (*curr_pwrmode != BMP5_POWERMODE_STANDBY)
+            {
+                /* If sensor is not in standby mode, set sensor in standby mode */
+                rslt = bmp5_set_power_mode(BMP5_POWERMODE_STANDBY, dev);
+            }
+
+            if (rslt == BMP5_OK)
+            {
+                /* Write the NVM address and set NVM prog_en with respect to NVM read/write selected. */
+                rslt = set_nvm_addr(nvm_addr, prog_en, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NVM_INVALID_ADDR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set the nvm address and prog_enable based on NVM read/write selected.
+ */
+static int8_t set_nvm_addr(uint8_t nvm_addr, uint8_t prog_en, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t nvm_status;
+    uint8_t reg_data;
+
+    /* Check if NVM ready status = 1 */
+    rslt = get_nvm_status(&nvm_status, dev);
+
+    if (rslt == BMP5_OK)
+    {
+        if (nvm_status & BMP5_INT_NVM_RDY)
+        {
+            rslt = bmp5_get_regs(BMP5_REG_NVM_ADDR, &reg_data, 1, dev);
+
+            if (rslt == BMP5_OK)
+            {
+                /* Write the NVM address */
+                reg_data = BMP5_SET_BITS_POS_0(reg_data, BMP5_NVM_ADDR, nvm_addr);
+
+                if (prog_en == BMP5_ENABLE)
+                {
+                    /* Set bit nvm_prog_en as 1 if NVM write is selected */
+                    reg_data = BMP5_SET_BITSLICE(reg_data, BMP5_NVM_PROG_EN, prog_en);
+                }
+                else
+                {
+                    /* Set bit nvm_prog_en as 0 if NVM read is selected */
+                    reg_data = BMP5_SET_BIT_VAL_0(reg_data, BMP5_NVM_PROG_EN);
+                }
+
+                rslt = bmp5_set_regs(BMP5_REG_NVM_ADDR, &reg_data, 1, dev);
+            }
+        }
+        else
+        {
+            rslt = BMP5_E_NVM_NOT_READY;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to read the nvm data.
+ */
+static int8_t get_nvm_data(uint16_t *nvm_data, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+    uint8_t nvm_status;
+    uint8_t nvmdata[2];
+
+    if (nvm_data != NULL)
+    {
+        rslt = get_nvm_status(&nvm_status, dev);
+
+        if (rslt == BMP5_OK)
+        {
+            /* Check if NVM ready status = 1, NVM error status = 0 and NVM command error status = 0 */
+            if ((nvm_status & BMP5_INT_NVM_RDY) && (!(nvm_status & BMP5_INT_NVM_ERR)) &&
+                (!(nvm_status & BMP5_INT_NVM_CMD_ERR)))
+            {
+                /* Read the NVM data from the register address */
+                rslt = bmp5_get_regs(BMP5_REG_NVM_DATA_LSB, nvmdata, 2, dev);
+
+                if (rslt == BMP5_OK)
+                {
+                    (*nvm_data) = (uint16_t)((nvmdata[1] << 8) | nvmdata[0]);
+                }
+            }
+            else
+            {
+                rslt = BMP5_E_NVM_NOT_READY;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *  @brief This API is used to get nvm status.
+ */
+static int8_t get_nvm_status(uint8_t *nvm_status, struct bmp5_dev *dev)
+{
+    int8_t rslt;
+
+    if (nvm_status != NULL)
+    {
+        rslt = bmp5_get_regs(BMP5_REG_STATUS, nvm_status, 1, dev);
+    }
+    else
+    {
+        rslt = BMP5_E_NULL_PTR;
+    }
+
+    return rslt;
+}

components/bmp581/bmp5.h

+/**
+* Copyright (c) 2022 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       bmp5.h
+* @date       2022-08-11
+* @version    v1.1.1
+*
+*/
+
+/*!
+ * @defgroup bmp5 BMP5
+ * @brief Sensor driver for BMP5 sensor
+ */
+
+#ifndef BMP5_H_
+#define BMP5_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmp5_defs.h"
+
+/***************************************************************************/
+
+/*!                 BMP5 User Interface function prototypes
+ ****************************************************************************/
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
+/*!
+ * \ingroup bmp5ApiInit
+ * \page bmp5_api_bmp5_init bmp5_init
+ * \code
+ * int8_t bmp5_init(struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is the entry point. Call this API before using all other APIs.
+ * This API reads the chip-id of the sensor and sets the resolution, feature
+ * length and the type of variant.
+ *
+ * @param[in,out] dev : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ *
+ */
+int8_t bmp5_init(struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiRegister Registers
+ * @brief Generic API for accessing sensor registers
+ */
+
+/*!
+ * \ingroup bmp5ApiRegister
+ * \page bmp5_api_bmp5_get_regs bmp5_get_regs
+ * \code
+ * int8_t bmp5_get_regs(uint8_t reg_addr, uint8_t *data, uint32_t len, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API reads the data from the given register address of sensor.
+ *
+ * @param[in] reg_addr  : Register address from where the data to be read.
+ * @param[out] data     : Pointer to data buffer to store the read data.
+ * @param[in] len       : No of bytes of data to be read.
+ * @param[in,out] dev   : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_regs(uint8_t reg_addr, uint8_t *data, uint32_t len, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiRegister
+ * \page bmp5_api_bmp5_set_regs bmp5_set_regs
+ * \code
+ * int8_t bmp5_set_regs(uint8_t reg_addr, const uint8_t *data, uint32_t len, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API writes the given data to the register address of sensor.
+ *
+ * @param[in] reg_addr  : Register address where the data is to be written.
+ * @param[in] data      : Pointer to data buffer, whose data is to be written
+ *                        in the sensor.
+ * @param[in] len       : No of bytes of data to be writen.
+ * @param[in,out] dev   : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_regs(uint8_t reg_addr, const uint8_t *data, uint32_t len, struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiSystem System
+ * @brief API that performs system-level operations
+ */
+
+/*!
+ * \ingroup bmp5ApiSystem
+ * \page bmp5_api_bmp5_soft_reset bmp5_soft_reset
+ * \code
+ * int8_t bmp5_soft_reset(struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to soft-reset the sensor where all the registers are reset to their default values.
+ *
+ * @note If this register is set using I2C, an ACK will NOT be transmitted to
+ * the host.
+ *
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_soft_reset(struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiStatus NVM and Interrupt status
+ * @brief NVM and Interrupt status API
+ */
+
+/*!
+ * \ingroup bmp5ApiStatus
+ * \page bmp5_api_bmp5_get_interrupt_status bmp5_get_interrupt_status
+ * \code
+ * int8_t bmp5_get_interrupt_status(uint8_t *int_status, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to get the interrupt status (data ready interrupt, fifo full interrupt,
+ * fifo threshold interrupt, pressure out of range interrupt and power-on reset/software reset complete interrupt).
+ *
+ * @param[out] int_status   : Variable to store interrupt status.
+ * @param[in] dev           : Structure instance of bmp5_dev.
+ *
+ * @note : Below are values of int_status possible.
