diff --git a/apps/esp_idf/CMakeLists.txt b/apps/esp_idf/CMakeLists.txt
index 31d16db4..d333a335 100644
--- a/apps/esp_idf/CMakeLists.txt
+++ b/apps/esp_idf/CMakeLists.txt
@@ -70,6 +70,7 @@ set(trail_mate_idf_requires
     esp_wifi
     espressif__esp_codec_dev
     espressif__esp_lvgl_port
+    mbedtls
 )
 
 set(trail_mate_idf_ui_shared_sources
@@ -193,6 +194,7 @@ set(trail_mate_idf_ui_shared_sources
 
 set(trail_mate_idf_include_dirs
     "include"
+    "${CMAKE_SOURCE_DIR}/boards/tab5/include"
     "${CMAKE_SOURCE_DIR}/modules/ui_shared/include"
     "${CMAKE_SOURCE_DIR}/modules/core_sys/include"
     "${CMAKE_SOURCE_DIR}/modules/core_chat/include"
@@ -209,17 +211,51 @@ set(trail_mate_idf_include_dirs
 )
 
 if(TRAIL_MATE_IDF_TARGET STREQUAL "tab5")
+    set(trail_mate_dashboard_sources
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/menu_dashboard.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_state.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_style.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_mesh_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_gps_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_recent_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_compass_widget.cpp
+    )
     list(APPEND trail_mate_idf_include_dirs
         "${CMAKE_SOURCE_DIR}/platform/esp/idf_components/m5stack_tab5/include"
+        "${CMAKE_SOURCE_DIR}/platform/esp/idf_components/sensor_bmi270/include"
     )
     list(APPEND trail_mate_idf_requires
         m5stack_tab5
+        sensor_bmi270
+    )
+    list(APPEND trail_mate_idf_external_sources
+        ${CMAKE_SOURCE_DIR}/boards/tab5/src/tab5_board.cpp
+        ${CMAKE_SOURCE_DIR}/boards/tab5/src/rtc_runtime.cpp
+        ${CMAKE_SOURCE_DIR}/boards/tab5/src/heading_runtime.cpp
+        ${CMAKE_SOURCE_DIR}/boards/tab5/src/codec_compat.cpp
+    )
+    list(APPEND trail_mate_idf_ui_shared_sources
+        ${trail_mate_dashboard_sources}
+    )
+elseif(TRAIL_MATE_IDF_TARGET STREQUAL "t_display_p4")
+    set(trail_mate_dashboard_sources
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/menu_dashboard.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_state.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_style.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_mesh_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_gps_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_recent_widget.cpp
+        ${CMAKE_SOURCE_DIR}/modules/ui_shared/src/ui/menu/dashboard/dashboard_compass_widget.cpp
+    )
+    list(APPEND trail_mate_idf_ui_shared_sources
+        ${trail_mate_dashboard_sources}
     )
 endif()
 
 list(FILTER trail_mate_idf_external_sources EXCLUDE REGEX ".*/modules/core_chat/src/infra/meshcore/meshcore_protocol_helpers\.cpp$")
 list(FILTER trail_mate_idf_external_sources EXCLUDE REGEX ".*/modules/core_chat/src/infra/meshtastic/mt_packet_wire\.cpp$")
 list(FILTER trail_mate_idf_external_sources EXCLUDE REGEX ".*/modules/core_chat/src/infra/meshtastic/mt_pki_crypto\.cpp$")
+list(FILTER trail_mate_idf_external_sources EXCLUDE REGEX ".*/modules/core_chat/src/ble/.*\.cpp$")
 list(FILTER trail_mate_idf_local_sources EXCLUDE REGEX ".*/src/idf_component_anchor\.cpp$")
 list(FILTER trail_mate_idf_local_sources EXCLUDE REGEX ".*/src/gps_tracker_overlay\.cpp$")
 
@@ -244,13 +280,3 @@ elseif(TRAIL_MATE_IDF_TARGET STREQUAL "t_display_p4")
 else()
     message(FATAL_ERROR "Unsupported TRAIL_MATE_IDF_TARGET='${TRAIL_MATE_IDF_TARGET}' inside apps/esp_idf/CMakeLists.txt")
 endif()
-
-
-
-
-
-
-
-
-
-
diff --git a/apps/esp_idf/include/apps/esp_idf/meshtastic_radio_adapter.h b/apps/esp_idf/include/apps/esp_idf/meshtastic_radio_adapter.h
new file mode 100644
index 00000000..0a425ca8
--- /dev/null
+++ b/apps/esp_idf/include/apps/esp_idf/meshtastic_radio_adapter.h
@@ -0,0 +1,98 @@
+#pragma once
+
+#include "board/LoraBoard.h"
+#include "chat/domain/chat_types.h"
+#include "chat/infra/meshtastic/mt_codec_pb.h"
+#include "chat/infra/meshtastic/mt_dedup.h"
+#include "chat/ports/i_mesh_adapter.h"
+
+#include <map>
+#include <queue>
+#include <string>
+
+namespace apps::esp_idf
+{
+
+class MeshtasticRadioAdapter final : public chat::IMeshAdapter
+{
+  public:
+    explicit MeshtasticRadioAdapter(LoraBoard& board);
+
+    chat::MeshCapabilities getCapabilities() const override;
+    bool sendText(chat::ChannelId channel, const std::string& text,
+                  chat::MessageId* out_msg_id, chat::NodeId peer = 0) override;
+    bool pollIncomingText(chat::MeshIncomingText* out) override;
+    bool sendAppData(chat::ChannelId channel, uint32_t portnum,
+                     const uint8_t* payload, size_t len,
+                     chat::NodeId dest = 0, bool want_ack = false,
+                     chat::MessageId packet_id = 0,
+                     bool want_response = false) override;
+    bool pollIncomingData(chat::MeshIncomingData* out) override;
+    bool requestNodeInfo(chat::NodeId dest, bool want_response) override;
+    bool triggerDiscoveryAction(chat::MeshDiscoveryAction action) override;
+    void applyConfig(const chat::MeshConfig& config) override;
+    void setUserInfo(const char* long_name, const char* short_name) override;
+    bool isReady() const override;
+    bool pollIncomingRawPacket(uint8_t* out_data, size_t& out_len, size_t max_len) override;
+    void handleRawPacket(const uint8_t* data, size_t size) override;
+    void setLastRxStats(float rssi, float snr) override;
+    void processSendQueue() override;
+    chat::NodeId getNodeId() const override;
+
+    bool broadcastNodeInfo();
+
+  private:
+    static constexpr uint32_t kBroadcastNodeId = 0xFFFFFFFFu;
+
+    bool sendEncodedPayload(chat::ChannelId channel,
+                            const uint8_t* payload,
+                            size_t len,
+                            chat::NodeId dest,
+                            bool want_ack,
+                            chat::MessageId packet_id,
+                            bool publish_send_result);
+    bool sendNodeInfoTo(chat::NodeId dest, bool want_response, chat::ChannelId channel);
+    bool sendRoutingAck(chat::NodeId dest, chat::MessageId request_id, chat::ChannelId channel);
+    void processReceivedPacket(const uint8_t* data, size_t size);
+    void pollRadio();
+    void configureRadio();
+    void updateChannelKeys();
+    void initNodeIdentity();
+    void ensureReceiveStarted();
+    bool decodeUserPayload(const uint8_t* payload, size_t len,
+                           const chat::RxMeta& rx_meta,
+                           chat::NodeId from_node,
+                           uint8_t channel_index);
+    void publishPositionEvent(chat::NodeId node_id, const meshtastic_Position& pos);
+    uint8_t channelHashFor(chat::ChannelId channel) const;
+    const uint8_t* channelKeyFor(chat::ChannelId channel, size_t* out_len) const;
+
+    LoraBoard& board_;
+    chat::MeshConfig config_{};
+    chat::meshtastic::MtDedup dedup_{};
+    std::queue<chat::MeshIncomingText> text_queue_{};
+    std::queue<chat::MeshIncomingData> data_queue_{};
+    std::map<chat::NodeId, chat::ChannelId> node_last_channel_{};
+    std::string user_long_name_{};
+    std::string user_short_name_{};
+    chat::MessageId next_packet_id_ = 1;
+    chat::NodeId node_id_ = 0;
+    uint8_t mac_addr_[6] = {};
+    bool ready_ = false;
+    bool rx_started_ = false;
+    bool nodeinfo_broadcast_sent_ = false;
+    float last_rx_rssi_ = 0.0f;
+    float last_rx_snr_ = 0.0f;
+    uint32_t radio_freq_hz_ = 0;
+    uint32_t radio_bw_hz_ = 0;
+    uint8_t radio_sf_ = 0;
+    uint8_t radio_cr_ = 0;
+    uint8_t primary_channel_hash_ = 0x00;
+    uint8_t secondary_channel_hash_ = 0x00;
+    uint8_t primary_psk_[16] = {};
+    size_t primary_psk_len_ = 0;
+    uint8_t secondary_psk_[16] = {};
+    size_t secondary_psk_len_ = 0;
+};
+
+} // namespace apps::esp_idf
diff --git a/apps/esp_idf/src/app_facade_runtime.cpp b/apps/esp_idf/src/app_facade_runtime.cpp
index cf395688..c02e4792 100644
--- a/apps/esp_idf/src/app_facade_runtime.cpp
+++ b/apps/esp_idf/src/app_facade_runtime.cpp
@@ -1,8 +1,10 @@
 #include "apps/esp_idf/app_facade_runtime.h"
+#include "apps/esp_idf/meshtastic_radio_adapter.h"
 
 #include "app/app_config.h"
 #include "app/app_facade_access.h"
 #include "app/app_facades.h"
+#include "boards/tab5/tab5_board.h"
 #include "chat/domain/chat_model.h"
 #include "chat/infra/contact_store_core.h"
 #include "chat/infra/mesh_adapter_router_core.h"
@@ -923,7 +925,12 @@ class MinimalAppFacade final : public app::IAppFacade
         chat_model_ = std::make_unique<chat::ChatModel>();
         chat_store_ = std::make_unique<chat::RamStore>();
         mesh_router_ = std::make_unique<chat::MeshAdapterRouterCore>();
-        installLoopbackBackend(config_.mesh_protocol);
+        installMeshBackend(config_.mesh_protocol);
+        if (mesh_router_)
+        {
+            self_node_id_ = mesh_router_->getNodeId();
+        }
+        team_pairing_->setIdentity(self_node_id_, config_.short_name);
         chat_service_ = std::make_unique<chat::ChatService>(*chat_model_, *mesh_router_, *chat_store_, config_.mesh_protocol);
 
         team_runtime_ = std::make_unique<MinimalTeamRuntime>();
@@ -949,6 +956,11 @@ class MinimalAppFacade final : public app::IAppFacade
             return;
         }
 
+        if (mesh_router_)
+        {
+            mesh_router_->processSendQueue();
+        }
+
         if (loopback_adapter_ && chat_service_)
         {
             std::vector<chat::MessageId> sent_ids;
@@ -1044,7 +1056,15 @@ class MinimalAppFacade final : public app::IAppFacade
         {
             chat_service_->setActiveProtocol(protocol);
         }
-        installLoopbackBackend(protocol);
+        installMeshBackend(protocol);
+        if (mesh_router_)
+        {
+            self_node_id_ = mesh_router_->getNodeId();
+        }
+        if (team_pairing_)
+        {
+            team_pairing_->setIdentity(self_node_id_, config_.short_name);
+        }
         applyMeshConfig();
         return true;
     }
@@ -1104,7 +1124,18 @@ class MinimalAppFacade final : public app::IAppFacade
         (void)active;
     }
 
-    void broadcastNodeInfo() override {}
+    void broadcastNodeInfo() override
+    {
+        if (!mesh_router_)
+        {
+            return;
+        }
+
+        if (meshtastic_adapter_)
+        {
+            (void)meshtastic_adapter_->broadcastNodeInfo();
+        }
+    }
 
     void clearNodeDb() override
     {
@@ -1146,6 +1177,11 @@ class MinimalAppFacade final : public app::IAppFacade
         ble_enabled_ = enabled;
     }
 
+    void restartDevice() override
+    {
+        esp_restart();
+    }
+
     chat::ui::IChatUiRuntime* getChatUiRuntime() override
     {
         return chat_ui_runtime_;
@@ -1158,12 +1194,12 @@ class MinimalAppFacade final : public app::IAppFacade
 
     BoardBase* getBoard() override
     {
-        return nullptr;
+        return &::boards::tab5::Tab5Board::instance();
     }
 
     const BoardBase* getBoard() const override
     {
-        return nullptr;
+        return &::boards::tab5::Tab5Board::instance();
     }
 
     void updateCoreServices() override
@@ -1187,6 +1223,16 @@ class MinimalAppFacade final : public app::IAppFacade
 
             switch (event->type)
             {
+            case sys::EventType::ChatSendResult:
+            {
+                auto* result_event = static_cast<sys::ChatSendResultEvent*>(event);
+                if (chat_service_)
+                {
+                    chat_service_->handleSendResult(result_event->msg_id, result_event->success);
+                }
+                delete event;
+                continue;
+            }
             case sys::EventType::NodeInfoUpdate:
             {
                 auto* node_event = static_cast<sys::NodeInfoUpdateEvent*>(event);
@@ -1388,19 +1434,38 @@ class MinimalAppFacade final : public app::IAppFacade
     void configureIdentity(const RuntimeConfig& runtime_config)
     {
         const char* target_name = runtime_config.target_name ? runtime_config.target_name : "IDF";
-        std::snprintf(config_.node_name, sizeof(config_.node_name), "Trail Mate %s", target_name);
-        makeShortName(target_name, config_.short_name, sizeof(config_.short_name));
+        std::snprintf(config_.node_name, sizeof(config_.node_name), "%s",
+                      ::boards::tab5::Tab5Board::defaultLongName());
+        std::snprintf(config_.short_name, sizeof(config_.short_name), "%s",
+                      ::boards::tab5::Tab5Board::defaultShortName());
+        if (target_name && target_name[0] != '\0' &&
+            std::strcmp(target_name, "tab5") != 0 &&
+            std::strcmp(target_name, "TAB5") != 0)
+        {
+            makeShortName(target_name, config_.short_name, sizeof(config_.short_name));
+        }
         config_.mesh_protocol = chat::MeshProtocol::Meshtastic;
         config_.chat_channel = 0;
     }
 
-    void installLoopbackBackend(chat::MeshProtocol protocol)
+    void installMeshBackend(chat::MeshProtocol protocol)
     {
         if (!mesh_router_)
         {
             return;
         }
 
+        loopback_adapter_ = nullptr;
+        meshtastic_adapter_ = nullptr;
+        if (protocol == chat::MeshProtocol::Meshtastic)
+        {
+            auto backend = std::make_unique<apps::esp_idf::MeshtasticRadioAdapter>(
+                ::boards::tab5::Tab5Board::instance());
+            meshtastic_adapter_ = backend.get();
+            (void)mesh_router_->installBackend(protocol, std::move(backend));
+            return;
+        }
+
         auto backend = std::make_unique<LoopbackMeshAdapter>(self_node_id_);
         loopback_adapter_ = backend.get();
         (void)mesh_router_->installBackend(protocol, std::move(backend));
@@ -1553,6 +1618,7 @@ class MinimalAppFacade final : public app::IAppFacade
     std::unique_ptr<chat::RamStore> chat_store_;
     std::unique_ptr<chat::MeshAdapterRouterCore> mesh_router_;
     LoopbackMeshAdapter* loopback_adapter_ = nullptr;
+    apps::esp_idf::MeshtasticRadioAdapter* meshtastic_adapter_ = nullptr;
     std::unique_ptr<chat::ChatService> chat_service_;
 
     std::unique_ptr<MinimalTeamRuntime> team_runtime_;
diff --git a/apps/esp_idf/src/meshtastic_radio_adapter.cpp b/apps/esp_idf/src/meshtastic_radio_adapter.cpp
new file mode 100644
index 00000000..8d87ce62
--- /dev/null
+++ b/apps/esp_idf/src/meshtastic_radio_adapter.cpp
@@ -0,0 +1,812 @@
+#include "apps/esp_idf/meshtastic_radio_adapter.h"
+
+#include "chat/domain/contact_types.h"
+#include "chat/infra/meshtastic/mt_packet_wire.h"
+#include "chat/infra/meshtastic/mt_protocol_helpers.h"
+#include "chat/infra/meshtastic/mt_region.h"
+#include "chat/time_utils.h"
+#include "esp_log.h"
+#include "esp_mac.h"
+#include "esp_timer.h"
+#include "meshtastic/config.pb.h"
+#include "meshtastic/mesh.pb.h"
+#include "pb_encode.h"
+#include "sys/event_bus.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+namespace apps::esp_idf
+{
+namespace
+{
+
+constexpr const char* kTag = "idf-mt";
+constexpr uint8_t kDefaultPskIndex = 1;
+constexpr uint8_t kLoraSyncWord = 0x2B;
+constexpr uint16_t kLoraPreambleLen = 16;
+constexpr uint16_t kIrqRxDone = 0x0002;
+constexpr uint16_t kIrqHeaderErr = 0x0020;
+constexpr uint16_t kIrqCrcErr = 0x0040;
+constexpr uint16_t kIrqTimeout = 0x0200;
+constexpr uint8_t kBitfieldWantResponseMask = 0x02;
+constexpr uint32_t kRadioOk = 0;
+constexpr char kSecondaryChannelName[] = "Squad";
+
+uint32_t now_millis()
+{
+    return static_cast<uint32_t>(esp_timer_get_time() / 1000ULL);
+}
+
+const char* primary_channel_name(const chat::MeshConfig& config)
+{
+    if (!config.use_preset)
+    {
+        return "Custom";
+    }
+
+    const auto preset =
+        static_cast<meshtastic_Config_LoRaConfig_ModemPreset>(config.modem_preset);
+    const char* name = chat::meshtastic::presetDisplayName(preset);
+    return (name && name[0] != '\0') ? name : "Custom";
+}
+
+uint8_t to_channel_index(chat::ChannelId channel)
+{
+    return (channel == chat::ChannelId::SECONDARY) ? 1U : 0U;
+}
+
+chat::ChannelId channel_from_hash(uint8_t hash, uint8_t primary_hash, uint8_t secondary_hash)
+{
+    if (hash == secondary_hash)
+    {
+        return chat::ChannelId::SECONDARY;
+    }
+    (void)primary_hash;
+    return chat::ChannelId::PRIMARY;
+}
+
+void fill_rx_meta(chat::RxMeta& rx_meta,
+                  const chat::meshtastic::PacketHeaderWire& header,
+                  float rssi,
+                  float snr,
+                  uint32_t freq_hz,
+                  uint32_t bw_hz,
+                  uint8_t sf,
+                  uint8_t cr)
+{
+    rx_meta.rx_timestamp_ms = now_millis();
+    const uint32_t epoch_s = chat::now_epoch_seconds();
+    if (chat::is_valid_epoch(epoch_s))
+    {
+        rx_meta.rx_timestamp_s = epoch_s;
+        rx_meta.time_source = chat::RxTimeSource::DeviceUtc;
+    }
+    else
+    {
+        rx_meta.rx_timestamp_s = rx_meta.rx_timestamp_ms / 1000U;
+        rx_meta.time_source = chat::RxTimeSource::Uptime;
+    }
+
+    rx_meta.origin = chat::RxOrigin::Mesh;
+    rx_meta.channel_hash = header.channel;
+    rx_meta.wire_flags = header.flags;
+    rx_meta.next_hop = header.next_hop;
+    rx_meta.relay_node = header.relay_node;
+    rx_meta.hop_count = chat::meshtastic::computeHopsAway(header.flags);
+    rx_meta.hop_limit = header.flags & chat::meshtastic::PACKET_FLAGS_HOP_LIMIT_MASK;
+    rx_meta.direct = (rx_meta.hop_count == 0);
+    rx_meta.from_is = false;
+    rx_meta.rssi_dbm_x10 = static_cast<int16_t>(std::lround(rssi * 10.0f));
+    rx_meta.snr_db_x10 = static_cast<int16_t>(std::lround(snr * 10.0f));
+    rx_meta.freq_hz = freq_hz;
+    rx_meta.bw_hz = bw_hz;
+    rx_meta.sf = sf;
+    rx_meta.cr = cr;
+}
+
+} // namespace
+
+MeshtasticRadioAdapter::MeshtasticRadioAdapter(LoraBoard& board)
+    : board_(board)
+{
+    initNodeIdentity();
+}
+
+chat::MeshCapabilities MeshtasticRadioAdapter::getCapabilities() const
+{
+    chat::MeshCapabilities caps{};
+    caps.supports_unicast_text = true;
+    caps.supports_unicast_appdata = true;
+    caps.supports_node_info = true;
+    return caps;
+}
+
+bool MeshtasticRadioAdapter::sendText(chat::ChannelId channel,
+                                      const std::string& text,
+                                      chat::MessageId* out_msg_id,
+                                      chat::NodeId peer)
+{
+    if (out_msg_id)
+    {
+        *out_msg_id = 0;
+    }
+    if (!ready_ || text.empty())
+    {
+        return false;
+    }
+
+    const chat::NodeId dest = (peer != 0) ? peer : kBroadcastNodeId;
+    const chat::MessageId msg_id = next_packet_id_++;
+    uint8_t data_buffer[256];
+    size_t data_size = sizeof(data_buffer);
+    if (!chat::meshtastic::encodeTextMessage(channel, text, node_id_, msg_id, dest,
+                                             data_buffer, &data_size))
+    {
+        return false;
+    }
+
+    if (out_msg_id)
+    {
+        *out_msg_id = msg_id;
+    }
+    return sendEncodedPayload(channel, data_buffer, data_size, peer, false, msg_id, true);
+}
+
+bool MeshtasticRadioAdapter::pollIncomingText(chat::MeshIncomingText* out)
+{
+    if (!out || text_queue_.empty())
+    {
+        return false;
+    }
+    *out = text_queue_.front();
+    text_queue_.pop();
+    return true;
+}
+
+bool MeshtasticRadioAdapter::sendAppData(chat::ChannelId channel,
+                                         uint32_t portnum,
+                                         const uint8_t* payload,
+                                         size_t len,
+                                         chat::NodeId dest,
+                                         bool want_ack,
+                                         chat::MessageId packet_id,
+                                         bool want_response)
+{
+    if (!ready_)
+    {
+        return false;
+    }
+
+    uint8_t data_buffer[256];
+    size_t data_size = sizeof(data_buffer);
+    if (!chat::meshtastic::encodeAppData(portnum, payload, len, want_response,
+                                         data_buffer, &data_size))
+    {
+        return false;
+    }
+
+    return sendEncodedPayload(channel, data_buffer, data_size, dest, want_ack, packet_id, false);
+}
+
+bool MeshtasticRadioAdapter::pollIncomingData(chat::MeshIncomingData* out)
+{
+    if (!out || data_queue_.empty())
+    {
+        return false;
+    }
+    *out = data_queue_.front();
+    data_queue_.pop();
+    return true;
+}
+
+bool MeshtasticRadioAdapter::requestNodeInfo(chat::NodeId dest, bool want_response)
+{
+    chat::ChannelId channel = chat::ChannelId::PRIMARY;
+    if (dest != 0)
+    {
+        auto it = node_last_channel_.find(dest);
+        if (it != node_last_channel_.end())
+        {
+            channel = it->second;
+        }
+    }
+    return sendNodeInfoTo(dest == 0 ? kBroadcastNodeId : dest, want_response, channel);
+}
+
+bool MeshtasticRadioAdapter::triggerDiscoveryAction(chat::MeshDiscoveryAction action)
+{
+    switch (action)
+    {
+    case chat::MeshDiscoveryAction::SendIdBroadcast:
+        return broadcastNodeInfo();
+    case chat::MeshDiscoveryAction::SendIdLocal:
+    case chat::MeshDiscoveryAction::ScanLocal:
+        return requestNodeInfo(0, true);
+    default:
+        return false;
+    }
+}
+
+void MeshtasticRadioAdapter::applyConfig(const chat::MeshConfig& config)
+{
+    config_ = config;
+    updateChannelKeys();
+    configureRadio();
+}
+
+void MeshtasticRadioAdapter::setUserInfo(const char* long_name, const char* short_name)
+{
+    user_long_name_ = long_name ? long_name : "";
+    user_short_name_ = short_name ? short_name : "";
+    nodeinfo_broadcast_sent_ = false;
+}
+
+bool MeshtasticRadioAdapter::isReady() const
+{
+    return ready_;
+}
+
+bool MeshtasticRadioAdapter::pollIncomingRawPacket(uint8_t* out_data,
+                                                   size_t& out_len,
+                                                   size_t max_len)
+{
+    (void)out_data;
+    (void)out_len;
+    (void)max_len;
+    return false;
+}
+
+void MeshtasticRadioAdapter::handleRawPacket(const uint8_t* data, size_t size)
+{
+    processReceivedPacket(data, size);
+}
+
+void MeshtasticRadioAdapter::setLastRxStats(float rssi, float snr)
+{
+    last_rx_rssi_ = rssi;
+    last_rx_snr_ = snr;
+}
+
+void MeshtasticRadioAdapter::processSendQueue()
+{
+    pollRadio();
+    if (!nodeinfo_broadcast_sent_ && ready_)
+    {
+        nodeinfo_broadcast_sent_ = broadcastNodeInfo();
+    }
+}
+
+chat::NodeId MeshtasticRadioAdapter::getNodeId() const
+{
+    return node_id_;
+}
+
+bool MeshtasticRadioAdapter::broadcastNodeInfo()
+{
+    return sendNodeInfoTo(kBroadcastNodeId, false, chat::ChannelId::PRIMARY);
+}
+
+bool MeshtasticRadioAdapter::sendEncodedPayload(chat::ChannelId channel,
+                                                const uint8_t* payload,
+                                                size_t len,
+                                                chat::NodeId dest,
+                                                bool want_ack,
+                                                chat::MessageId packet_id,
+                                                bool publish_send_result)
+{
+    if (!ready_ || !payload || len == 0 || !board_.isRadioOnline())
+    {
+        return false;
+    }
+
+    size_t psk_len = 0;
+    const uint8_t* psk = channelKeyFor(channel, &psk_len);
+    const uint8_t channel_hash = channelHashFor(channel);
+    const chat::NodeId dest_node = (dest != 0) ? dest : kBroadcastNodeId;
+    const chat::MessageId msg_id = (packet_id != 0) ? packet_id : next_packet_id_++;
+
+    uint8_t wire_buffer[512];
+    size_t wire_size = sizeof(wire_buffer);
+    if (!chat::meshtastic::buildWirePacket(payload, len, node_id_, msg_id,
+                                           dest_node, channel_hash, config_.hop_limit,
+                                           want_ack, psk, psk_len,
+                                           wire_buffer, &wire_size))
+    {
+        return false;
+    }
+
+    const int state = board_.transmitRadio(wire_buffer, wire_size);
+    const bool ok = (state == static_cast<int>(kRadioOk));
+    if (ok)
+    {
+        rx_started_ = false;
+        ensureReceiveStarted();
+        if (publish_send_result)
+        {
+            sys::EventBus::publish(new sys::ChatSendResultEvent(msg_id, true), 0);
+        }
+    }
+    else if (publish_send_result)
+    {
+        sys::EventBus::publish(new sys::ChatSendResultEvent(msg_id, false), 0);
+    }
+
+    ESP_LOGI(kTag,
+             "tx from=%08lX to=%08lX id=%08lX ch=%u len=%u ok=%d",
+             static_cast<unsigned long>(node_id_),
+             static_cast<unsigned long>(dest_node),
+             static_cast<unsigned long>(msg_id),
+             static_cast<unsigned>(channel_hash),
+             static_cast<unsigned>(wire_size),
+             ok ? 1 : 0);
+    return ok;
+}
+
+bool MeshtasticRadioAdapter::sendNodeInfoTo(chat::NodeId dest,
+                                            bool want_response,
+                                            chat::ChannelId channel)
+{
+    uint8_t payload[256];
+    size_t payload_len = sizeof(payload);
+    if (!chat::meshtastic::encodeNodeInfoMessage(std::to_string(node_id_),
+                                                 user_long_name_,
+                                                 user_short_name_,
+                                                 meshtastic_HardwareModel_PRIVATE_HW,
+                                                 mac_addr_,
+                                                 nullptr,
+                                                 0,
+                                                 want_response,
+                                                 payload,
+                                                 &payload_len))
+    {
+        return false;
+    }
+
+    return sendEncodedPayload(channel,
+                              payload,
+                              payload_len,
+                              dest == kBroadcastNodeId ? 0 : dest,
+                              false,
+                              0,
+                              false);
+}
+
+bool MeshtasticRadioAdapter::sendRoutingAck(chat::NodeId dest,
+                                            chat::MessageId request_id,
+                                            chat::ChannelId channel)
+{
+    meshtastic_Routing routing = meshtastic_Routing_init_default;
+    routing.which_variant = meshtastic_Routing_error_reason_tag;
+    routing.error_reason = meshtastic_Routing_Error_NONE;
+
+    uint8_t routing_buf[64];
+    pb_ostream_t routing_stream = pb_ostream_from_buffer(routing_buf, sizeof(routing_buf));
+    if (!pb_encode(&routing_stream, meshtastic_Routing_fields, &routing))
+    {
+        return false;
+    }
+
+    meshtastic_Data data = meshtastic_Data_init_default;
+    data.portnum = meshtastic_PortNum_ROUTING_APP;
+    data.dest = dest;
+    data.source = node_id_;
+    data.request_id = request_id;
+    data.has_bitfield = true;
+    data.bitfield = 0;
+    data.payload.size = routing_stream.bytes_written;
+    std::memcpy(data.payload.bytes, routing_buf, data.payload.size);
+
+    uint8_t data_buf[128];
+    pb_ostream_t data_stream = pb_ostream_from_buffer(data_buf, sizeof(data_buf));
+    if (!pb_encode(&data_stream, meshtastic_Data_fields, &data))
+    {
+        return false;
+    }
+
+    return sendEncodedPayload(channel, data_buf, data_stream.bytes_written, dest, false, 0, false);
+}
+
+void MeshtasticRadioAdapter::processReceivedPacket(const uint8_t* data, size_t size)
+{
+    if (!data || size < sizeof(chat::meshtastic::PacketHeaderWire))
+    {
+        return;
+    }
+
+    chat::meshtastic::PacketHeaderWire header{};
+    uint8_t payload[256];
+    size_t payload_size = sizeof(payload);
+    if (!chat::meshtastic::parseWirePacket(data, size, &header, payload, &payload_size))
+    {
+        return;
+    }
+
+    if (header.from == node_id_ || dedup_.isDuplicate(header.from, header.id))
+    {
+        return;
+    }
+    dedup_.markSeen(header.from, header.id);
+
+    const chat::ChannelId channel =
+        channel_from_hash(header.channel, primary_channel_hash_, secondary_channel_hash_);
+    if (header.channel != channelHashFor(channel))
+    {
+        ESP_LOGI(kTag,
+                 "drop unknown channel from=%08lX id=%08lX hash=0x%02X",
+                 static_cast<unsigned long>(header.from),
+                 static_cast<unsigned long>(header.id),
+                 static_cast<unsigned>(header.channel));
+        return;
+    }
+
+    size_t psk_len = 0;
+    const uint8_t* psk = channelKeyFor(channel, &psk_len);
+    uint8_t plaintext[256];
+    size_t plaintext_len = sizeof(plaintext);
+    if (psk_len > 0)
+    {
+        if (!chat::meshtastic::decryptPayload(header, payload, payload_size, psk, psk_len,
+                                              plaintext, &plaintext_len))
+        {
+            return;
+        }
+    }
+    else
+    {
+        std::memcpy(plaintext, payload, payload_size);
+        plaintext_len = payload_size;
+    }
+
+    chat::RxMeta rx_meta{};
+    fill_rx_meta(rx_meta, header, last_rx_rssi_, last_rx_snr_,
+                 radio_freq_hz_, radio_bw_hz_, radio_sf_, radio_cr_);
+
+    meshtastic_Data decoded = meshtastic_Data_init_default;
+    pb_istream_t stream = pb_istream_from_buffer(plaintext, plaintext_len);
+    if (!pb_decode(&stream, meshtastic_Data_fields, &decoded))
+    {
+        return;
+    }
+
+    node_last_channel_[header.from] = channel;
+
+    const bool to_us = (header.to == node_id_);
+    const bool is_broadcast = (header.to == kBroadcastNodeId);
+    const bool want_ack = (header.flags & chat::meshtastic::PACKET_FLAGS_WANT_ACK_MASK) != 0;
+    const bool want_response =
+        decoded.want_response ||
+        (decoded.has_bitfield && ((decoded.bitfield & kBitfieldWantResponseMask) != 0));
+
+    if (want_ack && to_us)
+    {
+        (void)sendRoutingAck(header.from, header.id, channel);
+    }
+
+    if (decoded.portnum == meshtastic_PortNum_NODEINFO_APP)
+    {
+        if (decoded.payload.size > 0)
+        {
+            (void)decodeUserPayload(decoded.payload.bytes,
+                                    decoded.payload.size,
+                                    rx_meta,
+                                    header.from,
+                                    to_channel_index(channel));
+        }
+        if (want_response && (to_us || is_broadcast))
+        {
+            (void)sendNodeInfoTo(header.from, false, channel);
+        }
+        return;
+    }
+
+    if (decoded.portnum == meshtastic_PortNum_POSITION_APP && decoded.payload.size > 0)
+    {
+        meshtastic_Position pos = meshtastic_Position_init_zero;
+        pb_istream_t pos_stream = pb_istream_from_buffer(decoded.payload.bytes, decoded.payload.size);
+        if (pb_decode(&pos_stream, meshtastic_Position_fields, &pos))
+        {
+            publishPositionEvent(header.from, pos);
+        }
+    }
+
+    if (decoded.portnum == meshtastic_PortNum_ROUTING_APP)
+    {
+        return;
+    }
+
+    chat::MeshIncomingText incoming_text{};
+    if (chat::meshtastic::decodeTextMessage(plaintext, plaintext_len, &incoming_text))
+    {
+        incoming_text.from = header.from;
+        incoming_text.to = header.to;
+        incoming_text.msg_id = header.id;
+        incoming_text.channel = channel;
+        incoming_text.hop_limit = header.flags & chat::meshtastic::PACKET_FLAGS_HOP_LIMIT_MASK;
+        incoming_text.encrypted = (psk_len > 0);
+        incoming_text.rx_meta = rx_meta;
+        text_queue_.push(incoming_text);
+        return;
+    }
+
+    if (decoded.payload.size > 0)
+    {
+        chat::MeshIncomingData incoming_data{};
+        incoming_data.portnum = decoded.portnum;
+        incoming_data.from = header.from;
+        incoming_data.to = header.to;
+        incoming_data.packet_id = header.id;
+        incoming_data.request_id = decoded.request_id;
+        incoming_data.channel = channel;
+        incoming_data.channel_hash = header.channel;
+        incoming_data.hop_limit = header.flags & chat::meshtastic::PACKET_FLAGS_HOP_LIMIT_MASK;
+        incoming_data.want_response = want_response;
+        incoming_data.payload.assign(decoded.payload.bytes,
+                                     decoded.payload.bytes + decoded.payload.size);
+        incoming_data.rx_meta = rx_meta;
+        data_queue_.push(incoming_data);
+    }
+}
+
+void MeshtasticRadioAdapter::pollRadio()
+{
+    if (!ready_ || !board_.isRadioOnline())
+    {
+        return;
+    }
+
+    ensureReceiveStarted();
+
+    const uint32_t irq = board_.getRadioIrqFlags();
+    if (irq == 0)
+    {
+        return;
+    }
+
+    board_.clearRadioIrqFlags(irq);
+    if ((irq & kIrqRxDone) == 0)
+    {
+        rx_started_ = false;
+        ensureReceiveStarted();
+        return;
+    }
+
+    const int packet_length = board_.getRadioPacketLength(true);
+    if (packet_length <= 0 || packet_length > 255)
+    {
+        rx_started_ = false;
+        ensureReceiveStarted();
+        return;
+    }
+
+    uint8_t buffer[255];
+    if (board_.readRadioData(buffer, static_cast<size_t>(packet_length)) == static_cast<int>(kRadioOk))
+    {
+        setLastRxStats(board_.getRadioRSSI(), board_.getRadioSNR());
+        processReceivedPacket(buffer, static_cast<size_t>(packet_length));
+    }
+
+    if ((irq & (kIrqHeaderErr | kIrqCrcErr | kIrqTimeout)) != 0)
+    {
+        ESP_LOGI(kTag, "radio irq=0x%04lX", static_cast<unsigned long>(irq));
+    }
+
+    rx_started_ = false;
+    ensureReceiveStarted();
+}
+
+void MeshtasticRadioAdapter::configureRadio()
+{
+    if (!board_.isRadioOnline())
+    {
+        ready_ = false;
+        return;
+    }
+
+    auto region_code = static_cast<meshtastic_Config_LoRaConfig_RegionCode>(config_.region);
+    if (region_code == meshtastic_Config_LoRaConfig_RegionCode_UNSET)
+    {
+        region_code = meshtastic_Config_LoRaConfig_RegionCode_CN;
+    }
+    const chat::meshtastic::RegionInfo* region = chat::meshtastic::findRegion(region_code);
+
+    float bw_khz = 250.0f;
+    uint8_t sf = 11;
+    uint8_t cr_denom = 5;
+    if (config_.use_preset)
+    {
+        const auto preset =
+            static_cast<meshtastic_Config_LoRaConfig_ModemPreset>(config_.modem_preset);
+        chat::meshtastic::modemPresetToParams(preset, region->wide_lora, bw_khz, sf, cr_denom);
+    }
+    else
+    {
+        bw_khz = config_.bandwidth_khz;
+        sf = config_.spread_factor;
+        cr_denom = config_.coding_rate;
+    }
+
+    float freq_mhz = chat::meshtastic::computeFrequencyMhz(region, bw_khz, primary_channel_name(config_));
+    if (config_.override_frequency_mhz > 0.0f)
+    {
+        freq_mhz = config_.override_frequency_mhz;
+    }
+    freq_mhz += config_.frequency_offset_mhz;
+
+    int8_t tx_power = config_.tx_power;
+    if (region->power_limit_dbm > 0)
+    {
+        tx_power = std::min<int8_t>(tx_power == 0 ? static_cast<int8_t>(region->power_limit_dbm) : tx_power,
+                                    static_cast<int8_t>(region->power_limit_dbm));
+    }
+    if (tx_power == 0)
+    {
+        tx_power = 17;
+    }
+
+    board_.configureLoraRadio(freq_mhz, bw_khz, sf, cr_denom, tx_power,
+                              kLoraPreambleLen, kLoraSyncWord, 2);
+    radio_freq_hz_ = static_cast<uint32_t>(std::lround(freq_mhz * 1000000.0f));
+    radio_bw_hz_ = static_cast<uint32_t>(std::lround(bw_khz * 1000.0f));
+    radio_sf_ = sf;
+    radio_cr_ = cr_denom;
+    ready_ = true;
+    rx_started_ = false;
+    ensureReceiveStarted();
+
+    ESP_LOGI(kTag,
+             "radio ready node=%08lX region=%u freq=%.3f bw=%.1f sf=%u cr=4/%u tx=%d hash=(%02X,%02X)",
+             static_cast<unsigned long>(node_id_),
+             static_cast<unsigned>(region_code),
+             freq_mhz,
+             bw_khz,
+             static_cast<unsigned>(sf),
+             static_cast<unsigned>(cr_denom),
+             static_cast<int>(tx_power),
+             static_cast<unsigned>(primary_channel_hash_),
+             static_cast<unsigned>(secondary_channel_hash_));
+}
+
+void MeshtasticRadioAdapter::updateChannelKeys()
+{
+    if (chat::meshtastic::isZeroKey(config_.primary_key, sizeof(config_.primary_key)))
+    {
+        chat::meshtastic::expandShortPsk(kDefaultPskIndex, primary_psk_, &primary_psk_len_);
+    }
+    else
+    {
+        std::memcpy(primary_psk_, config_.primary_key, sizeof(primary_psk_));
+        primary_psk_len_ = sizeof(primary_psk_);
+    }
+
+    if (chat::meshtastic::isZeroKey(config_.secondary_key, sizeof(config_.secondary_key)))
+    {
+        std::memset(secondary_psk_, 0, sizeof(secondary_psk_));
+        secondary_psk_len_ = 0;
+    }
+    else
+    {
+        std::memcpy(secondary_psk_, config_.secondary_key, sizeof(secondary_psk_));
+        secondary_psk_len_ = sizeof(secondary_psk_);
+    }
+
+    primary_channel_hash_ = chat::meshtastic::computeChannelHash(primary_channel_name(config_),
+                                                                 primary_psk_,
+                                                                 primary_psk_len_);
+    secondary_channel_hash_ = chat::meshtastic::computeChannelHash(kSecondaryChannelName,
+                                                                   secondary_psk_len_ > 0 ? secondary_psk_ : nullptr,
+                                                                   secondary_psk_len_);
+}
+
+void MeshtasticRadioAdapter::initNodeIdentity()
+{
+    std::memset(mac_addr_, 0, sizeof(mac_addr_));
+    (void)esp_efuse_mac_get_default(mac_addr_);
+    node_id_ = (static_cast<uint32_t>(mac_addr_[2]) << 24) |
+               (static_cast<uint32_t>(mac_addr_[3]) << 16) |
+               (static_cast<uint32_t>(mac_addr_[4]) << 8) |
+               static_cast<uint32_t>(mac_addr_[5]);
+}
+
+void MeshtasticRadioAdapter::ensureReceiveStarted()
+{
+    if (!rx_started_)
+    {
+        rx_started_ = (board_.startRadioReceive() == static_cast<int>(kRadioOk));
+    }
+}
+
+bool MeshtasticRadioAdapter::decodeUserPayload(const uint8_t* payload,
+                                               size_t len,
+                                               const chat::RxMeta& rx_meta,
+                                               chat::NodeId from_node,
+                                               uint8_t channel_index)
+{
+    if (!payload || len == 0)
+    {
+        return false;
+    }
+
+    meshtastic_User user = meshtastic_User_init_default;
+    pb_istream_t user_stream = pb_istream_from_buffer(payload, len);
+    if (!pb_decode(&user_stream, meshtastic_User_fields, &user))
+    {
+        return false;
+    }
+
+    char short_name[10] = {};
+    char long_name[32] = {};
+    const size_t short_len = strnlen(user.short_name, sizeof(user.short_name));
+    const size_t long_len = strnlen(user.long_name, sizeof(user.long_name));
+    std::memcpy(short_name, user.short_name, std::min(short_len, sizeof(short_name) - 1));
+    std::memcpy(long_name, user.long_name, std::min(long_len, sizeof(long_name) - 1));
+
+    auto* event = new sys::NodeInfoUpdateEvent(from_node,
+                                               "",
+                                               "",
+                                               static_cast<float>(rx_meta.snr_db_x10) / 10.0f,
+                                               static_cast<float>(rx_meta.rssi_dbm_x10) / 10.0f,
+                                               chat::now_message_timestamp(),
+                                               static_cast<uint8_t>(chat::contacts::NodeProtocolType::Meshtastic),
+                                               static_cast<uint8_t>(user.role),
+                                               rx_meta.hop_count,
+                                               static_cast<uint8_t>(user.hw_model),
+                                               channel_index);
+    std::memcpy(event->short_name, short_name, sizeof(short_name));
+    std::memcpy(event->long_name, long_name, sizeof(long_name));
+    sys::EventBus::publish(event, 0);
+    return true;
+}
+
+void MeshtasticRadioAdapter::publishPositionEvent(chat::NodeId node_id,
+                                                  const meshtastic_Position& pos)
+{
+    if (node_id == 0 || !chat::meshtastic::hasValidPosition(pos))
+    {
+        return;
+    }
+
+    const bool has_altitude = pos.has_altitude || pos.has_altitude_hae;
+    const int32_t altitude = pos.has_altitude ? pos.altitude : pos.altitude_hae;
+    const uint32_t ts = pos.timestamp ? pos.timestamp : pos.time;
+    sys::EventBus::publish(
+        new sys::NodePositionUpdateEvent(node_id,
+                                         pos.latitude_i,
+                                         pos.longitude_i,
+                                         has_altitude,
+                                         altitude,
+                                         ts,
+                                         pos.precision_bits,
+                                         pos.PDOP,
+                                         pos.HDOP,
+                                         pos.VDOP,
+                                         pos.gps_accuracy),
+        0);
+}
+
+uint8_t MeshtasticRadioAdapter::channelHashFor(chat::ChannelId channel) const
+{
+    return (channel == chat::ChannelId::SECONDARY) ? secondary_channel_hash_ : primary_channel_hash_;
+}
+
+const uint8_t* MeshtasticRadioAdapter::channelKeyFor(chat::ChannelId channel, size_t* out_len) const
+{
+    if (channel == chat::ChannelId::SECONDARY)
+    {
+        if (out_len)
+        {
+            *out_len = secondary_psk_len_;
+        }
+        return secondary_psk_;
+    }
+
+    if (out_len)
+    {
+        *out_len = primary_psk_len_;
+    }
+    return primary_psk_;
+}
+
+} // namespace apps::esp_idf
diff --git a/apps/esp_idf/src/mt_packet_wire_idf.cpp b/apps/esp_idf/src/mt_packet_wire_idf.cpp
new file mode 100644
index 00000000..e660a22b
--- /dev/null
+++ b/apps/esp_idf/src/mt_packet_wire_idf.cpp
@@ -0,0 +1,143 @@
+#include "chat/infra/meshtastic/mt_packet_wire.h"
+
+#include "mbedtls/aes.h"
+
+#include <cstring>
+
+namespace chat
+{
+namespace meshtastic
+{
+namespace
+{
+
+void aes_ctr_crypt(const uint8_t* key,
+                   size_t key_len,
+                   uint8_t* nonce,
+                   uint8_t* buffer,
+                   size_t len)
+{
+    if (!key || !nonce || !buffer || len == 0)
+    {
+        return;
+    }
+
+    mbedtls_aes_context aes;
+    mbedtls_aes_init(&aes);
+    if (mbedtls_aes_setkey_enc(&aes, key, static_cast<unsigned>(key_len * 8U)) != 0)
+    {
+        mbedtls_aes_free(&aes);
+        return;
+    }
+
+    size_t nc_off = 0;
+    unsigned char stream_block[16] = {};
+    (void)mbedtls_aes_crypt_ctr(&aes, len, &nc_off, nonce, stream_block, buffer, buffer);
+    mbedtls_aes_free(&aes);
+}
+
+} // namespace
+
+bool buildWirePacket(const uint8_t* data_payload, size_t data_len,
+                     uint32_t from_node, uint32_t packet_id,
+                     uint32_t dest_node, uint8_t channel_hash,
+                     uint8_t hop_limit, bool want_ack,
+                     const uint8_t* psk, size_t psk_len,
+                     uint8_t* out_buffer, size_t* out_size)
+{
+    if (!data_payload || data_len == 0 || !out_buffer || !out_size)
+    {
+        return false;
+    }
+
+    uint8_t payload[256];
+    if (data_len > sizeof(payload))
+    {
+        return false;
+    }
+    std::memcpy(payload, data_payload, data_len);
+
+    if (psk && psk_len > 0)
+    {
+        uint8_t nonce[16] = {};
+        const uint64_t packet_id64 = static_cast<uint64_t>(packet_id);
+        std::memcpy(nonce, &packet_id64, sizeof(packet_id64));
+        std::memcpy(nonce + sizeof(packet_id64), &from_node, sizeof(from_node));
+        aes_ctr_crypt(psk, psk_len, nonce, payload, data_len);
+    }
+
+    PacketHeaderWire header{};
+    header.to = dest_node;
+    header.from = from_node;
+    header.id = packet_id;
+    header.flags =
+        (hop_limit & PACKET_FLAGS_HOP_LIMIT_MASK) |
+        ((hop_limit << PACKET_FLAGS_HOP_START_SHIFT) & PACKET_FLAGS_HOP_START_MASK) |
+        (want_ack ? PACKET_FLAGS_WANT_ACK_MASK : 0);
+    header.channel = channel_hash;
+    header.next_hop = 0;
+    header.relay_node = static_cast<uint8_t>(from_node & 0xFFU);
+
+    const size_t required = sizeof(header) + data_len;
+    if (*out_size < required)
+    {
+        *out_size = required;
+        return false;
+    }
+
+    std::memcpy(out_buffer, &header, sizeof(header));
+    std::memcpy(out_buffer + sizeof(header), payload, data_len);
+    *out_size = required;
+    return true;
+}
+
+bool parseWirePacket(const uint8_t* buffer, size_t size,
+                     PacketHeaderWire* out_header,
+                     uint8_t* out_payload, size_t* out_payload_size)
+{
+    if (!buffer || size < sizeof(PacketHeaderWire) || !out_header || !out_payload || !out_payload_size)
+    {
+        return false;
+    }
+
+    const size_t payload_len = size - sizeof(PacketHeaderWire);
+    if (*out_payload_size < payload_len)
+    {
+        *out_payload_size = payload_len;
+        return false;
+    }
+
+    std::memcpy(out_header, buffer, sizeof(PacketHeaderWire));
+    std::memcpy(out_payload, buffer + sizeof(PacketHeaderWire), payload_len);
+    *out_payload_size = payload_len;
+    return true;
+}
+
+bool decryptPayload(const PacketHeaderWire& header,
+                    const uint8_t* cipher, size_t cipher_len,
+                    const uint8_t* psk, size_t psk_len,
+                    uint8_t* out_plaintext, size_t* out_plain_len)
+{
+    if (!cipher || cipher_len == 0 || !psk || psk_len == 0 || !out_plaintext || !out_plain_len)
+    {
+        return false;
+    }
+
+    if (*out_plain_len < cipher_len)
+    {
+        *out_plain_len = cipher_len;
+        return false;
+    }
+
+    std::memcpy(out_plaintext, cipher, cipher_len);
+    uint8_t nonce[16] = {};
+    const uint64_t packet_id64 = static_cast<uint64_t>(header.id);
+    std::memcpy(nonce, &packet_id64, sizeof(packet_id64));
+    std::memcpy(nonce + sizeof(packet_id64), &header.from, sizeof(header.from));
+    aes_ctr_crypt(psk, psk_len, nonce, out_plaintext, cipher_len);
+    *out_plain_len = cipher_len;
+    return true;
+}
+
+} // namespace meshtastic
+} // namespace chat
diff --git a/apps/esp_idf/src/startup_runtime.cpp b/apps/esp_idf/src/startup_runtime.cpp
index b5c5b16d..d6f9ba6c 100644
--- a/apps/esp_idf/src/startup_runtime.cpp
+++ b/apps/esp_idf/src/startup_runtime.cpp
@@ -5,13 +5,13 @@
 