+ *
+ *@verbatim
+ * Macros                                   |  Functionality
+ * -----------------------------------------|----------------------------
+ * BMP5_INT_ASSERTED_DRDY                   |  Data ready interrupt asserted
+ * BMP5_INT_ASSERTED_FIFO_FULL              |  Fifo full interrupt asserted
+ * BMP5_INT_ASSERTED_FIFO_THRES             |  Fifo threshold interrupt asserted
+ * BMP5_INT_ASSERTED_PRESSURE_OOR           |  Pressure out of range interrupt asserted
+ * BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE |  Power-on reset/Software reset complete interrupt asserted
+ *@endverbatim
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_interrupt_status(uint8_t *int_status, struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiPowermode Powermode
+ * @brief Powermode of the sensor API
+ */
+
+/*!
+ * \ingroup bmp5ApiPowermode
+ * \page bmp5_api_bmp5_set_power_mode bmp5_set_power_mode
+ * \code
+ * int8_t bmp5_set_power_mode(enum bmp5_powermode powermode, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API sets the power mode of the sensor.
+ *
+ * @param[in] powermode : Select powermode.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @note Below mentioned are the possible powermode that can be set by the user.
+ *
+ *@verbatim
+ * powermode        |   Macros
+ * -----------------|-------------------
+ *     0            | BMP5_POWERMODE_STANBY
+ *     1            | BMP5_POWERMODE_NORMAL
+ *     2            | BMP5_POWERMODE_FORCED
+ *     3            | BMP5_POWERMODE_CONTINOUS
+ *     4            | BMP5_POWERMODE_DEEP_STANBY
+ *@endverbatim
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_power_mode(enum bmp5_powermode powermode, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiPowermode
+ * \page bmp5_api_bmp5_get_power_mode bmp5_get_power_mode
+ * \code
+ * int8_t bmp5_get_power_mode(enum bmp5_powermode *powermode, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API gets the power mode of the sensor.
+ *
+ * @param[out] powermode : To store the power mode.
+ * @param[in] dev        : Structure instance of bmp5_dev.
+ *
+ * @note Below mentioned are the possible powermode from the sensor
+ *
+ *@verbatim
+ * powermode        |   Macros
+ * -----------------|-------------------
+ *     0            | BMP5_POWERMODE_STANBY
+ *     1            | BMP5_POWERMODE_NORMAL
+ *     2            | BMP5_POWERMODE_FORCED
+ *     3            | BMP5_POWERMODE_CONTINOUS
+ *     4            | BMP5_POWERMODE_DEEP_STANBY
+ *@endverbatim
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_power_mode(enum bmp5_powermode *powermode, struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiData Sensor Data
+ * @brief Get Sensor data
+ */
+
+/*!
+ * \ingroup bmp5ApiData
+ * \page bmp5_api_bmp5_get_sensor_data bmp5_get_sensor_data
+ * \code
+ * int8_t bmp5_get_sensor_data(struct bmp5_sensor_data *sensor_data,
+ *                             const struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API reads the temperature(deg C) or both pressure(Pa) and temperature(deg C) data from the
+ * sensor and store it in the bmp5_sensor_data structure instance passed by the user.
+ *
+ * @param[out] sensor_data       : Structure instance of bmp5_sensor_data.
+ * @param[in] osr_odr_press_cfg  : Structure instance of bmp5_osr_odr_press_config.
+ * @param[in] dev                : Structure instance of bmp5_dev.
+ *
+ * @note If fixed point(BMP5_USE_FIXED_POINT) is selected then data return type is uin64_t for pressure
+ *  and int64_t for temperature. While for floating point(BMP5_USE_FLOATING_POINT) data return type is float for
+ *  pressure and temperature.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_sensor_data(struct bmp5_sensor_data *sensor_data,
+                            const struct bmp5_osr_odr_press_config *osr_odr_press_cfg,
+                            struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiInterrupt Interrupt
+ * @brief Interrupt API
+ */
+
+/*!
+ * \ingroup bmp5ApiInterrupt
+ * \page bmp5_api_bmp5_int_source_select bmp5_int_source_select
+ * \code
+ * int8_t bmp5_int_source_select(const struct bmp5_int_source_select *int_source_select, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to enable the interrupts(drdy interrupt, fifo full interrupt,
+ *   fifo threshold enable and pressure data out of range interrupt).
+ *
+ * @param[in] int_source_select : Structure instance of bmp5_int_enable.
+ * @param[in] dev               : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_int_source_select(const struct bmp5_int_source_select *int_source_select, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiInterrupt
+ * \page bmp5_api_bmp5_configure_interrupt bmp5_configure_interrupt
+ * \code
+ * int8_t bmp5_configure_interrupt(enum bmp5_intr_mode int_mode,
+ *                                 enum bmp5_intr_polarity int_pol,
+ *                                 enum bmp5_intr_drive int_od,
+ *                                 enum bmp5_intr_en_dis int_en,
+ *                                 struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to configure the interrupt settings.
+ *
+ * @param[in] int_mode          : Sets either latched or pulsed.
+ * @param[in] int_pol           : Sets either polarity high or low.
+ * @param[in] int_od            : Sets either open drain or push pull.
+ * @param[in] int_en            : Enable/ Disable interrupt pin.
+ * @param[in] dev               : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_configure_interrupt(enum bmp5_intr_mode int_mode,
+                                enum bmp5_intr_polarity int_pol,
+                                enum bmp5_intr_drive int_od,
+                                enum bmp5_intr_en_dis int_en,
+                                struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiSettings Settings
+ * @brief Get/set sensor settings APIs
+ */
+
+/*!
+ * \ingroup bmp5ApiSettings
+ * \page bmp5_api_bmp5_get_osr_odr_press_config bmp5_get_osr_odr_press_config
+ * \code
+ * int8_t bmp5_get_osr_odr_press_config(struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API gets the configuration for oversampling of temperature, oversampling of
+ * pressure and ODR configuration for normal mode along with pressure enable.
+ *
+ * @param[out] osr_odr_press_cfg : Structure instance of bmp5_osr_odr_press_config.
+ * @param[in] dev                : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_osr_odr_press_config(struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiSettings
+ * \page bmp5_api_bmp5_set_osr_odr_press_config bmp5_set_osr_odr_press_config
+ * \code
+ * int8_t bmp5_set_osr_odr_press_config(const struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API sets the configuration for oversampling of temperature, oversampling of
+ * pressure and ODR configuration along with pressure enable.
+ *
+ * @param[in] osr_odr_press_cfg  : Structure instance of bmp5_osr_odr_press_config.
+ * @param[in] dev                 : Structure instance of bmp5_dev.
+ *
+ * @note If ODR is set to a value higher than 5Hz then powermode is set as standby mode, as ODR value greater than 5HZ
+ * without disabling deep-standby mode makes powermode invalid.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_osr_odr_press_config(const struct bmp5_osr_odr_press_config *osr_odr_press_cfg, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiSettings
+ * \page bmp5_api_bmp5_get_iir_config bmp5_get_iir_config
+ * \code
+ * int8_t bmp5_get_iir_config(struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API gets the configuration for IIR of temperature and pressure.
+ *
+ * @param[out] iir_cfg  : Structure instance of bmp5_iir_config.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_iir_config(struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiSettings
+ * \page bmp5_api_bmp5_set_iir_config bmp5_set_iir_config
+ * \code
+ * int8_t bmp5_set_iir_config(const struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API sets the configuration for IIR of temperature and pressure.
+ *
+ * @note
+ * 1. The IIR configuration can be performed only in standby mode. So in this API before updating IIR
+ * configuration powermode is switched to standby mode and reverted back to earlier powermode after
+ * IIR configuration is updated.