 #include "app/app_config.h"
 #include "app/app_facade_access.h"
+#include "boards/tab5/rtc_runtime.h"
 #include "esp_log.h"
 #include "platform/esp/boards/board_runtime.h"
 #include "platform/esp/idf_common/bsp_runtime.h"
 #include "platform/esp/idf_common/gps_runtime.h"
 #include "platform/esp/idf_common/startup_support.h"
 #include "platform/esp/idf_common/sx126x_radio.h"
-#include "platform/esp/idf_common/tab5_rtc_runtime.h"
 #include "platform/ui/gps_runtime.h"
 #include "platform/ui/lora_runtime.h"
 #include "platform/ui/screen_runtime.h"
@@ -125,7 +125,7 @@ void run(const RuntimeConfig& config)
     (void)platform::esp::idf_common::bsp_runtime::ensure_nvs_ready();
     platform::esp::boards::initializeBoard(waking_from_sleep);
     platform::esp::boards::initializeDisplay();
-    if (platform::esp::idf_common::tab5_rtc_runtime::sync_system_time_from_hardware_rtc())
+    if (::boards::tab5::rtc_runtime::sync_system_time_from_hardware_rtc())
     {
         ESP_LOGI(config.log_tag, "Boot time restored from hardware RTC");
     }
diff --git a/apps/esp_idf/targets/tab5/sdkconfig.defaults b/apps/esp_idf/targets/tab5/sdkconfig.defaults
index 79ef55a4..eaa2058e 100644
--- a/apps/esp_idf/targets/tab5/sdkconfig.defaults
+++ b/apps/esp_idf/targets/tab5/sdkconfig.defaults
@@ -12,4 +12,7 @@ CONFIG_CACHE_L2_CACHE_256KB=y
 CONFIG_CACHE_L2_CACHE_LINE_128B=y
 CONFIG_IDF_EXPERIMENTAL_FEATURES=y
 CONFIG_TINYUSB_MSC_ENABLED=y
+CONFIG_ESP_TASK_WDT_PANIC=y
+CONFIG_TASK_WDT_PANIC=y
+CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH=y
 