+ * 2. If IIR value for both temperature and pressure is set a value other than bypass then powermode is set
+ * as standby mode, as IIR with value other than bypass without disabling deep-standby mode makes powermode invalid.
+ *
+ * @param[in] iir_cfg  : Structure instance of bmp5_iir_config.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_iir_config(const struct bmp5_iir_config *iir_cfg, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiSettings
+ * \page bmp5_api_bmp5_get_osr_odr_eff bmp5_get_osr_odr_eff
+ * \code
+ * int8_t bmp5_get_osr_odr_eff(struct bmp5_osr_odr_eff *osr_odr_eff, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API gets the configuration for effective OSR of temperature,
+ * effective OSR of pressure and ODR valid status.
+ *
+ * @param[out] osr_odr_eff  : Structure instance of bmp5_osr_odr_eff.
+ * @param[in] dev           : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_osr_odr_eff(struct bmp5_osr_odr_eff *osr_odr_eff, struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiFIFO FIFO
+ * @brief FIFO operations of the sensor
+ */
+
+/*!
+ * \ingroup bmp5ApiFIFO
+ * \page bmp5_api_bmp5_get_fifo_configuration bmp5_get_fifo_configuration
+ * \code
+ * int8_t bmp5_get_fifo_configuration(struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API used to get the configurations of fifo from the sensor.
+ *
+ * @param[out] fifo : Structure instance of bmp5_fifo.
+ * @param[in] dev   : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_fifo_configuration(struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiFIFO
+ * \page bmp5_api_bmp5_set_fifo_configuration bmp5_set_fifo_configuration
+ * \code
+ * int8_t bmp5_set_fifo_configuration(const struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API used to set the configurations of fifo in the sensor.
+ *
+ * @param[in] fifo : Structure instance of bmp5_fifo.
+ * @param[in] dev  : Structure instance of bmp5_dev.
+ *
+ * @note If Fifo frame selection is enabled then powermode is set as standby mode, as fifo frame selection
+ * enabled without disabling deep-standby mode makes powermode invalid.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_fifo_configuration(const struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiFIFO
+ * \page bmp5_api_bmp5_get_fifo_len bmp5_get_fifo_len
+ * \code
+ * int8_t bmp5_get_fifo_len(uint8_t *fifo_len, struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to get the length of fifo from the sensor.
+ *
+ * @param[out] fifo_len : Variable to store fifo length.
+ * @param[out] fifo     : Structure instance of bmp5_fifo.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_fifo_len(uint16_t *fifo_len, struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiFIFO
+ * \page bmp5_api_bmp5_get_fifo_data bmp5_get_fifo_data
+ * \code
+ * int8_t bmp5_get_fifo_data(struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to get the fifo data from the sensor.
+ *
+ * @param[out] fifo       : Structure instance of bmp5_fifo.
+ * @param[in] dev         : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_fifo_data(struct bmp5_fifo *fifo, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiFIFO
+ * \page bmp5_api_bmp5_extract_fifo_data bmp5_extract_fifo_data
+ * \code
+ * int8_t bmp5_extract_fifo_data(const struct bmp5_fifo *fifo, struct bmp5_sensor_data *sensor_data);
+ * \endcode
+ * @details This API extract the temperature and/or pressure data from the fifo data which is
+ * already read from the fifo.
+ *
+ * @param[in] fifo         : Structure instance of bmp5_fifo.
+ * @param[out] sensor_data : Structure instance of bmp5_sensor_data.
+ * @param[in] dev          : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_extract_fifo_data(const struct bmp5_fifo *fifo, struct bmp5_sensor_data *sensor_data);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiOOR OOR pressure
+ * @brief OOR pressure API
+ */
+
+/*!
+ * \ingroup bmp5ApiOOR
+ * \page bmp5_api_bmp5_get_oor_configuration bmp5_get_oor_configuration
+ * \code
+ * int8_t bmp5_get_oor_configuration(struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API gets the configuration for out-of-range pressure threshold, range
+ *  count limit and IIR.
+ *
+ * @param[out] oor_press_config : Structure instance of bmp5_oor_press_configuration.
+ * @param[in] dev               : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_get_oor_configuration(struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiOOR
+ * \page bmp5_api_bmp5_set_oor_configuration bmp5_set_oor_configuration
+ * \code
+ * int8_t bmp5_set_oor_configuration(const struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API sets the configuration for out-of-range pressure threshold, range
+ *  count limit and IIR.
+ *
+ * @param[in] oor_press_config : Structure instance of bmp5_oor_press_configuration.
+ * @param[in] dev              : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_set_oor_configuration(const struct bmp5_oor_press_configuration *oor_press_config, struct bmp5_dev *dev);
+
+/**
+ * \ingroup bmp5
+ * \defgroup bmp5ApiNVM NVM
+ * @brief NVM operation of the sensor
+ */
+
+/*!
+ * \ingroup bmp5ApiNVM
+ * \page bmp5_api_bmp5_nvm_read bmp5_nvm_read
+ * \code
+ * int8_t bmp5_nvm_read(uint8_t nvm_addr, uint16_t *nvm_data, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API is used to perform NVM read.
+ *
+ * @param[in] nvm_addr  : Variable that holds the nvm address.
+ * @param[out] nvm_data : Variable to store nvm data.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_nvm_read(uint8_t nvm_addr, uint16_t *nvm_data, struct bmp5_dev *dev);
+
+/*!
+ * \ingroup bmp5ApiNVM
+ * \page bmp5_api_bmp5_nvm_write bmp5_nvm_write
+ * \code
+ * int8_t bmp5_nvm_write(uint8_t nvm_addr, const uint16_t *nvm_data, struct bmp5_dev *dev);
+ * \endcode
+ * @details This API used to perform NVM write.
+ *
+ * @param[in] nvm_addr  : Variable that holds the nvm address.
+ * @param[in] nvm_data  : Variable that holds the nvm data.
+ * @param[in] dev       : Structure instance of bmp5_dev.
+ *
+ * @return Result of API execution status.