diff --git a/apps/gat562_mesh_evb_pro/include/apps/gat562_mesh_evb_pro/app_facade_runtime.h b/apps/gat562_mesh_evb_pro/include/apps/gat562_mesh_evb_pro/app_facade_runtime.h
index a2d49514..094d63f7 100644
--- a/apps/gat562_mesh_evb_pro/include/apps/gat562_mesh_evb_pro/app_facade_runtime.h
+++ b/apps/gat562_mesh_evb_pro/include/apps/gat562_mesh_evb_pro/app_facade_runtime.h
@@ -19,7 +19,7 @@ class INodeStore;
 class IContactStore;
 class ContactService;
 } // namespace contacts
-}
+} // namespace chat
 
 namespace platform::nrf52::arduino_common
 {
diff --git a/apps/gat562_mesh_evb_pro/src/app_facade_runtime.cpp b/apps/gat562_mesh_evb_pro/src/app_facade_runtime.cpp
index 300a1e16..b6250402 100644
--- a/apps/gat562_mesh_evb_pro/src/app_facade_runtime.cpp
+++ b/apps/gat562_mesh_evb_pro/src/app_facade_runtime.cpp
@@ -3,9 +3,9 @@
 #include "app/app_facade_access.h"
 #include "apps/gat562_mesh_evb_pro/debug_console.h"
 #include "apps/gat562_mesh_evb_pro/protocol_factory.h"
+#include "ble/ble_manager.h"
 #include "boards/gat562_mesh_evb_pro/gat562_board.h"
 #include "boards/gat562_mesh_evb_pro/settings_store.h"
-#include "ble/ble_manager.h"
 #include "chat/domain/chat_model.h"
 #include "chat/infra/mesh_adapter_router_core.h"
 #include "chat/infra/mesh_protocol_utils.h"
@@ -148,9 +148,7 @@ void AppFacadeRuntime::initializeStores()
         new platform::nrf52::arduino_common::chat::infra::ContactStore());
     platform::nrf52::arduino_common::chat::infra::ContactStore* contact_store_ptr = contact_store.get();
     node_store->setProtectedNodeChecker([contact_store_ptr](uint32_t node_id)
-                                        {
-                                            return contact_store_ptr && contact_store_ptr->hasContactNode(node_id);
-                                        });
+                                        { return contact_store_ptr && contact_store_ptr->hasContactNode(node_id); });
     node_store_ = std::move(node_store);
     contact_store_ = std::move(contact_store);
     contact_service_ = std::unique_ptr<chat::contacts::ContactService>(
diff --git a/apps/gat562_mesh_evb_pro/src/protocol_factory.cpp b/apps/gat562_mesh_evb_pro/src/protocol_factory.cpp
index 59ccc465..0ea186db 100644
--- a/apps/gat562_mesh_evb_pro/src/protocol_factory.cpp
+++ b/apps/gat562_mesh_evb_pro/src/protocol_factory.cpp
@@ -19,7 +19,7 @@ std::unique_ptr<chat::IMeshAdapter> createProtocolAdapter(chat::MeshProtocol pro
     default:
         return std::unique_ptr<chat::IMeshAdapter>(
             new platform::nrf52::arduino_common::chat::meshtastic::MeshtasticRadioAdapter(identity_provider,
-                                                                                           meshtastic_node_store));
+                                                                                          meshtastic_node_store));
     }
 }
 
diff --git a/apps/gat562_mesh_evb_pro/src/startup_runtime.cpp b/apps/gat562_mesh_evb_pro/src/startup_runtime.cpp
index b199de65..2f7705ee 100644
--- a/apps/gat562_mesh_evb_pro/src/startup_runtime.cpp
+++ b/apps/gat562_mesh_evb_pro/src/startup_runtime.cpp
@@ -19,10 +19,10 @@ void run()
     debug_console::println("[gat562] startup begin");
     auto& board = ::boards::gat562_mesh_evb_pro::Gat562Board::instance();
     (void)board.begin();
-    sys::set_millis_provider([]() -> uint32_t { return millis(); });
-    sys::set_epoch_seconds_provider([]() -> uint32_t {
-        return ::boards::gat562_mesh_evb_pro::Gat562Board::instance().currentEpochSeconds();
-    });
+    sys::set_millis_provider([]() -> uint32_t
+                             { return millis(); });
+    sys::set_epoch_seconds_provider([]() -> uint32_t
+                                    { return ::boards::gat562_mesh_evb_pro::Gat562Board::instance().currentEpochSeconds(); });
     ui_runtime::initialize();
     ui_runtime::appendBootLog("startup begin");
     ui_runtime::appendBootLog("board/input ok");
diff --git a/apps/gat562_mesh_evb_pro/src/ui_runtime.cpp b/apps/gat562_mesh_evb_pro/src/ui_runtime.cpp
index e269af74..27edb3fe 100644
--- a/apps/gat562_mesh_evb_pro/src/ui_runtime.cpp
+++ b/apps/gat562_mesh_evb_pro/src/ui_runtime.cpp
@@ -3,11 +3,11 @@
 #include "apps/gat562_mesh_evb_pro/app_facade_runtime.h"
 #include "apps/gat562_mesh_evb_pro/debug_console.h"
 #include "boards/gat562_mesh_evb_pro/gat562_board.h"
-#include "ui/fonts/fusion_pixel_8_font.h"
 #include "platform/ui/device_runtime.h"
 #include "platform/ui/gps_runtime.h"
 #include "platform/ui/time_runtime.h"
 #include "sys/clock.h"
+#include "ui/fonts/fusion_pixel_8_font.h"
 #include "ui/mono_128x64/runtime.h"
 
 #include <Arduino.h>
@@ -47,14 +47,22 @@ ui::mono_128x64::InputAction to_input_action(
 
     switch (event->key)
     {
-    case BoardInputKey::JoystickUp: return ui::mono_128x64::InputAction::Up;
-    case BoardInputKey::JoystickDown: return ui::mono_128x64::InputAction::Down;
-    case BoardInputKey::JoystickLeft: return ui::mono_128x64::InputAction::Left;
-    case BoardInputKey::JoystickRight: return ui::mono_128x64::InputAction::Right;
-    case BoardInputKey::JoystickPress: return ui::mono_128x64::InputAction::Select;
-    case BoardInputKey::PrimaryButton: return ui::mono_128x64::InputAction::Primary;
-    case BoardInputKey::SecondaryButton: return ui::mono_128x64::InputAction::Secondary;
-    default: return ui::mono_128x64::InputAction::None;
+    case BoardInputKey::JoystickUp:
+        return ui::mono_128x64::InputAction::Up;
+    case BoardInputKey::JoystickDown:
+        return ui::mono_128x64::InputAction::Down;
+    case BoardInputKey::JoystickLeft:
+        return ui::mono_128x64::InputAction::Left;
+    case BoardInputKey::JoystickRight:
+        return ui::mono_128x64::InputAction::Right;
+    case BoardInputKey::JoystickPress:
+        return ui::mono_128x64::InputAction::Select;
+    case BoardInputKey::PrimaryButton:
+        return ui::mono_128x64::InputAction::Primary;
+    case BoardInputKey::SecondaryButton:
+        return ui::mono_128x64::InputAction::Secondary;
+    default:
+        return ui::mono_128x64::InputAction::None;
     }
 }
 
diff --git a/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/board_profile.h b/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/board_profile.h
index c751121f..df5bbe84 100644
--- a/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/board_profile.h
+++ b/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/board_profile.h
@@ -133,7 +133,6 @@ inline constexpr BoardProfile kBoardProfile{
     248832,
     0xFF000,
     {"GAT562", "GAT562", "GAT562"},
-    {}
-};
+    {}};
 
 } // namespace boards::gat562_mesh_evb_pro
diff --git a/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/gat562_board.h b/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/gat562_board.h
index 76a52314..e99c94d3 100644
--- a/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/gat562_board.h
+++ b/boards/gat562_mesh_evb_pro/include/boards/gat562_mesh_evb_pro/gat562_board.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "board/BoardBase.h"
 #include "app/app_config.h"
+#include "board/BoardBase.h"
 #include "chat/domain/chat_types.h"
 #include "gps/domain/gnss_satellite.h"
 #include "gps/domain/gps_state.h"
diff --git a/boards/gat562_mesh_evb_pro/src/gat562_board.cpp b/boards/gat562_mesh_evb_pro/src/gat562_board.cpp
index 927f7ed1..ffcc3b61 100644
--- a/boards/gat562_mesh_evb_pro/src/gat562_board.cpp
+++ b/boards/gat562_mesh_evb_pro/src/gat562_board.cpp
@@ -9,8 +9,8 @@
 #include ".pio/libdeps/gat562_mesh_evb_pro/Adafruit SSD1306/Adafruit_SSD1306.h"
 #include <Arduino.h>
 #include <TinyGPSPlus.h>
-#include <time.h>
 #include <Wire.h>
+#include <time.h>
 
 #include <algorithm>
 #include <cmath>
diff --git a/boards/gat562_mesh_evb_pro/src/sx1262_radio_packet_io.cpp b/boards/gat562_mesh_evb_pro/src/sx1262_radio_packet_io.cpp
index 38d7c4f3..6b538238 100644
--- a/boards/gat562_mesh_evb_pro/src/sx1262_radio_packet_io.cpp
+++ b/boards/gat562_mesh_evb_pro/src/sx1262_radio_packet_io.cpp
@@ -1,7 +1,7 @@
 #include "boards/gat562_mesh_evb_pro/sx1262_radio_packet_io.h"
 
-#include "boards/gat562_mesh_evb_pro/gat562_board.h"
 #include "boards/gat562_mesh_evb_pro/board_profile.h"
+#include "boards/gat562_mesh_evb_pro/gat562_board.h"
 #include "chat/infra/meshcore/mc_region_presets.h"
 #include "chat/infra/meshtastic/mt_region.h"
 
@@ -326,7 +326,7 @@ bool Sx1262RadioPacketIo::applyRadioConfig(const AppliedRadioConfig& config)
 }
 
 Sx1262RadioPacketIo::AppliedRadioConfig Sx1262RadioPacketIo::deriveRadioConfig(::chat::MeshProtocol protocol,
-                                                                                const ::chat::MeshConfig& config) const
+                                                                               const ::chat::MeshConfig& config) const
 {
     return protocol == ::chat::MeshProtocol::MeshCore
                ? deriveMeshCoreRadioConfig(config)
diff --git a/platform/esp/boards/t_display_p4/README.md b/boards/t_display_p4/README.md
similarity index 55%
rename from platform/esp/boards/t_display_p4/README.md
rename to boards/t_display_p4/README.md
index 3a95714f..f22acde0 100644
--- a/platform/esp/boards/t_display_p4/README.md
+++ b/boards/t_display_p4/README.md
@@ -1,6 +1,6 @@
-# `platform/esp/boards/t_display_p4`
+# `boards/t_display_p4`
 
-Board-runtime home for T-Display-P4.
+Board-owned runtime/profile home for T-Display-P4.
 
 Source reference:
 
@@ -20,9 +20,8 @@ Current extracted profile:
 - IO expander interrupt: `5`
 - LCD backlight: `51`
 
-Planned responsibilities:
+Current responsibilities:
 
-- provide T-Display-P4 board/runtime handles for the selected IDF target shell
-- become the point where `AppContext` is bound into the T-Display-P4 IDF app shell
-- replace the current placeholder handle resolution with real `BoardBase` / `GpsBoard` adapters
-- keep T-Display-P4-specific pin/capability knowledge in `t_display_p4_board_profile.h` rather than scattering it into shell entry code
\ No newline at end of file
+- provide T-Display-P4-specific profile data from `boards/*`
+- provide the ESP board-runtime adapter include used by the shared dispatcher
+- keep board-local pin/capability knowledge out of generic `platform/esp/boards`
diff --git a/platform/esp/boards/include/platform/esp/boards/t_display_p4_board_profile.h b/boards/t_display_p4/include/boards/t_display_p4/board_profile.h
similarity index 94%
rename from platform/esp/boards/include/platform/esp/boards/t_display_p4_board_profile.h
rename to boards/t_display_p4/include/boards/t_display_p4/board_profile.h
index 4fe75cc0..c62a39ee 100644
--- a/platform/esp/boards/include/platform/esp/boards/t_display_p4_board_profile.h
+++ b/boards/t_display_p4/include/boards/t_display_p4/board_profile.h
@@ -2,7 +2,7 @@
 
 #include <cstdint>
 
-namespace platform::esp::boards::t_display_p4
+namespace boards::t_display_p4
 {
 
 struct BoardProfile
@@ -96,4 +96,4 @@ inline constexpr BoardProfile kBoardProfile{
     true,
 };
 
-} // namespace platform::esp::boards::t_display_p4
\ No newline at end of file
+} // namespace boards::t_display_p4
diff --git a/boards/t_display_p4/include/boards/t_display_p4/platform_esp_board_runtime.h b/boards/t_display_p4/include/boards/t_display_p4/platform_esp_board_runtime.h
new file mode 100644
index 00000000..cf2215e4
--- /dev/null
+++ b/boards/t_display_p4/include/boards/t_display_p4/platform_esp_board_runtime.h
@@ -0,0 +1,83 @@
+#pragma once
+
+#include <cstdlib>
+
+#include "boards/t_display_p4/board_profile.h"
+#include "esp_log.h"
+#include "platform/esp/boards/board_runtime.h"
+
+namespace platform::esp::boards::detail
+{
+
+namespace
+{
+constexpr const char* kTag = "t-display-p4-board-runtime";
+}
+
+inline void initializeBoard(bool waking_from_sleep)
+{
+    ESP_LOGI(kTag,
+             "T-Display-P4 board runtime bootstrap: caps(display=%d touch=%d audio=%d sd=%d gps=%d lora=%d ioexp_lora=%d) sys_i2c=(%d,%d,%d) ext_i2c=(%d,%d,%d) gps_uart=(%d,%d,%d) sdmmc=(%d,%d,%d,%d,%d,%d) audio_i2s=(%d,%d,%d,%d,%d) lora_spi=(host=%d sck=%d miso=%d mosi=%d) lora_ctrl=(nss=%d rst=%d irq=%d busy=%d pwr_en=%d) boot=%d expander_int=%d backlight=%d wake=%d",
+             ::boards::t_display_p4::kBoardProfile.has_display ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.has_touch ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.has_audio ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.has_sdcard ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.has_gps_uart ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.has_lora ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.uses_io_expander_for_lora ? 1 : 0,
+             ::boards::t_display_p4::kBoardProfile.sys_i2c.port,
+             ::boards::t_display_p4::kBoardProfile.sys_i2c.sda,
+             ::boards::t_display_p4::kBoardProfile.sys_i2c.scl,
+             ::boards::t_display_p4::kBoardProfile.ext_i2c.port,
+             ::boards::t_display_p4::kBoardProfile.ext_i2c.sda,
+             ::boards::t_display_p4::kBoardProfile.ext_i2c.scl,
+             ::boards::t_display_p4::kBoardProfile.gps_uart.port,
+             ::boards::t_display_p4::kBoardProfile.gps_uart.tx,
+             ::boards::t_display_p4::kBoardProfile.gps_uart.rx,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.d0,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.d1,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.d2,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.d3,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.cmd,
+             ::boards::t_display_p4::kBoardProfile.sdmmc.clk,
+             ::boards::t_display_p4::kBoardProfile.audio_i2s.bclk,
+             ::boards::t_display_p4::kBoardProfile.audio_i2s.mclk,
+             ::boards::t_display_p4::kBoardProfile.audio_i2s.ws,
+             ::boards::t_display_p4::kBoardProfile.audio_i2s.dout,
+             ::boards::t_display_p4::kBoardProfile.audio_i2s.din,
+             ::boards::t_display_p4::kBoardProfile.lora.spi.host,
+             ::boards::t_display_p4::kBoardProfile.lora.spi.sck,
+             ::boards::t_display_p4::kBoardProfile.lora.spi.miso,
+             ::boards::t_display_p4::kBoardProfile.lora.spi.mosi,
+             ::boards::t_display_p4::kBoardProfile.lora.nss,
+             ::boards::t_display_p4::kBoardProfile.lora.rst,
+             ::boards::t_display_p4::kBoardProfile.lora.irq,
+             ::boards::t_display_p4::kBoardProfile.lora.busy,
+             ::boards::t_display_p4::kBoardProfile.lora.pwr_en,
+             ::boards::t_display_p4::kBoardProfile.boot,
+             ::boards::t_display_p4::kBoardProfile.expander_int,
+             ::boards::t_display_p4::kBoardProfile.lcd_backlight,
+             waking_from_sleep ? 1 : 0);
+}
+
+inline void initializeDisplay()
+{
+    ESP_LOGI(kTag, "T-Display-P4 display runtime not wired yet; waiting for IDF board/display adapter migration");
+}
+
+inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
+{
+    (void)out_handles;
+    ESP_LOGI(kTag, "T-Display-P4 AppContext handles are not available yet; board adapter still pending");
+    return false;
+}
+
+inline AppContextInitHandles resolveAppContextInitHandles()
+{
+    AppContextInitHandles handles{};
+    (void)handles;
+    ESP_LOGE(kTag, "T-Display-P4 resolveAppContextInitHandles() called before adapter implementation");
+    abort();
+}
+
+} // namespace platform::esp::boards::detail
diff --git a/boards/t_display_p4/library.json b/boards/t_display_p4/library.json
new file mode 100644
index 00000000..a0a4245c
--- /dev/null
+++ b/boards/t_display_p4/library.json
@@ -0,0 +1,27 @@
+{
+  "name": "boards_t_display_p4",
+  "version": "0.1.0",
+  "frameworks": [
+    "espidf"
+  ],
+  "platforms": [
+    "espressif32"
+  ],
+  "build": {
+    "includeDir": "include",
+    "srcDir": "src",
+    "flags": [
+      "-std=gnu++17",
+      "-Iinclude",
+      "-I../..",
+      "-I../../platform/esp/boards/include",
+      "-I../../platform/esp/idf_common/include",
+      "-I../../modules/ui_shared/include",
+      "-I../../modules/core_sys/include",
+      "-I../../modules/core_chat/include",
+      "-I../../modules/core_gps/include",
+      "-I../../modules/core_hostlink/include",
+      "-I../../modules/core_team/include"
+    ]
+  }
+}
diff --git a/platform/esp/boards/tab5/README.md b/boards/tab5/README.md
similarity index 78%
rename from platform/esp/boards/tab5/README.md
rename to boards/tab5/README.md
index a8ccb809..b4b7f24f 100644
--- a/platform/esp/boards/tab5/README.md
+++ b/boards/tab5/README.md
@@ -1,6 +1,6 @@
-# `platform/esp/boards/tab5`
+# `boards/tab5`
 
-Planned home for Tab5 board support and board-specific adapters.
+Board-owned home for Tab5 support and board-specific ESP adapters.
 
 Current extracted board profile and verified M5-Bus routing for the Tab5 target:
 
@@ -26,10 +26,9 @@ Important routing notes:
 - The currently adopted GNSS UART route is `TX=6`, `RX=7`, matching the verified M5-Bus routing used in the Tab5 GNSS integration reference.
 - The current LoRa route assumes an M5-Bus module wired to `NSS=35`, `IRQ=16`, `RST=45` with fixed SPI on `5/18/19`.
 
-Planned responsibilities:
+Current responsibilities:
 
 - provide Tab5 board/runtime handles for the selected IDF target shell
-- become the point where `AppContext` is bound into the Tab5 IDF app shell
-- replace the current placeholder handle resolution with real `BoardBase` / `GpsBoard` adapters
-- keep Tab5-specific pin/capability knowledge in `tab5_board_profile.h` rather than scattering it into shell entry code
-
+- bind `AppContext` into the Tab5 IDF app shell
+- keep Tab5-specific pin/capability knowledge in `boards/tab5/board_profile.h`
+- own Tab5-specific runtime glue under `boards/tab5/*` rather than `platform/esp/boards/*`
diff --git a/platform/esp/boards/include/platform/esp/boards/tab5_board_profile.h b/boards/tab5/include/boards/tab5/board_profile.h
similarity index 80%
rename from platform/esp/boards/include/platform/esp/boards/tab5_board_profile.h
rename to boards/tab5/include/boards/tab5/board_profile.h
index 0ac47dd7..22d6c236 100644
--- a/platform/esp/boards/include/platform/esp/boards/tab5_board_profile.h
+++ b/boards/tab5/include/boards/tab5/board_profile.h
@@ -2,7 +2,7 @@
 
 #include <cstdint>
 
-namespace platform::esp::boards::tab5
+namespace boards::tab5
 {
 
 struct BoardProfile
@@ -20,6 +20,7 @@ struct BoardProfile
         int tx = -1;
         int rx = -1;
         int aux = -1;
+        uint32_t baud_rate = 0;
     };
 
     struct SdmmcPins
@@ -59,6 +60,13 @@ struct BoardProfile
         int pwr_en = -1;
     };
 
+    struct ProductIdentity
+    {
+        const char* long_name = "Trail Mate Tab5";
+        const char* short_name = "TAB5";
+        const char* ble_name = "TrailMate-Tab5";
+    };
+
     I2cBus sys_i2c{};
     I2cBus ext_i2c{};
     UartPort gps_uart{};
@@ -76,13 +84,14 @@ struct BoardProfile
     bool has_rs485_uart = false;
     bool has_lora = false;
     bool has_m5bus_lora_module_routing = false;
+    ProductIdentity identity{};
 };
 
 inline constexpr BoardProfile kBoardProfile{
     {0, 31, 32},
     {1, 53, 54},
-    {2, 6, 7, -1},
-    {1, 20, 21, 34},
+    {2, 6, 7, -1, 38400},
+    {1, 20, 21, 34, 0},
     {39, 40, 41, 42, 44, 43},
     {27, 30, 29, 26, 28},
     {{2, 5, 19, 18}, 35, 45, 16, -1, -1},
@@ -96,6 +105,7 @@ inline constexpr BoardProfile kBoardProfile{
     true,
     true,
     true,
+    {"Trail Mate Tab5", "TAB5", "TrailMate-Tab5"},
 };
 
-} // namespace platform::esp::boards::tab5
+} // namespace boards::tab5
diff --git a/boards/tab5/include/boards/tab5/codec_compat.h b/boards/tab5/include/boards/tab5/codec_compat.h
new file mode 100644
index 00000000..c549c6bc
--- /dev/null
+++ b/boards/tab5/include/boards/tab5/codec_compat.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+namespace boards::tab5
+{
+
+class CodecCompat
+{
+  public:
+    CodecCompat() = default;
+    ~CodecCompat();
+
+    int open(uint8_t bits_per_sample, uint8_t channel, uint32_t sample_rate);
+    void close();
+
+    int write(uint8_t* buffer, size_t size);
+    int read(uint8_t* buffer, size_t size);
+
+    void setMute(bool enable);
+    bool getMute() const;
+
+    void setOutMute(bool enable);
+    bool getOutMute() const;
+
+    void setVolume(uint8_t level);
+    int getVolume() const;
+
+    void setGain(float db_value);
+    float getGain() const;
+
+    bool ready() const;
+
+  private:
+    bool ensure_ready();
+    bool ensure_scratch(size_t size);
+
+    void* scratch_ = nullptr;
+    size_t scratch_size_ = 0;
+    bool ready_ = false;
+    bool mute_ = false;
+    bool out_mute_ = false;
+    int volume_ = 10;
+    float gain_db_ = 0.0f;
+    uint8_t requested_channels_ = 1;
+    uint8_t requested_bits_ = 16;
+    uint32_t requested_sample_rate_ = 8000;
+    uint8_t hardware_capture_channels_ = 1;
+};
+
+} // namespace boards::tab5
diff --git a/boards/tab5/include/boards/tab5/heading_runtime.h b/boards/tab5/include/boards/tab5/heading_runtime.h
new file mode 100644
index 00000000..c8e31dd1
--- /dev/null
+++ b/boards/tab5/include/boards/tab5/heading_runtime.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <cstdint>
+
+#include "platform/ui/orientation_runtime.h"
+
+namespace boards::tab5::heading_runtime
+{
+
+using HeadingState = ::platform::ui::orientation::HeadingState;
+
+void ensure_started();
+HeadingState get_data();
+
+} // namespace boards::tab5::heading_runtime
diff --git a/boards/tab5/include/boards/tab5/platform_esp_board_runtime.h b/boards/tab5/include/boards/tab5/platform_esp_board_runtime.h
new file mode 100644
index 00000000..bf2083e4
--- /dev/null
+++ b/boards/tab5/include/boards/tab5/platform_esp_board_runtime.h
@@ -0,0 +1,111 @@
+#pragma once
+
+#include <cstdlib>
+
+#include "boards/tab5/board_profile.h"
+#include "boards/tab5/tab5_board.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "platform/esp/boards/board_runtime.h"
+
+extern "C"
+{
+#include "bsp/trail_mate_tab5_runtime.h"
+
+    void bsp_set_ext_5v_en(bool en);
+}
+
+namespace platform::esp::boards::detail
+{
+
+namespace
+{
+constexpr const char* kTag = "tab5-board-runtime";
+}
+
+inline void initializeBoard(bool waking_from_sleep)
+{
+    const auto& profile = ::boards::tab5::Tab5Board::profile();
+    ESP_LOGI(kTag,
+             "Tab5 board runtime bootstrap: caps(display=%d touch=%d audio=%d sd=%d gps=%d rs485=%d lora=%d lora_module=%d) sys_i2c=(%d,%d,%d) ext_i2c=(%d,%d,%d) gps_uart=(%d,%d,%d) rs485_uart=(%d,%d,%d,%d) sdmmc=(%d,%d,%d,%d,%d,%d) audio_i2s=(%d,%d,%d,%d,%d) lora_spi=(host=%d sck=%d miso=%d mosi=%d) lora_ctrl=(nss=%d rst=%d irq=%d busy=%d pwr_en=%d) backlight=%d touch_int=%d wake=%d",
+             profile.has_display ? 1 : 0,
+             profile.has_touch ? 1 : 0,
+             profile.has_audio ? 1 : 0,
+             profile.has_sdcard ? 1 : 0,
+             profile.has_gps_uart ? 1 : 0,
+             profile.has_rs485_uart ? 1 : 0,
+             profile.has_lora ? 1 : 0,
+             profile.has_m5bus_lora_module_routing ? 1 : 0,
+             profile.sys_i2c.port,
+             profile.sys_i2c.sda,
+             profile.sys_i2c.scl,
+             profile.ext_i2c.port,
+             profile.ext_i2c.sda,
+             profile.ext_i2c.scl,
+             profile.gps_uart.port,
+             profile.gps_uart.tx,
+             profile.gps_uart.rx,
+             profile.rs485_uart.port,
+             profile.rs485_uart.tx,
+             profile.rs485_uart.rx,
+             profile.rs485_uart.aux,
+             profile.sdmmc.d0,
+             profile.sdmmc.d1,
+             profile.sdmmc.d2,
+             profile.sdmmc.d3,
+             profile.sdmmc.cmd,
+             profile.sdmmc.clk,
+             profile.audio_i2s.bclk,
+             profile.audio_i2s.mclk,
+             profile.audio_i2s.ws,
+             profile.audio_i2s.dout,
+             profile.audio_i2s.din,
+             profile.lora_module.spi.host,
+             profile.lora_module.spi.sck,
+             profile.lora_module.spi.miso,
+             profile.lora_module.spi.mosi,
+             profile.lora_module.nss,
+             profile.lora_module.rst,
+             profile.lora_module.irq,
+             profile.lora_module.busy,
+             profile.lora_module.pwr_en,
+             profile.lcd_backlight,
+             profile.touch_int,
+             waking_from_sleep ? 1 : 0);
+
+    (void)::boards::tab5::Tab5Board::instance().begin();
+}
+
+inline void initializeDisplay()
+{
+    if (trail_mate_tab5_display_runtime_init())
+    {
+        ESP_LOGI(kTag, "Tab5 display runtime initialized");
+        bsp_set_ext_5v_en(true);
+        vTaskDelay(pdMS_TO_TICKS(300));
+        ESP_LOGI(kTag, "Tab5 M5-Bus Ext5V enabled for GNSS/LoRa modules");
+    }
+    else
+    {
+        ESP_LOGE(kTag, "Tab5 display runtime initialization failed");
+    }
+}
+
+inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
+{
+    if (!out_handles)
+    {
+        return false;
+    }
+
+    *out_handles = resolveAppContextInitHandles();
+    return out_handles->isValid();
+}
+
+inline AppContextInitHandles resolveAppContextInitHandles()
+{
+    return {&::boards::tab5::Tab5Board::instance(), &::boards::tab5::Tab5Board::instance(), nullptr, nullptr};
+}
+
+} // namespace platform::esp::boards::detail
diff --git a/boards/tab5/include/boards/tab5/rtc_runtime.h b/boards/tab5/include/boards/tab5/rtc_runtime.h
new file mode 100644
index 00000000..c31cffd8
--- /dev/null
+++ b/boards/tab5/include/boards/tab5/rtc_runtime.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <cstdint>
+#include <ctime>
+
+namespace boards::tab5::rtc_runtime
+{
+
+constexpr std::time_t kMinValidEpochSeconds = 1577836800; // 2020-01-01 00:00:00 UTC
+
+bool is_valid_epoch(std::time_t epoch_seconds);
+bool validate_datetime_utc(int year,
+                           uint8_t month,
+                           uint8_t day,
+                           uint8_t hour,
+                           uint8_t minute,
+                           uint8_t second);
+std::time_t datetime_to_epoch_utc(int year,
+                                  uint8_t month,
+                                  uint8_t day,
+                                  uint8_t hour,
+                                  uint8_t minute,
+                                  uint8_t second);
+
+bool apply_system_time(std::time_t epoch_seconds, const char* source);
+bool apply_system_time_and_sync_rtc(std::time_t epoch_seconds, const char* source);
+bool sync_system_time_from_hardware_rtc();
+bool sync_hardware_rtc_from_system_time();
+
+} // namespace boards::tab5::rtc_runtime
diff --git a/boards/tab5/include/boards/tab5/tab5_board.h b/boards/tab5/include/boards/tab5/tab5_board.h
new file mode 100644
index 00000000..555991ba
--- /dev/null
+++ b/boards/tab5/include/boards/tab5/tab5_board.h
@@ -0,0 +1,191 @@
+#pragma once
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <mutex>
+
+#include "board/BoardBase.h"
+#include "board/LoraBoard.h"
+#include "boards/tab5/board_profile.h"
+#include "driver/i2c_master.h"
+#include "driver/uart.h"
+
+namespace boards::tab5
+{
+
+class Tab5Board final : public BoardBase, public LoraBoard
+{
+  public:
+    struct SystemI2cDeviceConfig
+    {
+        const char* owner = nullptr;
+        uint16_t address = 0;
+        uint32_t speed_hz = 400000;
+    };
+
+    class SysI2cGuard
+    {
+      public:
+        explicit SysI2cGuard(Tab5Board& board, uint32_t timeout_ms = 1000);
+        ~SysI2cGuard();
+
+        SysI2cGuard(const SysI2cGuard&) = delete;
+        SysI2cGuard& operator=(const SysI2cGuard&) = delete;
+
+        bool locked() const;
+        explicit operator bool() const;
+
+      private:
+        Tab5Board* board_ = nullptr;
+        bool locked_ = false;
+    };
+
+    class ManagedSystemI2cGuard
+    {
+      public:
+        ManagedSystemI2cGuard(Tab5Board& board,
+                              const SystemI2cDeviceConfig& config,
+                              uint32_t timeout_ms = 1000);
+        ~ManagedSystemI2cGuard();
+
+        ManagedSystemI2cGuard(const ManagedSystemI2cGuard&) = delete;
+        ManagedSystemI2cGuard& operator=(const ManagedSystemI2cGuard&) = delete;
+
+        bool ok() const;
+        explicit operator bool() const;
+        i2c_master_dev_handle_t handle() const;
+        esp_err_t transmit(const uint8_t* data, size_t len, uint32_t timeout_ms) const;
+        esp_err_t transmitReceive(const uint8_t* tx_data, size_t tx_len,
+                                  uint8_t* rx_data, size_t rx_len,
+                                  uint32_t timeout_ms) const;
+
+      private:
+        Tab5Board* board_ = nullptr;
+        i2c_master_dev_handle_t handle_ = nullptr;
+        bool locked_ = false;
+    };
+
+    static Tab5Board& instance();
+    static constexpr const BoardProfile& profile()
+    {
+        return kBoardProfile;
+    }
+    static constexpr bool hasDisplay() { return profile().has_display; }
+    static constexpr bool hasTouch() { return profile().has_touch; }
+    static constexpr bool hasAudio() { return profile().has_audio; }
+    static constexpr bool hasSdCard() { return profile().has_sdcard; }
+    static constexpr bool hasGpsUart() { return profile().has_gps_uart; }
+    static constexpr bool hasRs485Uart() { return profile().has_rs485_uart; }
+    static constexpr bool hasLora() { return profile().has_lora; }
+    static constexpr bool hasM5BusLoraRouting() { return profile().has_m5bus_lora_module_routing; }
+    static constexpr const BoardProfile::I2cBus& systemI2c() { return profile().sys_i2c; }
+    static constexpr const BoardProfile::I2cBus& externalI2c() { return profile().ext_i2c; }
+    static constexpr const BoardProfile::UartPort& gpsUart() { return profile().gps_uart; }
+    static constexpr const BoardProfile::UartPort& rs485Uart() { return profile().rs485_uart; }
+    static constexpr const BoardProfile::SdmmcPins& sdmmcPins() { return profile().sdmmc; }
+    static constexpr const BoardProfile::AudioI2sPins& audioI2sPins() { return profile().audio_i2s; }
+    static constexpr const BoardProfile::LoRaModulePins& loraModulePins() { return profile().lora_module; }
+    static constexpr int backlightPin() { return profile().lcd_backlight; }
+    static constexpr int touchInterruptPin() { return profile().touch_int; }
+    static constexpr const char* defaultLongName() { return profile().identity.long_name; }
+    static constexpr const char* defaultShortName() { return profile().identity.short_name; }
+    static constexpr const char* defaultBleName() { return profile().identity.ble_name; }
+
+    uint32_t begin(uint32_t disable_hw_init = 0) override;
+    void wakeUp() override;
+    void handlePowerButton() override;
+    void softwareShutdown() override;
+    void enterScreenSleep() override;
+    void exitScreenSleep() override;
+
+    void setBrightness(uint8_t level) override;
+    uint8_t getBrightness() override;
+
+    bool hasKeyboard() override;
+    void keyboardSetBrightness(uint8_t level) override;
+    uint8_t keyboardGetBrightness() override;
+
+    bool isRTCReady() const override;
+    bool isCharging() override;
+    int getBatteryLevel() override;
+    bool isSDReady() const override;
+    bool isCardReady() override;
+    bool isGPSReady() const override;
+
+    void vibrator() override;
+    void stopVibrator() override;
+    void setMessageToneVolume(uint8_t volume_percent) override;
+    uint8_t getMessageToneVolume() const override;
+
+    bool lockSystemI2c(uint32_t timeout_ms = 1000);
+    void unlockSystemI2c();
+    i2c_master_bus_handle_t systemI2cHandle() const;
+    i2c_master_bus_handle_t externalI2cHandle() const;
+    i2c_master_dev_handle_t addSystemI2cDevice(uint16_t address, uint32_t speed_hz = 400000) const;
+    void removeSystemI2cDevice(i2c_master_dev_handle_t handle) const;
+    i2c_master_dev_handle_t getManagedSystemI2cDevice(const SystemI2cDeviceConfig& config,
+                                                      uint32_t timeout_ms = 1000);
+
+    bool setExt5vEnabled(bool enabled);
+    bool acquireExt5vRail(const char* owner);
+    void releaseExt5vRail(const char* owner);
+    bool isExt5vEnabled() const;
+    bool touchInterruptActive() const;
+
+    bool configureGpsUart();
+    void teardownGpsUart();
+    uart_port_t gpsUartPort() const;
+
+    bool isRadioOnline() const override;
+    int transmitRadio(const uint8_t* data, size_t len) override;
+    int startRadioReceive() override;
+    uint32_t getRadioIrqFlags() override;
+    int getRadioPacketLength(bool update) override;
+    int readRadioData(uint8_t* buf, size_t len) override;
+    void clearRadioIrqFlags(uint32_t flags) override;
+    float getRadioRSSI() override;
+    float getRadioSNR() override;
+    void configureLoraRadio(float freq_mhz, float bw_khz, uint8_t sf, uint8_t cr_denom,
+                            int8_t tx_power, uint16_t preamble_len, uint8_t sync_word,
+                            uint8_t crc_len) override;
+
+  private:
+    struct ManagedI2cSlot
+    {
+        bool active = false;
+        uint16_t address = 0;
+        uint32_t speed_hz = 0;
+        i2c_master_dev_handle_t handle = nullptr;
+        char owner[24] = {};
+    };
+
+    struct ManagedLeaseSlot
+    {
+        bool active = false;
+        uint32_t refs = 0;
+        char owner[24] = {};
+    };
+
+    Tab5Board() = default;
+    static bool ensureRadioReady();
+    static void copyOwnerTag(const char* src, char* dst, size_t dst_len);
+    ManagedI2cSlot* findManagedI2cSlot(uint16_t address, uint32_t speed_hz);
+    const ManagedI2cSlot* findManagedI2cSlot(uint16_t address, uint32_t speed_hz) const;
+    ManagedI2cSlot* findFreeManagedI2cSlot();
+    ManagedLeaseSlot* findLeaseSlot(std::array<ManagedLeaseSlot, 6>& slots, const char* owner);
+    const ManagedLeaseSlot* findLeaseSlot(const std::array<ManagedLeaseSlot, 6>& slots, const char* owner) const;
+    ManagedLeaseSlot* findFreeLeaseSlot(std::array<ManagedLeaseSlot, 6>& slots);
+    void updateExt5vStateLocked(bool enabled);
+    void logManagedResourcesLocked(const char* reason) const;
+
+    uint8_t brightness_level_ = DEVICE_MAX_BRIGHTNESS_LEVEL;
+    uint8_t message_tone_volume_ = 45;
+    bool ext_5v_enabled_ = false;
+    bool gps_uart_configured_ = false;
+    mutable std::mutex resource_mutex_;
+    std::array<ManagedI2cSlot, 8> managed_system_i2c_{};
+    std::array<ManagedLeaseSlot, 6> ext5v_leases_{};
+};
+
+} // namespace boards::tab5
diff --git a/boards/tab5/library.json b/boards/tab5/library.json
new file mode 100644
index 00000000..61e3b76f
--- /dev/null
+++ b/boards/tab5/library.json
@@ -0,0 +1,27 @@
+{
+  "name": "boards_tab5",
+  "version": "0.1.0",
+  "frameworks": [
+    "espidf"
+  ],
+  "platforms": [
+    "espressif32"
+  ],
+  "build": {
+    "includeDir": "include",
+    "srcDir": "src",
+    "flags": [
+      "-std=gnu++17",
+      "-Iinclude",
+      "-I../..",
+      "-I../../platform/esp/boards/include",
+      "-I../../platform/esp/idf_common/include",
+      "-I../../modules/ui_shared/include",
+      "-I../../modules/core_sys/include",
+      "-I../../modules/core_chat/include",
+      "-I../../modules/core_gps/include",
+      "-I../../modules/core_hostlink/include",
+      "-I../../modules/core_team/include"
+    ]
+  }
+}
diff --git a/platform/esp/idf_common/src/tab5_codec_compat.cpp b/boards/tab5/src/codec_compat.cpp
similarity index 89%
rename from platform/esp/idf_common/src/tab5_codec_compat.cpp
rename to boards/tab5/src/codec_compat.cpp
index 146a407d..782e5754 100644
--- a/platform/esp/idf_common/src/tab5_codec_compat.cpp
+++ b/boards/tab5/src/codec_compat.cpp
@@ -1,4 +1,4 @@
-#include "platform/esp/idf_common/tab5_codec_compat.h"
+#include "boards/tab5/codec_compat.h"
 