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+int8_t bmp5_nvm_write(uint8_t nvm_addr, const uint16_t *nvm_data, struct bmp5_dev *dev);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* End of header guard macro */

components/bmp581/bmp5_defs.h

+/**
+* Copyright (c) 2022 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       bmp5_defs.h
+* @date       2022-08-11
+* @version    v1.1.1
+*
+*/
+
+/*! @file bmp5_defs.h
+ *  @brief Sensor Driver for BMP5 sensor
+ */
+#ifndef _BMP5_DEFS_H
+#define _BMP5_DEFS_H
+
+/******************************************************************************/
+/*! @name       HEADER INCLUDES                           */
+/******************************************************************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#include <math.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
+
+#else /* __KERNEL__ */
+
+#if (!defined(UINT8_C) && !defined(INT8_C))
+#define INT8_C(x)    (x)
+#define UINT8_C(x)   (x##U)
+#endif
+
+#if (!defined(UINT16_C) && !defined(INT16_C))
+#define INT16_C(x)   (x)
+#define UINT16_C(x)  (x##U)
+#endif
+
+#if (!defined(INT32_C) && !defined(UINT32_C))
+#define INT32_C(x)   (x)
+#define UINT32_C(x)  (x##U)
+#endif
+
+#if (!defined(INT64_C) && !defined(UINT64_C))
+#define INT64_C(x)   (x##LL)
+#define UINT64_C(x)  (x##ULL)
+#endif
+
+#endif /* __KERNEL__ */
+
+/*! @name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL         0
+#else
+#define NULL         ((void *) 0)
+#endif
+#endif
+
+/******************************************************************************/
+/*! @name        Compiler switch macros Definitions                */
+/******************************************************************************/
+#ifndef BMP5_USE_FIXED_POINT /*< Check if floating point (using BMP5_USE_FIXED_POINT) is enabled */
+#ifndef BMP5_USE_FLOATING_POINT /*< If fixed point is not enabled then enable BMP5_USE_FLOATING_POINT */
+#define BMP5_USE_FLOATING_POINT
+#endif
+#endif
+
+#ifdef BMP5_USE_FIXED_POINT /*< If Fixed point is defined set BMP5_FIXED_POINT_DIGIT_PRECISION */
+#ifdef BMP5_FIXED_POINT_DIGIT_PRECISION
+#if BMP5_FIXED_POINT_DIGIT_PRECISION > 6 /* If BMP5_FIXED_POINT_DIGIT_PRECISION(provided by user) is greater than 6 then
+                                          * set precision value to 6 digits */
+#undef BMP5_FIXED_POINT_DIGIT_PRECISION
+#define BMP5_FIXED_POINT_DIGIT_PRECISION  UINT8_C(6)
+#endif
+#endif
+
+/* By default BMP5_FIXED_POINT_DIGIT_PRECISION will be 6 digits */
+/* User can vary the precision between 0 to 6 digits */
+#ifndef BMP5_FIXED_POINT_DIGIT_PRECISION
+#define BMP5_FIXED_POINT_DIGIT_PRECISION  UINT8_C(6)
+#endif
+#endif
+
+/******************************************************************************/
+/*! @name        GENERAL MACRO DEFINITIONS                */
+/******************************************************************************/
+
+/*!
+ * BMP5_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system.
+ */
+#ifndef BMP5_INTF_RET_TYPE
+#define BMP5_INTF_RET_TYPE                        int8_t
+#endif
+
+/*!
+ * The last error code from read/write interface is stored in the device structure as intf_rslt.
+ */
+#ifndef BMP5_INTF_RET_SUCCESS
+#define BMP5_INTF_RET_SUCCESS                     INT8_C(0)
+#endif
+
+/*! @name BOOLEAN TYPES */
+#ifndef TRUE
+#define TRUE                                      UINT8_C(0x01)
+#endif
+
+#ifndef FALSE
+#define FALSE                                     UINT8_C(0x00)
+#endif
+
+#ifndef NULL
+#define NULL                                      UINT8_C(0x00)
+#endif
+
+#ifndef ABS
+#define ABS(a)                                    ((a) > 0 ? (a) : -(a))    /*!< Absolute value */
+#endif
+
+/*! @name UTILITY MACROS */
+#define BMP5_SET_LOW_BYTE                         UINT16_C(0x00FF)
+#define BMP5_SET_HIGH_BYTE                        UINT16_C(0xFF00)
+
+/*! @name BIT SLICE GET AND SET FUNCTIONS */
+#define BMP5_GET_BITSLICE(regvar, bitname) \
+    ((regvar & bitname##_MSK) >> bitname##_POS)
+
+#define BMP5_SET_BITSLICE(regvar, bitname, val) \
+    ((regvar & ~bitname##_MSK) | \
+     ((val << bitname##_POS) & bitname##_MSK))
+
+#define BMP5_GET_LSB(var)                         (uint8_t)(var & BMP5_SET_LOW_BYTE)
+#define BMP5_GET_MSB(var)                         (uint8_t)((var & BMP5_SET_HIGH_BYTE) >> 8)
+
+#define BMP5_SET_BIT_VAL_0(reg_data, bitname)     (reg_data & ~(bitname##_MSK))
+
+#define BMP5_SET_BITS_POS_0(reg_data, bitname, data) \
+    ((reg_data & ~(bitname##_MSK)) | \
+     (data & bitname##_MSK))
+
+#define BMP5_GET_BITS_POS_0(reg_data, bitname)    (reg_data & (bitname##_MSK))
+
+/*! @name Chip id of BMP5 */
+#define BMP5_CHIP_ID_PRIM                         UINT8_C(0x50)
+#define BMP5_CHIP_ID_SEC                          UINT8_C(0x51)
+
+/*! @name API success code */
+#define BMP5_OK                                   INT8_C(0)
+
+/*! @name API error codes */
+#define BMP5_E_NULL_PTR                           INT8_C(-1)
+#define BMP5_E_COM_FAIL                           INT8_C(-2)
+#define BMP5_E_DEV_NOT_FOUND                      INT8_C(-3)
+#define BMP5_E_INVALID_CHIP_ID                    INT8_C(-4)
+#define BMP5_E_POWER_UP                           INT8_C(-5)
+#define BMP5_E_POR_SOFTRESET                      INT8_C(-6)
+#define BMP5_E_INVALID_POWERMODE                  INT8_C(-7)
+#define BMP5_E_INVALID_THRESHOLD                  INT8_C(-8)
+#define BMP5_E_FIFO_FRAME_EMPTY                   INT8_C(-9)
+#define BMP5_E_NVM_INVALID_ADDR                   INT8_C(-10)
+#define BMP5_E_NVM_NOT_READY                      INT8_C(-11)
+
+#define BMP5_ENABLE                               UINT8_C(0x01)
+#define BMP5_DISABLE                              UINT8_C(0x00)
+
+/*! @name Register addresses */
+#define BMP5_REG_CHIP_ID                          UINT8_C(0x01)
+#define BMP5_REG_REV_ID                           UINT8_C(0x02)
+#define BMP5_REG_CHIP_STATUS                      UINT8_C(0x11)
+#define BMP5_REG_DRIVE_CONFIG                     UINT8_C(0x13)
+#define BMP5_REG_INT_CONFIG                       UINT8_C(0x14)
+#define BMP5_REG_INT_SOURCE                       UINT8_C(0x15)
+#define BMP5_REG_FIFO_CONFIG                      UINT8_C(0x16)