 #include <algorithm>
 #include <cstdlib>
@@ -37,7 +37,7 @@ extern "C"
 }
 #endif
 
-namespace platform::esp::idf_common
+namespace boards::tab5
 {
 namespace
 {
@@ -57,7 +57,7 @@ bsp_codec_config_t* active_codec()
 
 } // namespace
 
-Tab5CodecCompat::~Tab5CodecCompat()
+CodecCompat::~CodecCompat()
 {
     if (scratch_)
     {
@@ -67,7 +67,7 @@ Tab5CodecCompat::~Tab5CodecCompat()
     }
 }
 
-bool Tab5CodecCompat::ensure_ready()
+bool CodecCompat::ensure_ready()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     bsp_codec_config_t* codec = active_codec();
@@ -89,7 +89,7 @@ bool Tab5CodecCompat::ensure_ready()
 #endif
 }
 
-bool Tab5CodecCompat::ensure_scratch(size_t size)
+bool CodecCompat::ensure_scratch(size_t size)
 {
     if (scratch_size_ >= size)
     {
@@ -107,7 +107,7 @@ bool Tab5CodecCompat::ensure_scratch(size_t size)
     return true;
 }
 
-int Tab5CodecCompat::open(uint8_t bits_per_sample, uint8_t channel, uint32_t sample_rate)
+int CodecCompat::open(uint8_t bits_per_sample, uint8_t channel, uint32_t sample_rate)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     if (!ensure_ready())
@@ -151,12 +151,12 @@ int Tab5CodecCompat::open(uint8_t bits_per_sample, uint8_t channel, uint32_t sam
 #endif
 }
 
-void Tab5CodecCompat::close()
+void CodecCompat::close()
 {
     setOutMute(true);
 }
 
-int Tab5CodecCompat::write(uint8_t* buffer, size_t size)
+int CodecCompat::write(uint8_t* buffer, size_t size)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     if (!ensure_ready())
@@ -179,7 +179,7 @@ int Tab5CodecCompat::write(uint8_t* buffer, size_t size)
 #endif
 }
 
-int Tab5CodecCompat::read(uint8_t* buffer, size_t size)
+int CodecCompat::read(uint8_t* buffer, size_t size)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     if (!ensure_ready())
@@ -246,7 +246,7 @@ int Tab5CodecCompat::read(uint8_t* buffer, size_t size)
 #endif
 }
 
-void Tab5CodecCompat::setMute(bool enable)
+void CodecCompat::setMute(bool enable)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     mute_ = enable;
@@ -263,12 +263,12 @@ void Tab5CodecCompat::setMute(bool enable)
 #endif
 }
 
-bool Tab5CodecCompat::getMute() const
+bool CodecCompat::getMute() const
 {
     return mute_;
 }
 
-void Tab5CodecCompat::setOutMute(bool enable)
+void CodecCompat::setOutMute(bool enable)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     out_mute_ = enable;
@@ -285,12 +285,12 @@ void Tab5CodecCompat::setOutMute(bool enable)
 #endif
 }
 
-bool Tab5CodecCompat::getOutMute() const
+bool CodecCompat::getOutMute() const
 {
     return out_mute_;
 }
 
-void Tab5CodecCompat::setVolume(uint8_t level)
+void CodecCompat::setVolume(uint8_t level)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     volume_ = level;
@@ -307,7 +307,7 @@ void Tab5CodecCompat::setVolume(uint8_t level)
 #endif
 }
 
-int Tab5CodecCompat::getVolume() const
+int CodecCompat::getVolume() const
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     return volume_;
@@ -316,7 +316,7 @@ int Tab5CodecCompat::getVolume() const
 #endif
 }
 
-void Tab5CodecCompat::setGain(float db_value)
+void CodecCompat::setGain(float db_value)
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
     gain_db_ = db_value;
@@ -333,14 +333,14 @@ void Tab5CodecCompat::setGain(float db_value)
 #endif
 }
 
-float Tab5CodecCompat::getGain() const
+float CodecCompat::getGain() const
 {
     return gain_db_;
 }
 
-bool Tab5CodecCompat::ready() const
+bool CodecCompat::ready() const
 {
     return ready_;
 }
 