+#define BMP5_REG_FIFO_COUNT                       UINT8_C(0x17)
+#define BMP5_REG_FIFO_SEL                         UINT8_C(0x18)
+#define BMP5_REG_TEMP_DATA_XLSB                   UINT8_C(0x1D)
+#define BMP5_REG_TEMP_DATA_LSB                    UINT8_C(0x1E)
+#define BMP5_REG_TEMP_DATA_MSB                    UINT8_C(0x1F)
+#define BMP5_REG_PRESS_DATA_XLSB                  UINT8_C(0x20)
+#define BMP5_REG_PRESS_DATA_LSB                   UINT8_C(0x21)
+#define BMP5_REG_PRESS_DATA_MSB                   UINT8_C(0x22)
+#define BMP5_REG_INT_STATUS                       UINT8_C(0x27)
+#define BMP5_REG_STATUS                           UINT8_C(0x28)
+#define BMP5_REG_FIFO_DATA                        UINT8_C(0x29)
+#define BMP5_REG_NVM_ADDR                         UINT8_C(0x2B)
+#define BMP5_REG_NVM_DATA_LSB                     UINT8_C(0x2C)
+#define BMP5_REG_NVM_DATA_MSB                     UINT8_C(0x2D)
+#define BMP5_REG_DSP_CONFIG                       UINT8_C(0x30)
+#define BMP5_REG_DSP_IIR                          UINT8_C(0x31)
+#define BMP5_REG_OOR_THR_P_LSB                    UINT8_C(0x32)
+#define BMP5_REG_OOR_THR_P_MSB                    UINT8_C(0x33)
+#define BMP5_REG_OOR_RANGE                        UINT8_C(0x34)
+#define BMP5_REG_OOR_CONFIG                       UINT8_C(0x35)
+#define BMP5_REG_OSR_CONFIG                       UINT8_C(0x36)
+#define BMP5_REG_ODR_CONFIG                       UINT8_C(0x37)
+#define BMP5_REG_OSR_EFF                          UINT8_C(0x38)
+#define BMP5_REG_CMD                              UINT8_C(0x7E)
+
+/*! @name I2C addresses */
+#define BMP5_I2C_ADDR_PRIM                        UINT8_C(0x46)
+#define BMP5_I2C_ADDR_SEC                         UINT8_C(0x47)
+
+/*! @name NVM addresses */
+#define BMP5_NVM_START_ADDR                       UINT8_C(0x20)
+#define BMP5_NVM_END_ADDR                         UINT8_C(0x22)
+
+/*! @name Interface settings */
+#define BMP5_SPI_RD_MASK                          UINT8_C(0x80)
+
+/*! @name Delay definition */
+#define BMP5_DELAY_US_SOFT_RESET                  UINT16_C(2000)
+#define BMP5_DELAY_US_STANDBY                     UINT16_C(2500)
+#define BMP5_DELAY_US_NVM_READY_READ              UINT8_C(800)
+#define BMP5_DELAY_US_NVM_READY_WRITE             UINT16_C(10000)
+
+/*! @name Soft reset command */
+#define BMP5_SOFT_RESET_CMD                       UINT8_C(0xB6)
+
+/*! NVM command */
+#define BMP5_NVM_FIRST_CMND                       UINT8_C(0x5D)
+#define BMP5_NVM_READ_ENABLE_CMND                 UINT8_C(0xA5)
+#define BMP5_NVM_WRITE_ENABLE_CMND                UINT8_C(0xA0)
+
+/*! @name Deepstandby enable/disable */
+#define BMP5_DEEP_ENABLED                         UINT8_C(0)
+#define BMP5_DEEP_DISABLED                        UINT8_C(1)
+
+/*! @name ODR settings */
+#define BMP5_ODR_240_HZ                           UINT8_C(0x00)
+#define BMP5_ODR_218_5_HZ                         UINT8_C(0x01)
+#define BMP5_ODR_199_1_HZ                         UINT8_C(0x02)
+#define BMP5_ODR_179_2_HZ                         UINT8_C(0x03)
+#define BMP5_ODR_160_HZ                           UINT8_C(0x04)
+#define BMP5_ODR_149_3_HZ                         UINT8_C(0x05)
+#define BMP5_ODR_140_HZ                           UINT8_C(0x06)
+#define BMP5_ODR_129_8_HZ                         UINT8_C(0x07)
+#define BMP5_ODR_120_HZ                           UINT8_C(0x08)
+#define BMP5_ODR_110_1_HZ                         UINT8_C(0x09)
+#define BMP5_ODR_100_2_HZ                         UINT8_C(0x0A)
+#define BMP5_ODR_89_6_HZ                          UINT8_C(0x0B)
+#define BMP5_ODR_80_HZ                            UINT8_C(0x0C)
+#define BMP5_ODR_70_HZ                            UINT8_C(0x0D)
+#define BMP5_ODR_60_HZ                            UINT8_C(0x0E)
+#define BMP5_ODR_50_HZ                            UINT8_C(0x0F)
+#define BMP5_ODR_45_HZ                            UINT8_C(0x10)
+#define BMP5_ODR_40_HZ                            UINT8_C(0x11)
+#define BMP5_ODR_35_HZ                            UINT8_C(0x12)
+#define BMP5_ODR_30_HZ                            UINT8_C(0x13)
+#define BMP5_ODR_25_HZ                            UINT8_C(0x14)
+#define BMP5_ODR_20_HZ                            UINT8_C(0x15)
+#define BMP5_ODR_15_HZ                            UINT8_C(0x16)
+#define BMP5_ODR_10_HZ                            UINT8_C(0x17)
+#define BMP5_ODR_05_HZ                            UINT8_C(0x18)
+#define BMP5_ODR_04_HZ                            UINT8_C(0x19)
+#define BMP5_ODR_03_HZ                            UINT8_C(0x1A)
+#define BMP5_ODR_02_HZ                            UINT8_C(0x1B)
+#define BMP5_ODR_01_HZ                            UINT8_C(0x1C)
+#define BMP5_ODR_0_5_HZ                           UINT8_C(0x1D)
+#define BMP5_ODR_0_250_HZ                         UINT8_C(0x1E)
+#define BMP5_ODR_0_125_HZ                         UINT8_C(0x1F)
+
+/*! @name Oversampling for temperature and pressure */
+#define BMP5_OVERSAMPLING_1X                      UINT8_C(0x00)
+#define BMP5_OVERSAMPLING_2X                      UINT8_C(0x01)
+#define BMP5_OVERSAMPLING_4X                      UINT8_C(0x02)
+#define BMP5_OVERSAMPLING_8X                      UINT8_C(0x03)
+#define BMP5_OVERSAMPLING_16X                     UINT8_C(0x04)
+#define BMP5_OVERSAMPLING_32X                     UINT8_C(0x05)
+#define BMP5_OVERSAMPLING_64X                     UINT8_C(0x06)
+#define BMP5_OVERSAMPLING_128X                    UINT8_C(0x07)
+
+/*! @name IIR filter for temperature and pressure */
+#define BMP5_IIR_FILTER_BYPASS                    UINT8_C(0x00)
+#define BMP5_IIR_FILTER_COEFF_1                   UINT8_C(0x01)
+#define BMP5_IIR_FILTER_COEFF_3                   UINT8_C(0x02)
+#define BMP5_IIR_FILTER_COEFF_7                   UINT8_C(0x03)
+#define BMP5_IIR_FILTER_COEFF_15                  UINT8_C(0x04)
+#define BMP5_IIR_FILTER_COEFF_31                  UINT8_C(0x05)
+#define BMP5_IIR_FILTER_COEFF_63                  UINT8_C(0x06)
+#define BMP5_IIR_FILTER_COEFF_127                 UINT8_C(0x07)
+
+/*! Fifo frame configuration */
+#define BMP5_FIFO_EMPTY                           UINT8_C(0X7F)
+#define BMP5_FIFO_MAX_THRESHOLD_P_T_MODE          UINT8_C(0x0F)
+#define BMP5_FIFO_MAX_THRESHOLD_P_MODE            UINT8_C(0x1F)
+