-} // namespace platform::esp::idf_common
\ No newline at end of file
+} // namespace boards::tab5
diff --git a/boards/tab5/src/heading_runtime.cpp b/boards/tab5/src/heading_runtime.cpp
new file mode 100644
index 00000000..5666ed13
--- /dev/null
+++ b/boards/tab5/src/heading_runtime.cpp
@@ -0,0 +1,451 @@
+#include "boards/tab5/heading_runtime.h"
+
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+
+#include <cmath>
+#include <cstdint>
+#include <cstring>
+#include <mutex>
+
+#include "bmi2.h"
+#include "bmi270.h"
+#include "boards/tab5/tab5_board.h"
+#include "driver/i2c_master.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+namespace boards::tab5::heading_runtime
+{
+namespace
+{
+
+constexpr const char* kTag = "tab5-heading";
+constexpr uint8_t kBmi270Address = 0x69;
+constexpr uint8_t kBmm150Address = 0x10;
+constexpr uint8_t kBmm150RegChipId = 0x40;
+constexpr uint8_t kBmm150RegData = 0x42;
+constexpr uint8_t kBmm150RegStatus = 0x48;
+constexpr uint8_t kBmm150RegPower = 0x4B;
+constexpr uint8_t kBmm150RegOpmode = 0x4C;
+constexpr uint8_t kBmm150RegAxes = 0x4E;
+constexpr uint8_t kBmm150RegRepxy = 0x51;
+constexpr uint8_t kBmm150RegRepz = 0x52;
+constexpr uint32_t kI2cTimeoutMs = 60;
+constexpr uint32_t kSampleIntervalMs = 200;
+constexpr uint32_t kLogIntervalMs = 3000;
+constexpr float kPi = 3.14159265358979323846f;
+
+struct RuntimeState
+{
+    std::mutex mutex;
+    HeadingState data{};
+    bool started = false;
+    bool sensor_ready = false;
+    bool measurement_active = false;
+    uint32_t retry_backoff_ms = 1000;
+    uint32_t next_retry_ms = 0;
+    TaskHandle_t task = nullptr;
+    i2c_master_dev_handle_t bmi_handle = nullptr;
+    bmi2_dev bmi{};
+};
+
+RuntimeState g_runtime{};
+
+uint32_t now_ms()
+{
+    return static_cast<uint32_t>(esp_timer_get_time() / 1000ULL);
+}
+
+float normalize_degrees(float angle)
+{
+    while (angle < 0.0f)
+    {
+        angle += 360.0f;
+    }
+    while (angle >= 360.0f)
+    {
+        angle -= 360.0f;
+    }
+    return angle;
+}
+
+float blend_heading(float previous, float next, float alpha)
+{
+    float delta = normalize_degrees(next - previous);
+    if (delta > 180.0f)
+    {
+        delta -= 360.0f;
+    }
+    return normalize_degrees(previous + delta * alpha);
+}
+
+int8_t bmi_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t len, void* intf_ptr)
+{
+    (void)intf_ptr;
+    if (g_runtime.bmi_handle == nullptr || reg_data == nullptr || len == 0)
+    {
+        return BMI2_E_COM_FAIL;
+    }
+
+    auto& board = ::boards::tab5::Tab5Board::instance();
+    if (!board.lockSystemI2c(kI2cTimeoutMs))
+    {
+        return BMI2_E_COM_FAIL;
+    }
+
+    const uint8_t write_buffer[1] = {reg_addr};
+    const esp_err_t err =
+        i2c_master_transmit_receive(g_runtime.bmi_handle, write_buffer, sizeof(write_buffer), reg_data, len, kI2cTimeoutMs);
+    board.unlockSystemI2c();
+    return err == ESP_OK ? BMI2_OK : BMI2_E_COM_FAIL;
+}
+
+int8_t bmi_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t len, void* intf_ptr)
+{
+    (void)intf_ptr;
+    if (g_runtime.bmi_handle == nullptr || reg_data == nullptr || len == 0 || len > 31)
+    {
+        return BMI2_E_COM_FAIL;
+    }
+
+    auto& board = ::boards::tab5::Tab5Board::instance();
+    if (!board.lockSystemI2c(kI2cTimeoutMs))
+    {
+        return BMI2_E_COM_FAIL;
+    }
+
+    uint8_t write_buffer[32];
+    write_buffer[0] = reg_addr;
+    std::memcpy(&write_buffer[1], reg_data, len);
+    const esp_err_t err = i2c_master_transmit(g_runtime.bmi_handle, write_buffer, len + 1, kI2cTimeoutMs);
+    board.unlockSystemI2c();
+    return err == ESP_OK ? BMI2_OK : BMI2_E_COM_FAIL;
+}
+
+void bmi_delay_us(uint32_t period, void* intf_ptr)
+{
+    (void)intf_ptr;
+    const uint32_t delay_ms = (period + 999U) / 1000U;
+    vTaskDelay(pdMS_TO_TICKS(delay_ms == 0 ? 1 : delay_ms));
+}
+
+bool add_bmi_device()
+{
+    if (g_runtime.bmi_handle != nullptr)
+    {
+        return true;
+    }
+
+    auto& board = ::boards::tab5::Tab5Board::instance();
+    const ::boards::tab5::Tab5Board::SystemI2cDeviceConfig config{
+        "heading_bmi270",
+        kBmi270Address,
+        400000,
+    };
+    g_runtime.bmi_handle = board.getManagedSystemI2cDevice(config, kI2cTimeoutMs);
+    if (g_runtime.bmi_handle == nullptr)
+    {
+        ESP_LOGE(kTag, "Failed to provision managed BMI270 device");
+        return false;
+    }
+
+    g_runtime.bmi = {};
+    g_runtime.bmi.intf = BMI2_I2C_INTF;
+    g_runtime.bmi.read = bmi_read;
+    g_runtime.bmi.write = bmi_write;
+    g_runtime.bmi.delay_us = bmi_delay_us;
+    g_runtime.bmi.read_write_len = 30;
+    g_runtime.bmi.config_file_ptr = nullptr;
+    return true;
+}
+
+bool init_bmi270()
+{
+    if (!add_bmi_device())
+    {
+        return false;
+    }
+
+    ESP_LOGI(kTag, "Initializing Module GNSS BMI270 on SYS I2C");
+    const int8_t rslt = bmi270_init(&g_runtime.bmi);
+    if (rslt != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "bmi270_init failed: %d", static_cast<int>(rslt));
+        return false;
+    }
+    return true;
+}
+
+bool configure_bmm150()
+{
+    bmi2_sens_config aux_cfg{};
+    aux_cfg.type = BMI2_AUX;
+    aux_cfg.cfg.aux.aux_en = BMI2_ENABLE;
+    aux_cfg.cfg.aux.i2c_device_addr = kBmm150Address;
+    aux_cfg.cfg.aux.manual_en = BMI2_ENABLE;
+    aux_cfg.cfg.aux.fcu_write_en = BMI2_ENABLE;
+    aux_cfg.cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
+    aux_cfg.cfg.aux.aux_rd_burst = BMI2_AUX_READ_LEN_3;
+    aux_cfg.cfg.aux.odr = BMI2_AUX_ODR_100HZ;
+    aux_cfg.cfg.aux.read_addr = kBmm150RegData;
+    aux_cfg.cfg.aux.offset = 0;
+
+    if (bmi2_set_sensor_config(&aux_cfg, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to configure BMI270 AUX interface");
+        return false;
+    }
+
+    uint8_t reg = 0x01;
+    if (bmi2_write_aux_man_mode(kBmm150RegPower, &reg, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to wake BMM150 from suspend");
+        return false;
+    }
+    vTaskDelay(pdMS_TO_TICKS(10));
+
+    reg = 0x82;
+    if (bmi2_write_aux_man_mode(kBmm150RegPower, &reg, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to soft reset BMM150");
+        return false;
+    }
+    vTaskDelay(pdMS_TO_TICKS(4));
+
+    reg = 0x01;
+    if (bmi2_write_aux_man_mode(kBmm150RegPower, &reg, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to confirm BMM150 sleep mode");
+        return false;
+    }
+    vTaskDelay(pdMS_TO_TICKS(10));
+
+    uint8_t chip_id = 0;
+    if (bmi2_read_aux_man_mode(kBmm150RegChipId, &chip_id, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to read BMM150 chip id");
+        return false;
+    }
+    if (chip_id != 0x32)
+    {
+        ESP_LOGE(kTag, "Unexpected BMM150 chip id: 0x%02X", chip_id);
+        return false;
+    }
+
+    reg = 0x01;
+    (void)bmi2_write_aux_man_mode(kBmm150RegRepxy, &reg, 1, &g_runtime.bmi);
+    (void)bmi2_write_aux_man_mode(kBmm150RegRepz, &reg, 1, &g_runtime.bmi);
+    reg = 0x07;
+    (void)bmi2_write_aux_man_mode(kBmm150RegAxes, &reg, 1, &g_runtime.bmi);
+    vTaskDelay(pdMS_TO_TICKS(5));
+
+    ESP_LOGI(kTag, "BMM150 ready on AUX bus");
+    return true;
+}
+
+bool start_measurement()
+{
+    if (bmi2_set_adv_power_save(BMI2_DISABLE, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGW(kTag, "Failed to disable BMI270 advanced power save");
+    }
+
+    uint8_t opmode = 0x00;
+    if (bmi2_write_aux_man_mode(kBmm150RegOpmode, &opmode, 1, &g_runtime.bmi) != BMI2_OK)
+    {
+        ESP_LOGE(kTag, "Failed to enter BMM150 normal mode");
+        return false;
+    }
+    vTaskDelay(pdMS_TO_TICKS(10));
+    g_runtime.measurement_active = true;
+    ESP_LOGI(kTag, "BMM150 measurement started");
+    return true;
+}
+
+bool ensure_sensor_ready()
+{
+    if (g_runtime.sensor_ready)
+    {
+        return true;
+    }
+
+    const uint32_t now = now_ms();
+    if (g_runtime.next_retry_ms != 0 && now < g_runtime.next_retry_ms)
+    {
+        return false;
+    }
+
+    (void)::boards::tab5::Tab5Board::instance().acquireExt5vRail("heading_runtime");
+    vTaskDelay(pdMS_TO_TICKS(300));
+
+    if (!init_bmi270())
+    {
+        g_runtime.next_retry_ms = now_ms() + g_runtime.retry_backoff_ms;
+        g_runtime.retry_backoff_ms = std::min<uint32_t>(g_runtime.retry_backoff_ms * 2U, 15000U);
+        return false;
+    }
+    if (!configure_bmm150())
+    {
+        g_runtime.next_retry_ms = now_ms() + g_runtime.retry_backoff_ms;
+        g_runtime.retry_backoff_ms = std::min<uint32_t>(g_runtime.retry_backoff_ms * 2U, 15000U);
+        return false;
+    }
+    if (!start_measurement())
+    {
+        g_runtime.next_retry_ms = now_ms() + g_runtime.retry_backoff_ms;
+        g_runtime.retry_backoff_ms = std::min<uint32_t>(g_runtime.retry_backoff_ms * 2U, 15000U);
+        return false;
+    }
+
+    {
+        std::lock_guard<std::mutex> lock(g_runtime.mutex);
+        g_runtime.sensor_ready = true;
+        g_runtime.data.sensor_ready = true;
+    }
+    g_runtime.retry_backoff_ms = 1000;
+    g_runtime.next_retry_ms = 0;
+    return true;
+}
+
+void publish_invalid()
+{
+    std::lock_guard<std::mutex> lock(g_runtime.mutex);
+    g_runtime.data.available = false;
+    g_runtime.data.sensor_ready = g_runtime.sensor_ready;
+}
+
+void publish_heading(int16_t raw_x, int16_t raw_y, int16_t raw_z, float heading_deg)
+{
+    std::lock_guard<std::mutex> lock(g_runtime.mutex);
+    HeadingState next = g_runtime.data;
+    const bool had_previous = g_runtime.data.available;
+    next.available = true;
+    next.sensor_ready = true;
+    next.raw_x = raw_x;
+    next.raw_y = raw_y;
+    next.raw_z = raw_z;
+    next.heading_deg = had_previous ? blend_heading(next.heading_deg, heading_deg, 0.35f) : heading_deg;
+    next.last_update_ms = now_ms();
+    g_runtime.data = next;
+}
+
+bool sample_once()
+{
+    if (!g_runtime.measurement_active)
+    {
+        return false;
+    }
+
+    uint8_t status_reg = 0;
+    const int8_t status_rslt = bmi2_read_aux_man_mode(kBmm150RegStatus, &status_reg, 1, &g_runtime.bmi);
+    if (status_rslt != BMI2_OK || (status_reg & 0x01U) == 0)
+    {
+        return false;
+    }
+
+    uint8_t mag_data[8] = {};
+    const int8_t rslt = bmi2_read_aux_man_mode(kBmm150RegData, mag_data, sizeof(mag_data), &g_runtime.bmi);
+    if (rslt != BMI2_OK)
+    {
+        return false;
+    }
+
+    const int16_t raw_x = static_cast<int16_t>((mag_data[1] << 8) | (mag_data[0] & 0xF8)) >> 3;
+    const int16_t raw_y = static_cast<int16_t>((mag_data[3] << 8) | (mag_data[2] & 0xF8)) >> 3;
+    const int16_t raw_z = static_cast<int16_t>((mag_data[5] << 8) | (mag_data[4] & 0xFE)) >> 1;
+
+    float heading_deg = std::atan2(static_cast<float>(raw_y), static_cast<float>(raw_x)) * 180.0f / kPi;
+    if (heading_deg < 0.0f)
+    {
+        heading_deg += 360.0f;
+    }
+    publish_heading(raw_x, raw_y, raw_z, heading_deg);
+    return true;
+}
+
+void task_main(void* arg)
+{
+    (void)arg;
+    uint32_t last_log_ms = 0;
+    uint32_t last_error_ms = 0;
+
+    ESP_LOGI(kTag, "Heading task started");
+
+    for (;;)
+    {
+        if (!ensure_sensor_ready())
+        {
+            publish_invalid();
+            if (now_ms() - last_error_ms >= kLogIntervalMs)
+            {
+                ESP_LOGW(kTag,
+                         "Heading sensor not ready yet backoff=%lu next_retry_in=%ld ms",
+                         static_cast<unsigned long>(g_runtime.retry_backoff_ms),
+                         g_runtime.next_retry_ms > now_ms() ? static_cast<long>(g_runtime.next_retry_ms - now_ms()) : 0L);
+                last_error_ms = now_ms();
+            }
+            vTaskDelay(pdMS_TO_TICKS(250));
+            continue;
+        }
+
+        if (sample_once())
+        {
+            const HeadingState current = get_data();
+            if (now_ms() - last_log_ms >= kLogIntervalMs)
+            {
+                ESP_LOGI(kTag,
+                         "heading=%.1f raw=(%d,%d,%d) age=%lu ms",
+                         static_cast<double>(current.heading_deg),
+                         static_cast<int>(current.raw_x),
+                         static_cast<int>(current.raw_y),
+                         static_cast<int>(current.raw_z),
+                         static_cast<unsigned long>(now_ms() - current.last_update_ms));
+                last_log_ms = now_ms();
+            }
+        }
+        else if (now_ms() - last_error_ms >= kLogIntervalMs)
+        {
+            const HeadingState current = get_data();
+            ESP_LOGW(kTag,
+                     "No fresh BMM150 sample yet sensor_ready=%d active=%d age=%lu ms",
+                     g_runtime.sensor_ready ? 1 : 0,
+                     g_runtime.measurement_active ? 1 : 0,
+                     current.last_update_ms != 0 ? static_cast<unsigned long>(now_ms() - current.last_update_ms) : 0UL);
+            last_error_ms = now_ms();
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(kSampleIntervalMs));
+    }
+}
+
+} // namespace
+
+void ensure_started()
+{
+    std::lock_guard<std::mutex> lock(g_runtime.mutex);
+    if (g_runtime.started)
+    {
+        return;
+    }
+
+    BaseType_t ok = xTaskCreate(task_main, "tab5_heading", 6144, nullptr, 4, &g_runtime.task);
+    if (ok != pdPASS)
+    {
+        ESP_LOGE(kTag, "Failed to create heading task");
+        return;
+    }
+    g_runtime.started = true;
+}
+
+HeadingState get_data()
+{
+    std::lock_guard<std::mutex> lock(g_runtime.mutex);
+    return g_runtime.data;
+}
+
+} // namespace boards::tab5::heading_runtime
+
+#endif
diff --git a/platform/esp/idf_common/src/tab5_rtc_runtime.cpp b/boards/tab5/src/rtc_runtime.cpp
similarity index 89%
rename from platform/esp/idf_common/src/tab5_rtc_runtime.cpp
rename to boards/tab5/src/rtc_runtime.cpp
index eb496f29..cded9590 100644
--- a/platform/esp/idf_common/src/tab5_rtc_runtime.cpp
+++ b/boards/tab5/src/rtc_runtime.cpp
@@ -1,25 +1,20 @@
-#include "platform/esp/idf_common/tab5_rtc_runtime.h"
+#include "boards/tab5/rtc_runtime.h"
 
 #include <cstdint>
 #include <cstdio>
 #include <cstring>
 #include <limits>
+#include <memory>
 #include <sys/time.h>
 
 #include "esp_log.h"
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+#include "boards/tab5/tab5_board.h"
 #include "driver/i2c_master.h"
-
-extern "C"
-{
-    i2c_master_bus_handle_t bsp_i2c_get_handle(void);
-    bool bsp_i2c_lock(uint32_t timeout_ms);
-    void bsp_i2c_unlock(void);
-}
 #endif
 
-namespace platform::esp::idf_common::tab5_rtc_runtime
+namespace boards::tab5::rtc_runtime
 {
 namespace
 {
@@ -110,31 +105,20 @@ class ScopedRtcDevice
   public:
     ScopedRtcDevice()
     {
-        if (!bsp_i2c_lock(kI2cTimeoutMs))
+        const ::boards::tab5::Tab5Board::SystemI2cDeviceConfig config{
+            "rtc",
+            kRtcAddress,
+            400000,
+        };
+        guard_ = std::make_unique<::boards::tab5::Tab5Board::ManagedSystemI2cGuard>(
+            ::boards::tab5::Tab5Board::instance(),
+            config,
+            kI2cTimeoutMs);
+        if (!guard_ || !guard_->ok())
         {
-            ESP_LOGW(kTag, "Failed to lock SYS I2C for RTC access");
-            return;
-        }
-
-        locked_ = true;
-        i2c_master_bus_handle_t bus = bsp_i2c_get_handle();
-        if (bus == nullptr)
-        {
-            ESP_LOGW(kTag, "SYS I2C handle is not available");
-            return;
-        }
-
-        i2c_device_config_t dev_cfg = {};
-        dev_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
-        dev_cfg.device_address = kRtcAddress;
-        dev_cfg.scl_speed_hz = 400000;
-        const esp_err_t err = i2c_master_bus_add_device(bus, &dev_cfg, &handle_);
-        if (err != ESP_OK)
-        {
-            handle_ = nullptr;
-            ESP_LOGW(kTag, "i2c_master_bus_add_device(RTC) failed: %s", esp_err_to_name(err));
             return;
         }
+        handle_ = guard_->handle();
 
         uint8_t ctrl1 = 0;
         if (read8(kRegCtrl1, &ctrl1) == ESP_OK)
@@ -149,16 +133,8 @@ class ScopedRtcDevice
 
     ~ScopedRtcDevice()
     {
-        if (handle_ != nullptr)
-        {
-            (void)i2c_master_bus_rm_device(handle_);
-            handle_ = nullptr;
-        }
-        if (locked_)
-        {
-            bsp_i2c_unlock();
-            locked_ = false;
-        }
+        handle_ = nullptr;
+        guard_.reset();
     }
 
     bool ok() const
@@ -199,7 +175,7 @@ class ScopedRtcDevice
     }
 
   private:
-    bool locked_ = false;
+    std::unique_ptr<::boards::tab5::Tab5Board::ManagedSystemI2cGuard> guard_;
     i2c_master_dev_handle_t handle_ = nullptr;
 };
 