+/*! @name Macro is used to bypass both iir_t and iir_p together */
+#define BMP5_IIR_BYPASS                           UINT8_C(0xC0)
+
+/*! @name Pressure Out-of-range count limit */
+#define BMP5_OOR_COUNT_LIMIT_1                    UINT8_C(0x00)
+#define BMP5_OOR_COUNT_LIMIT_3                    UINT8_C(0x01)
+#define BMP5_OOR_COUNT_LIMIT_7                    UINT8_C(0x02)
+#define BMP5_OOR_COUNT_LIMIT_15                   UINT8_C(0x03)
+
+/*! @name Interrupt configurations */
+#define BMP5_INT_MODE_PULSED                      UINT8_C(0)
+#define BMP5_INT_MODE_LATCHED                     UINT8_C(1)
+
+#define BMP5_INT_POL_ACTIVE_LOW                   UINT8_C(0)
+#define BMP5_INT_POL_ACTIVE_HIGH                  UINT8_C(1)
+
+#define BMP5_INT_OD_PUSHPULL                      UINT8_C(0)
+#define BMP5_INT_OD_OPENDRAIN                     UINT8_C(1)
+
+/*! @name NVM and Interrupt status asserted macros */
+#define BMP5_INT_ASSERTED_DRDY                    UINT8_C(0x01)
+#define BMP5_INT_ASSERTED_FIFO_FULL               UINT8_C(0x02)
+#define BMP5_INT_ASSERTED_FIFO_THRES              UINT8_C(0x04)
+#define BMP5_INT_ASSERTED_PRESSURE_OOR            UINT8_C(0x08)
+#define BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE  UINT8_C(0x10)
+#define BMP5_INT_NVM_RDY                          UINT8_C(0x02)
+#define BMP5_INT_NVM_ERR                          UINT8_C(0x04)
+#define BMP5_INT_NVM_CMD_ERR                      UINT8_C(0x08)
+
+/*! @name Interrupt configurations */
+#define BMP5_INT_MODE_MSK                         UINT8_C(0x01)
+
+#define BMP5_INT_POL_MSK                          UINT8_C(0x02)
+#define BMP5_INT_POL_POS                          UINT8_C(1)
+
+#define BMP5_INT_OD_MSK                           UINT8_C(0x04)
+#define BMP5_INT_OD_POS                           UINT8_C(2)
+
+#define BMP5_INT_EN_MSK                           UINT8_C(0x08)
+#define BMP5_INT_EN_POS                           UINT8_C(3)
+
+#define BMP5_INT_DRDY_EN_MSK                      UINT8_C(0x01)
+
+#define BMP5_INT_FIFO_FULL_EN_MSK                 UINT8_C(0x02)
+#define BMP5_INT_FIFO_FULL_EN_POS                 UINT8_C(1)
+
+#define BMP5_INT_FIFO_THRES_EN_MSK                UINT8_C(0x04)
+#define BMP5_INT_FIFO_THRES_EN_POS                UINT8_C(2)
+
+#define BMP5_INT_OOR_PRESS_EN_MSK                 UINT8_C(0x08)
+#define BMP5_INT_OOR_PRESS_EN_POS                 UINT8_C(3)
+
+/*! @name ODR configuration */
+#define BMP5_ODR_MSK                              UINT8_C(0x7C)
+#define BMP5_ODR_POS                              UINT8_C(2)
+
+/*! @name OSR configurations */
+#define BMP5_TEMP_OS_MSK                          UINT8_C(0x07)
+
+#define BMP5_PRESS_OS_MSK                         UINT8_C(0x38)
+#define BMP5_PRESS_OS_POS                         UINT8_C(3)
+
+/*! @name Pressure enable */
+#define BMP5_PRESS_EN_MSK                         UINT8_C(0x40)
+#define BMP5_PRESS_EN_POS                         UINT8_C(6)
+
+/*! @name IIR configurations */
+#define BMP5_SET_IIR_TEMP_MSK                     UINT8_C(0x07)
+
+#define BMP5_SET_IIR_PRESS_MSK                    UINT8_C(0x38)
+#define BMP5_SET_IIR_PRESS_POS                    UINT8_C(3)
+
+#define BMP5_OOR_SEL_IIR_PRESS_MSK                UINT8_C(0x80)
+#define BMP5_OOR_SEL_IIR_PRESS_POS                UINT8_C(7)
+
+#define BMP5_SHDW_SET_IIR_TEMP_MSK                UINT8_C(0x08)
+#define BMP5_SHDW_SET_IIR_TEMP_POS                UINT8_C(3)
+
+#define BMP5_SHDW_SET_IIR_PRESS_MSK               UINT8_C(0x20)
+#define BMP5_SHDW_SET_IIR_PRESS_POS               UINT8_C(5)
+
+#define BMP5_SET_FIFO_IIR_TEMP_MSK                UINT8_C(0x10)
+#define BMP5_SET_FIFO_IIR_TEMP_POS                UINT8_C(4)
+
+#define BMP5_SET_FIFO_IIR_PRESS_MSK               UINT8_C(0x40)
+#define BMP5_SET_FIFO_IIR_PRESS_POS               UINT8_C(6)
+
+#define BMP5_IIR_FLUSH_FORCED_EN_MSK              UINT8_C(0x04)
+#define BMP5_IIR_FLUSH_FORCED_EN_POS              UINT8_C(2)
+
+/*! @name Effective OSR configurations and ODR valid status */
+#define BMP5_OSR_TEMP_EFF_MSK                     UINT8_C(0x07)
+
+#define BMP5_OSR_PRESS_EFF_MSK                    UINT8_C(0x38)
+#define BMP5_OSR_PRESS_EFF_POS                    UINT8_C(3)
+
+#define BMP5_ODR_IS_VALID_MSK                     UINT8_C(0x80)
+#define BMP5_ODR_IS_VALID_POS                     UINT8_C(7)
+
+/*! @name Powermode */
+#define BMP5_POWERMODE_MSK                        UINT8_C(0x03)
+
+#define BMP5_DEEP_DISABLE_MSK                     UINT8_C(0x80)
+#define BMP5_DEEP_DISABLE_POS                     UINT8_C(7)
+
+/*! @name Fifo configurations */
+#define BMP5_FIFO_THRESHOLD_MSK                   UINT8_C(0x1F)
+
+#define BMP5_FIFO_MODE_MSK                        UINT8_C(0x20)
+#define BMP5_FIFO_MODE_POS                        UINT8_C(5)
+
+#define BMP5_FIFO_DEC_SEL_MSK                     UINT8_C(0x1C)
+#define BMP5_FIFO_DEC_SEL_POS                     UINT8_C(2)
+
+#define BMP5_FIFO_COUNT_MSK                       UINT8_C(0x3F)
+
+#define BMP5_FIFO_FRAME_SEL_MSK                   UINT8_C(0x03)
+
+/*! @name Out-of-range configuration */
+#define BMP5_OOR_THR_P_LSB_MSK                    UINT32_C(0x0000FF)
+
+#define BMP5_OOR_THR_P_MSB_MSK                    UINT32_C(0x00FF00)
+
+#define BMP5_OOR_THR_P_XMSB_MSK                   UINT32_C(0x010000)
+#define BMP5_OOR_THR_P_XMSB_POS                   UINT16_C(16)
+
+/* Macro to mask xmsb value of oor threshold from register(0x35) value */
+#define BMP5_OOR_THR_P_XMSB_REG_MSK               UINT8_C(0x01)
+
+#define BMP5_OOR_COUNT_LIMIT_MSK                  UINT8_C(0xC0)
+#define BMP5_OOR_COUNT_LIMIT_POS                  UINT8_C(6)
+
+/*! @name NVM configuration */
+#define BMP5_NVM_ADDR_MSK                         UINT8_C(0x3F)
+
+#define BMP5_NVM_PROG_EN_MSK                      UINT8_C(0x40)
+#define BMP5_NVM_PROG_EN_POS                      UINT8_C(6)
+
+#define BMP5_NVM_DATA_LSB_MSK                     UINT16_C(0x00FF)
+
+#define BMP5_NVM_DATA_MSB_MSK                     UINT16_C(0xFF00)
+
+/******************************************************************************/
+/*!  @name         TYPEDEF DEFINITIONS                                        */
+/******************************************************************************/
+
+/*!
+ * @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] read_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 0 for Success
+ * @retval Non-zero for Failure
+ */
+typedef BMP5_INTF_RET_TYPE (*bmp5_read_fptr_t)(uint8_t reg_addr, uint8_t *read_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] read_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 0 for Success
+ * @retval Non-zero for Failure
+ */
+typedef BMP5_INTF_RET_TYPE (*bmp5_write_fptr_t)(uint8_t reg_addr, const uint8_t *read_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 (*bmp5_delay_us_fptr_t)(uint32_t period, void *intf_ptr);
+
+/******************************************************************************/
+/*!  @name         ENUMERATION DEFINITIONS                                      */
+/******************************************************************************/
+
+/*!
+ * @brief Enumerator for interface selection
+ */
+enum bmp5_intf {
+    /*! SPI interface */
+    BMP5_SPI_INTF,
+    /*! I2C interface */
+    BMP5_I2C_INTF,
+    /*! I3C interface */
+    BMP5_I3C_INTF
+};
+
+/*!
+ * @brief Enumerator for powermode selection
+ */
+enum bmp5_powermode {
+    /*! Standby powermode */
+    BMP5_POWERMODE_STANDBY,
+    /*! Normal powermode */
+    BMP5_POWERMODE_NORMAL,
+    /*! Forced powermode */
+    BMP5_POWERMODE_FORCED,
+    /*! Continous powermode */
+    BMP5_POWERMODE_CONTINOUS,
+    /*! Deep standby powermode */
+    BMP5_POWERMODE_DEEP_STANDBY
+};
+
+/*!
+ * @brief Enumerator for interrupt enable disable
+ */
+enum bmp5_intr_en_dis {
+    /*! Interrupt diable */
+    BMP5_INTR_DISABLE = BMP5_DISABLE,
+    /*! Interrupt enable */
+    BMP5_INTR_ENABLE = BMP5_ENABLE
+};
+
+/*!
+ * @brief Enumerator for interrupt mode
+ */
+enum bmp5_intr_mode {
+    /*! Interrupt mode - pulsed */
+    BMP5_PULSED = BMP5_INT_MODE_PULSED,
+    /*! Interrupt mode - latched */
+    BMP5_LATCHED = BMP5_INT_MODE_LATCHED
+};
+
+/*!
+ * @brief Enumerator for interrupt polarity
+ */
+enum bmp5_intr_polarity {
+    /*! Interrupt polarity - active low */
+    BMP5_ACTIVE_LOW = BMP5_INT_POL_ACTIVE_LOW,
+    /*! Interrupt polarity - active high */
+    BMP5_ACTIVE_HIGH = BMP5_INT_POL_ACTIVE_HIGH
+};
+
+/*!
+ * @brief Enumerator for interrupt drive
+ */
+enum bmp5_intr_drive {
+    /*! Interrupt drive - push-pull */
+    BMP5_INTR_PUSH_PULL = BMP5_INT_OD_PUSHPULL,
+    /*! Interrupt drive - open drain */
+    BMP5_INTR_OPEN_DRAIN = BMP5_INT_OD_OPENDRAIN
+};
+
+/*!
+ * @brief Enumerator for fifo frame selection
+ */
+enum bmp5_fifo_frame_sel {
+    /*! Fifo disabled */
+    BMP5_FIFO_NOT_ENABLED,
+    /*! Fifo temperature data only enabled */
+    BMP5_FIFO_TEMPERATURE_DATA,
+    /*! Fifo pressure data only enabled */
+    BMP5_FIFO_PRESSURE_DATA,
+    /*! Fifo pressure and temperature data enabled */
+    BMP5_FIFO_PRESS_TEMP_DATA
+};
+
+/*!
+ * @brief Enumerator for fifo decimation factor(downsampling) selection
+ */
+enum bmp5_fifo_dec_sel {
+    /*! Fifo downsampling disabled */
+    BMP5_FIFO_NO_DOWNSAMPLING,
+    /*! Fifo 2X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_2X,
+    /*! Fifo 4X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_4X,
+    /*! Fifo 8X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_8X,
+    /*! Fifo 16X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_16X,
+    /*! Fifo 32X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_32X,
+    /*! Fifo 64X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_64X,
+    /*! Fifo 128X downsampling */
+    BMP5_FIFO_DOWNSAMPLING_128X
+};
+
+/*!
+ * @brief Enumerator for fifo mode selection
+ */
+enum bmp5_fifo_mode {
+    /*! Fifo mode - streaming */
+    BMP5_FIFO_MODE_STREAMING,
+    /*! Fifo mode - stop on full */
+    BMP5_FIFO_MODE_STOP_ON_FULL
+};
+
+/******************************************************************************/
+/*!  @name         STRUCTURE DEFINITIONS                                      */
+/******************************************************************************/
+
+/*!
+ * @brief OSR, ODR and pressure configuration structure
+ */
+struct bmp5_osr_odr_press_config
+{
+    /*! Temperature oversampling
+     * Assignable macros :
+     * - BMP5_OVERSAMPLING_1X
+     * - BMP5_OVERSAMPLING_2X
+     * - BMP5_OVERSAMPLING_4X
+     * - BMP5_OVERSAMPLING_8X
+     * - BMP5_OVERSAMPLING_16X
+     * - BMP5_OVERSAMPLING_32X
+     * - BMP5_OVERSAMPLING_64X
+     * - BMP5_OVERSAMPLING_128X
+     */
+    uint8_t osr_t;
+
+    /*! Pressure oversampling
+     * Assignable macros :
+     * - BMP5_OVERSAMPLING_1X
+     * - BMP5_OVERSAMPLING_2X
+     * - BMP5_OVERSAMPLING_4X
+     * - BMP5_OVERSAMPLING_8X
+     * - BMP5_OVERSAMPLING_16X
+     * - BMP5_OVERSAMPLING_32X
+     * - BMP5_OVERSAMPLING_64X
+     * - BMP5_OVERSAMPLING_128X
+     */
+    uint8_t osr_p;
+
+    /*! Enable pressure
+     * BMP5_ENABLE  = Enables pressure data
+     * BMP5_DISABLE = Disables pressure data
+     */
+    uint8_t press_en;
+
+    /*! Output Data Rate */
+    uint8_t odr;
+};
+
+/*!
+ * @brief IIR configuration structure
+ */
+struct bmp5_iir_config
+{
+    /*! Temperature IIR
+     * Assignable macros :
+     * - BMP5_IIR_FILTER_BYPASS
+     * - BMP5_IIR_FILTER_0_20980
+     * - BMP5_IIR_FILTER_0_08045
+     * - BMP5_IIR_FILTER_0_03695
+     * - BMP5_IIR_FILTER_0_01785
+     * - BMP5_IIR_FILTER_0_00880
+     * - BMP5_IIR_FILTER_0_00435
+     * - BMP5_IIR_FILTER_0_00220
+     */
+    uint8_t set_iir_t;
+
+    /*! Pressure IIR
+     * Assignable macros :
+     * - BMP5_IIR_FILTER_BYPASS
+     * - BMP5_IIR_FILTER_0_20980
+     * - BMP5_IIR_FILTER_0_08045
+     * - BMP5_IIR_FILTER_0_03695
+     * - BMP5_IIR_FILTER_0_01785
+     * - BMP5_IIR_FILTER_0_00880
+     * - BMP5_IIR_FILTER_0_00435
+     * - BMP5_IIR_FILTER_0_00220
+     */
+    uint8_t set_iir_p;
+
+    /*! Shadow IIR selection for temperature
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t shdw_set_iir_t;
+
+    /*! Shadow IIR selection for pressure
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t shdw_set_iir_p;
+
+    /*! IIR flush in forced mode enable
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t iir_flush_forced_en;
+};
+
+/*!
+ * @brief Effective OSR configuration and ODR valid status structure
+ */
+struct bmp5_osr_odr_eff
+{
+    /*! Effective temperature OSR */
+    uint8_t osr_t_eff;
+
+    /*! Effective pressure OSR */
+    uint8_t osr_p_eff;
+
+    /*! If asserted, the ODR parametrization is valid */
+    uint8_t odr_is_valid;
+};
+
+/*!
+ * @brief BMP5 interrupt source selection.
+ */
+struct bmp5_int_source_select
+{
+    /*! Data ready interrupt enable
+     * BMP5_ENABLE  = Enables data ready interrupt
+     * BMP5_DISABLE = Disables data ready interrupt
+     */
+    uint8_t drdy_en;
+
+    /*! Fifo full interrupt enable
+     * BMP5_ENABLE  = Enables fifo full interrupt
+     * BMP5_DISABLE = Disables fifo full interrupt
+     */
+    uint8_t fifo_full_en;
+
+    /*! Fifo threshold interrupt enable
+     * BMP5_ENABLE  = Enables fifo threshold interrupt
+     * BMP5_DISABLE = Disables fifo threshold interrupt
+     */
+    uint8_t fifo_thres_en;
+
+    /*! Pressure out of range interrupt enable
+     * BMP5_ENABLE  = Enables pressure out of range interrupt
+     * BMP5_DISABLE = Disables pressure out of range interrupt
+     */
+    uint8_t oor_press_en;
+};
+
+/*!
+ * @brief BMP5 fifo configurations.
+ */
+struct bmp5_fifo
+{
+    /*! Pointer to fifo data */
+    uint8_t *data;
+
+    /*! Length of user defined bytes of fifo to be read */
+    uint16_t length;
+
+    /*! Fifo frame data source selection
+     * Assignable macros :
+     * - BMP5_FIFO_NOT_ENABLED
+     * - BMP5_FIFO_TEMPERATURE_DATA
+     * - BMP5_FIFO_PRESSURE_DATA
+     * - BMP5_FIFO_PRESS_TEMP_DATA
+     */
+    uint8_t frame_sel;
+
+    /*! Fifo decimation factor(downsampling) selection
+     * Assignable macros :
+     * - BMP5_FIFO_NO_DOWNSAMPLING
+     * - BMP5_FIFO_DOWNSAMPLING_2X
+     * - BMP5_FIFO_DOWNSAMPLING_4X
+     * - BMP5_FIFO_DOWNSAMPLING_8X
+     * - BMP5_FIFO_DOWNSAMPLING_16X
+     * - BMP5_FIFO_DOWNSAMPLING_32X
+     * - BMP5_FIFO_DOWNSAMPLING_64X
+     * - BMP5_FIFO_DOWNSAMPLING_128X
+     */
+    uint8_t dec_sel;
+
+    /*! Fifo frame count */
+    uint8_t fifo_count;
+
+    /*! Fifo mode selection
+     * Assignable macros :
+     * - BMP5_FIFO_MODE_STREAMING
+     * - BMP5_FIFO_MODE_STOP_ON_FULL
+     */
+    uint8_t mode;
+
+    /*! Threshold for fifo */
+    uint8_t threshold;
+
+    /*! Fifo temperature IIR
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t set_fifo_iir_t;
+
+    /*! Fifo pressure IIR
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t set_fifo_iir_p;
+};
+
+/*!
+ * @brief BMP5 Out-of-range pressure configuration.
+ */
+struct bmp5_oor_press_configuration
+{
+    /*! Out-of-range pressure threshold */
+    uint32_t oor_thr_p;
+
+    /*! Out-of-range pressure range
+     *  Range can span up to +/- 255 Pa around the threshold value.
+     */
+    uint8_t oor_range_p;
+
+    /*! Out-of-range pressure count limit
+     * Assignable macros :
+     * - BMP5_OOR_COUNT_LIMIT_1
+     * - BMP5_OOR_COUNT_LIMIT_3
+     * - BMP5_OOR_COUNT_LIMIT_7
+     * - BMP5_OOR_COUNT_LIMIT_15
+     */
+    uint8_t cnt_lim;
+
+    /*! Out-of-range pressure IIR
+     * Assignable macros :
+     * - BMP5_ENABLE
+     * - BMP5_DISABLE
+     */
+    uint8_t oor_sel_iir_p;
+};
+
+/*!
+ * @brief BMP5 sensor data structure which comprises of temperature and pressure.
+ */
+
+#ifdef BMP5_USE_FIXED_POINT
+
+/*!
+ * @brief BMP5 sensor data structure which comprises of temperature and pressure in fixed point with data type as
+ *  uint64_t for pressure and int64_t for temperature.
+ */
+struct bmp5_sensor_data
+{
+    /*! Pressure data */
+    uint64_t pressure;
+
+    /*! Temperature data */
+    int64_t temperature;
+};
+
+#else
+
+/*!
+ * @brief BMP5 sensor data structure which comprises of temperature and pressure in floating point with data type as
+ *  float for pressure and temperature.
+ */
+struct bmp5_sensor_data
+{
+    /*! Pressure data */
+    float pressure;
+
+    /*! Temperature data */
+    float temperature;
+};
+
+#endif
+
+/*!
+ * @brief API device structure
+ */
+struct bmp5_dev
+{
+    /*! Chip ID */
+    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;
+
+    /*! Read function pointer */
+    bmp5_read_fptr_t read;
+
+    /*! Write function pointer */
+    bmp5_write_fptr_t write;
+
+    /*! Delay function pointer */
+    bmp5_delay_us_fptr_t delay_us;
+
+    /*! To store interface pointer error */
+    BMP5_INTF_RET_TYPE intf_rslt;
+
+    /*! Type of Interface  */
+    enum bmp5_intf intf;
+};
+
+#endif /* End of _BMP5_DEFS_H */

components/ctx/.clang-tidy

+Checks: '-clang-analyzer-core.CallAndMessage'

components/ctx/.gitignore

+*.sw*
+binaries

components/ctx/CMakeLists.txt

+idf_component_register(
+    SRCS
+        ctx.c
+    INCLUDE_DIRS
+        .
+        ./fonts/
+)
\ No newline at end of file

components/ctx/Kconfig

+menu "Ctx Config"
+    choice FLOW3R_CTX_FLAVOUR
+        prompt "Ctx flavour"
+        default FLOW3R_CTX_FLAVOUR_FULL
+        config FLOW3R_CTX_FLAVOUR_FULL
+            bool "Full (all fonts, high memory, for main app, cherry)"
+        config FLOW3R_CTX_FLAVOUR_SMOL
+            bool "Smol (one font, low memory, for recovery, vanilla)"
+    endchoice
+endmenu

components/ctx/LICENSE

+		   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions. 
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
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+
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+with which the Combined Work was made is also called the "Linked
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+
+  The "Corresponding Application Code" for a Combined Work means the
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+
+  1. Exception to Section 3 of the GNU GPL.
+
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+
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