@@ -487,4 +463,4 @@ bool sync_hardware_rtc_from_system_time()
 #endif
 }
 
-} // namespace platform::esp::idf_common::tab5_rtc_runtime
+} // namespace boards::tab5::rtc_runtime
diff --git a/boards/tab5/src/tab5_board.cpp b/boards/tab5/src/tab5_board.cpp
new file mode 100644
index 00000000..1c2cf659
--- /dev/null
+++ b/boards/tab5/src/tab5_board.cpp
@@ -0,0 +1,804 @@
+#include "boards/tab5/tab5_board.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+
+#include "boards/tab5/rtc_runtime.h"
+#include "driver/uart.h"
+#include "esp_log.h"
+#include "platform/esp/idf_common/bsp_runtime.h"
+#include "platform/esp/idf_common/gps_runtime.h"
+#include "platform/esp/idf_common/sx126x_radio.h"
+#include "platform/ui/device_runtime.h"
+
+extern "C"
+{
+#include "bsp/trail_mate_tab5_runtime.h"
+
+    i2c_master_bus_handle_t bsp_i2c_get_handle(void);
+    i2c_master_bus_handle_t bsp_ext_i2c_get_handle(void);
+    bool bsp_i2c_lock(uint32_t timeout_ms);
+    void bsp_i2c_unlock(void);
+    void bsp_set_ext_5v_en(bool en);
+}
+
+namespace
+{
+
+constexpr const char* kTag = "Tab5Board";
+
+platform::esp::idf_common::Sx126xRadio& radio()
+{
+    return platform::esp::idf_common::Sx126xRadio::instance();
+}
+
+} // namespace
+
+namespace boards::tab5
+{
+
+Tab5Board::SysI2cGuard::SysI2cGuard(Tab5Board& board, uint32_t timeout_ms)
+    : board_(&board), locked_(board.lockSystemI2c(timeout_ms))
+{
+}
+
+Tab5Board::SysI2cGuard::~SysI2cGuard()
+{
+    if (locked_ && board_ != nullptr)
+    {
+        board_->unlockSystemI2c();
+    }
+}
+
+bool Tab5Board::SysI2cGuard::locked() const
+{
+    return locked_;
+}
+
+Tab5Board::SysI2cGuard::operator bool() const
+{
+    return locked_;
+}
+
+Tab5Board::ManagedSystemI2cGuard::ManagedSystemI2cGuard(Tab5Board& board,
+                                                        const SystemI2cDeviceConfig& config,
+                                                        uint32_t timeout_ms)
+    : board_(&board)
+{
+    handle_ = board.getManagedSystemI2cDevice(config, timeout_ms);
+    if (handle_ == nullptr)
+    {
+        return;
+    }
+
+    locked_ = board.lockSystemI2c(timeout_ms);
+    if (!locked_)
+    {
+        ESP_LOGW(kTag,
+                 "Failed to lock SYS I2C for managed device owner=%s addr=0x%02X",
+                 config.owner ? config.owner : "unknown",
+                 static_cast<unsigned>(config.address));
+        handle_ = nullptr;
+    }
+}
+
+Tab5Board::ManagedSystemI2cGuard::~ManagedSystemI2cGuard()
+{
+    if (locked_ && board_ != nullptr)
+    {
+        board_->unlockSystemI2c();
+    }
+}
+
+bool Tab5Board::ManagedSystemI2cGuard::ok() const
+{
+    return locked_ && handle_ != nullptr;
+}
+
+Tab5Board::ManagedSystemI2cGuard::operator bool() const
+{
+    return ok();
+}
+
+i2c_master_dev_handle_t Tab5Board::ManagedSystemI2cGuard::handle() const
+{
+    return handle_;
+}
+
+esp_err_t Tab5Board::ManagedSystemI2cGuard::transmit(const uint8_t* data, size_t len, uint32_t timeout_ms) const
+{
+    if (!ok() || data == nullptr || len == 0)
+    {
+        return ESP_ERR_INVALID_ARG;
+    }
+    return i2c_master_transmit(handle_, data, len, timeout_ms);
+}
+
+esp_err_t Tab5Board::ManagedSystemI2cGuard::transmitReceive(const uint8_t* tx_data, size_t tx_len,
+                                                            uint8_t* rx_data, size_t rx_len,
+                                                            uint32_t timeout_ms) const
+{
+    if (!ok() || tx_data == nullptr || tx_len == 0 || rx_data == nullptr || rx_len == 0)
+    {
+        return ESP_ERR_INVALID_ARG;
+    }
+    return i2c_master_transmit_receive(handle_, tx_data, tx_len, rx_data, rx_len, timeout_ms);
+}
+
+Tab5Board& Tab5Board::instance()
+{
+    static Tab5Board board_instance;
+    return board_instance;
+}
+
+uint32_t Tab5Board::begin(uint32_t disable_hw_init)
+{
+    (void)disable_hw_init;
+    const auto& profile = Tab5Board::profile();
+    ESP_LOGI(kTag,
+             "begin name=%s short=%s ble=%s sys_i2c=(%d,%d,%d) gps_uart=(%d,%d,%d,%lu) rs485_uart=(%d,%d,%d,%d,%lu) "
+             "sdmmc=(%d,%d,%d,%d,%d,%d) lora_spi=(host=%d sck=%d miso=%d mosi=%d) "
+             "lora_ctrl=(nss=%d rst=%d irq=%d busy=%d pwr_en=%d) backlight=%d touch_int=%d",
+             defaultLongName(),
+             defaultShortName(),
+             defaultBleName(),
+             profile.sys_i2c.port,
+             profile.sys_i2c.sda,
+             profile.sys_i2c.scl,
+             profile.gps_uart.port,
+             profile.gps_uart.tx,
+             profile.gps_uart.rx,
+             static_cast<unsigned long>(profile.gps_uart.baud_rate),
+             profile.rs485_uart.port,
+             profile.rs485_uart.tx,
+             profile.rs485_uart.rx,
+             profile.rs485_uart.aux,
+             static_cast<unsigned long>(profile.rs485_uart.baud_rate),
+             profile.sdmmc.d0,
+             profile.sdmmc.d1,
+             profile.sdmmc.d2,
+             profile.sdmmc.d3,
+             profile.sdmmc.cmd,
+             profile.sdmmc.clk,
+             profile.lora_module.spi.host,
+             profile.lora_module.spi.sck,
+             profile.lora_module.spi.miso,
+             profile.lora_module.spi.mosi,
+             profile.lora_module.nss,
+             profile.lora_module.rst,
+             profile.lora_module.irq,
+             profile.lora_module.busy,
+             profile.lora_module.pwr_en,
+             profile.lcd_backlight,
+             profile.touch_int);
+    ensureRadioReady();
+    return 0;
+}
+
+void Tab5Board::wakeUp()
+{
+    (void)platform::esp::idf_common::bsp_runtime::wake_display();
+}
+
+void Tab5Board::handlePowerButton() {}
+
+void Tab5Board::softwareShutdown() {}
+
+void Tab5Board::enterScreenSleep()
+{
+    (void)platform::esp::idf_common::bsp_runtime::sleep_display();
+}
+
+void Tab5Board::exitScreenSleep()
+{
+    (void)platform::esp::idf_common::bsp_runtime::wake_display();
+}
+
+void Tab5Board::setBrightness(uint8_t level)
+{
+    brightness_level_ = level;
+    const int percent = (DEVICE_MAX_BRIGHTNESS_LEVEL <= 0)
+                            ? 100
+                            : static_cast<int>((static_cast<uint32_t>(level) * 100U) /
+                                               static_cast<uint32_t>(DEVICE_MAX_BRIGHTNESS_LEVEL));
+    (void)platform::esp::idf_common::bsp_runtime::set_display_brightness(percent);
+}
+
+uint8_t Tab5Board::getBrightness()
+{
+    return brightness_level_;
+}
+
+bool Tab5Board::hasKeyboard()
+{
+    return false;
+}
+
+void Tab5Board::keyboardSetBrightness(uint8_t level)
+{
+    (void)level;
+}
+
+uint8_t Tab5Board::keyboardGetBrightness()
+{
+    return 0;
+}
+
+bool Tab5Board::isRTCReady() const
+{
+    return ::boards::tab5::rtc_runtime::is_valid_epoch(std::time(nullptr));
+}
+
+bool Tab5Board::isCharging()
+{
+    return platform::ui::device::battery_info().charging;
+}
+
+int Tab5Board::getBatteryLevel()
+{
+    const auto info = platform::ui::device::battery_info();
+    return info.available ? info.level : -1;
+}
+
+bool Tab5Board::isSDReady() const
+{
+    return platform::esp::idf_common::bsp_runtime::sdcard_ready();
+}
+
+bool Tab5Board::isCardReady()
+{
+    return platform::esp::idf_common::bsp_runtime::sdcard_ready();
+}
+
+bool Tab5Board::isGPSReady() const
+{
+    return platform::esp::idf_common::gps_runtime::is_enabled() ||
+           platform::esp::idf_common::gps_runtime::is_powered();
+}
+
+void Tab5Board::vibrator() {}
+
+void Tab5Board::stopVibrator() {}
+
+void Tab5Board::setMessageToneVolume(uint8_t volume_percent)
+{
+    message_tone_volume_ = volume_percent;
+}
+
+uint8_t Tab5Board::getMessageToneVolume() const
+{
+    return message_tone_volume_;
+}
+
+bool Tab5Board::lockSystemI2c(uint32_t timeout_ms)
+{
+    return bsp_i2c_lock(timeout_ms);
+}
+
+void Tab5Board::unlockSystemI2c()
+{
+    bsp_i2c_unlock();
+}
+
+i2c_master_bus_handle_t Tab5Board::systemI2cHandle() const
+{
+    return bsp_i2c_get_handle();
+}
+
+i2c_master_bus_handle_t Tab5Board::externalI2cHandle() const
+{
+    return bsp_ext_i2c_get_handle();
+}
+
+i2c_master_dev_handle_t Tab5Board::addSystemI2cDevice(uint16_t address, uint32_t speed_hz) const
+{
+    i2c_master_bus_handle_t bus = systemI2cHandle();
+    if (bus == nullptr)
+    {
+        ESP_LOGW(kTag, "SYS I2C handle unavailable when adding device 0x%02X", address);
+        return nullptr;
+    }
+
+    i2c_master_dev_handle_t handle = nullptr;
+    i2c_device_config_t dev_cfg = {};
+    dev_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
+    dev_cfg.device_address = address;
+    dev_cfg.scl_speed_hz = speed_hz;
+    const esp_err_t err = i2c_master_bus_add_device(bus, &dev_cfg, &handle);
+    if (err != ESP_OK)
+    {
+        ESP_LOGW(kTag,
+                 "Failed to add SYS I2C device 0x%02X: %s",
+                 address,
+                 esp_err_to_name(err));
+        return nullptr;
+    }
+    return handle;
+}
+
+void Tab5Board::removeSystemI2cDevice(i2c_master_dev_handle_t handle) const
+{
+    if (handle == nullptr)
+    {
+        return;
+    }
+    const esp_err_t err = i2c_master_bus_rm_device(handle);
+    if (err != ESP_OK)
+    {
+        ESP_LOGW(kTag, "Failed to remove SYS I2C device: %s", esp_err_to_name(err));
+    }
+}
+
+i2c_master_dev_handle_t Tab5Board::getManagedSystemI2cDevice(const SystemI2cDeviceConfig& config,
+                                                             uint32_t timeout_ms)
+{
+    if (config.address == 0)
+    {
+        return nullptr;
+    }
+
+    {
+        std::lock_guard<std::mutex> lock(resource_mutex_);
+        ManagedI2cSlot* existing = findManagedI2cSlot(config.address, config.speed_hz);
+        if (existing != nullptr)
+        {
+            return existing->handle;
+        }
+    }
+
+    SysI2cGuard bus_guard(*this, timeout_ms);
+    if (!bus_guard)
+    {
+        ESP_LOGW(kTag,
+                 "Failed to lock SYS I2C while creating managed device owner=%s addr=0x%02X",
+                 config.owner ? config.owner : "unknown",
+                 static_cast<unsigned>(config.address));
+        return nullptr;
+    }
+
+    std::lock_guard<std::mutex> lock(resource_mutex_);
+    ManagedI2cSlot* existing = findManagedI2cSlot(config.address, config.speed_hz);
+    if (existing != nullptr)
+    {
+        return existing->handle;
+    }
+
+    ManagedI2cSlot* slot = findFreeManagedI2cSlot();
+    if (slot == nullptr)
+    {
+        ESP_LOGW(kTag,
+                 "No free managed SYS I2C slot for owner=%s addr=0x%02X",
+                 config.owner ? config.owner : "unknown",
+                 static_cast<unsigned>(config.address));
+        return nullptr;
+    }
+
+    i2c_master_dev_handle_t handle = addSystemI2cDevice(config.address, config.speed_hz);
+    if (handle == nullptr)
+    {
+        return nullptr;
+    }
+
+    slot->active = true;
+    slot->address = config.address;
+    slot->speed_hz = config.speed_hz;
+    slot->handle = handle;
+    copyOwnerTag(config.owner, slot->owner, sizeof(slot->owner));
+    logManagedResourcesLocked("i2c_register");
+    return handle;
+}
+
+bool Tab5Board::setExt5vEnabled(bool enabled)
+{
+    std::lock_guard<std::mutex> lock(resource_mutex_);
+    updateExt5vStateLocked(enabled);
+    return true;
+}
+
+bool Tab5Board::acquireExt5vRail(const char* owner)
+{
+    std::lock_guard<std::mutex> lock(resource_mutex_);
+    ManagedLeaseSlot* slot = findLeaseSlot(ext5v_leases_, owner);
+    if (slot == nullptr)
+    {
+        slot = findFreeLeaseSlot(ext5v_leases_);
+        if (slot == nullptr)
+        {
+            ESP_LOGW(kTag, "No free Ext5V lease slot for owner=%s", owner ? owner : "unknown");
+            return false;
+        }
+        slot->active = true;
+        slot->refs = 0;
+        copyOwnerTag(owner, slot->owner, sizeof(slot->owner));
+    }
+
+    ++slot->refs;
+    updateExt5vStateLocked(true);
+    logManagedResourcesLocked("ext5v_acquire");
+    return true;
+}
+
+void Tab5Board::releaseExt5vRail(const char* owner)
+{
+    std::lock_guard<std::mutex> lock(resource_mutex_);
+    ManagedLeaseSlot* slot = findLeaseSlot(ext5v_leases_, owner);
+    if (slot == nullptr)
+    {
+        ESP_LOGW(kTag, "Ext5V release ignored for unknown owner=%s", owner ? owner : "unknown");
+        return;
+    }
+
+    if (slot->refs > 0)
+    {
+        --slot->refs;
+    }
+    if (slot->refs == 0)
+    {
+        slot->active = false;
+        slot->owner[0] = '\0';
+    }
+
+    bool still_needed = false;
+    for (const auto& lease : ext5v_leases_)
+    {
+        if (lease.active && lease.refs > 0)
+        {
+            still_needed = true;
+            break;
+        }
+    }
+
+    updateExt5vStateLocked(still_needed);
+    logManagedResourcesLocked("ext5v_release");
+}
+
+bool Tab5Board::isExt5vEnabled() const
+{
+    return ext_5v_enabled_;
+}
+
+bool Tab5Board::touchInterruptActive() const
+{
+    return trail_mate_tab5_touch_interrupt_active();
+}
+
+bool Tab5Board::configureGpsUart()
+{
+    const auto& uart = gpsUart();
+    if (uart.port < 0 || uart.tx < 0 || uart.rx < 0 || uart.baud_rate == 0)
+    {
+        ESP_LOGW(kTag,
+                 "Refusing to configure invalid GNSS UART: port=%d tx=%d rx=%d baud=%lu",
+                 uart.port,
+                 uart.tx,
+                 uart.rx,
+                 static_cast<unsigned long>(uart.baud_rate));
+        return false;
+    }
+
+    if (gps_uart_configured_)
+    {
+        ESP_LOGI(kTag,
+                 "GNSS UART already configured: port=%d tx=%d rx=%d baud=%lu",
+                 uart.port,
+                 uart.tx,
+                 uart.rx,
+                 static_cast<unsigned long>(uart.baud_rate));
+        return true;
+    }
+
+    uart_config_t config = {};
+    config.baud_rate = static_cast<int>(uart.baud_rate);
+    config.data_bits = UART_DATA_8_BITS;
+    config.parity = UART_PARITY_DISABLE;
+    config.stop_bits = UART_STOP_BITS_1;
+    config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
+    config.source_clk = UART_SCLK_DEFAULT;
+
+    const uart_port_t port = static_cast<uart_port_t>(uart.port);
+    (void)uart_driver_delete(port);
+    esp_err_t err = uart_param_config(port, &config);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(kTag, "uart_param_config failed: %s", esp_err_to_name(err));
+        return false;
+    }
+    err = uart_set_pin(port, uart.tx, uart.rx, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(kTag, "uart_set_pin failed: %s", esp_err_to_name(err));
+        return false;
+    }
+    err = uart_driver_install(port, 4096, 0, 0, nullptr, 0);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(kTag, "uart_driver_install failed: %s", esp_err_to_name(err));
+        return false;
+    }
+    gps_uart_configured_ = true;
+    ESP_LOGI(kTag,
+             "GNSS UART configured: port=%d tx=%d rx=%d baud=%lu",
+             uart.port,
+             uart.tx,
+             uart.rx,
+             static_cast<unsigned long>(uart.baud_rate));
+    {
+        std::lock_guard<std::mutex> lock(resource_mutex_);
+        logManagedResourcesLocked("gps_uart_acquire");
+    }
+    return true;
+}
+
+void Tab5Board::teardownGpsUart()
+{
+    if (!gps_uart_configured_)
+    {
+        return;
+    }
+
+    const auto& uart = gpsUart();
+    if (uart.port >= 0)
+    {
+        (void)uart_driver_delete(static_cast<uart_port_t>(uart.port));
+    }
+    gps_uart_configured_ = false;
+    std::lock_guard<std::mutex> lock(resource_mutex_);
+    logManagedResourcesLocked("gps_uart_release");
+}
+
+uart_port_t Tab5Board::gpsUartPort() const
+{
+    return static_cast<uart_port_t>(gpsUart().port);
+}
+
+bool Tab5Board::isRadioOnline() const
+{
+    return ensureRadioReady() && radio().isOnline();
+}
+
+int Tab5Board::transmitRadio(const uint8_t* data, size_t len)
+{
+    if (!ensureRadioReady())
+    {
+        return -1;
+    }
+    return radio().startTransmit(data, len);
+}
+
+int Tab5Board::startRadioReceive()
+{
+    if (!ensureRadioReady())
+    {
+        return -1;
+    }
+    return radio().startReceive() ? 0 : -1;
+}
+
+uint32_t Tab5Board::getRadioIrqFlags()
+{
+    if (!ensureRadioReady())
+    {
+        return 0;
+    }
+    return radio().getIrqFlags();
+}
+
+int Tab5Board::getRadioPacketLength(bool update)
+{
+    if (!ensureRadioReady())
+    {
+        return -1;
+    }
+    return radio().getPacketLength(update);
+}
+
+int Tab5Board::readRadioData(uint8_t* buf, size_t len)
+{
+    if (!ensureRadioReady())
+    {
+        return -1;
+    }
+    return radio().readPacket(buf, len);
+}
+
+void Tab5Board::clearRadioIrqFlags(uint32_t flags)
+{
+    if (!ensureRadioReady())
+    {
+        return;
+    }
+    radio().clearIrqFlags(flags);
+}
+
+float Tab5Board::getRadioRSSI()
+{
+    if (!ensureRadioReady())
+    {
+        return 0.0f;
+    }
+    return radio().readRssi();
+}
+
+float Tab5Board::getRadioSNR()
+{
+    return 0.0f;
+}
+
+void Tab5Board::configureLoraRadio(float freq_mhz, float bw_khz, uint8_t sf, uint8_t cr_denom,
+                                   int8_t tx_power, uint16_t preamble_len, uint8_t sync_word,
+                                   uint8_t crc_len)
+{
+    if (!ensureRadioReady())
+    {
+        return;
+    }
+
+    (void)radio().configureLoRaReceive(freq_mhz,
+                                       bw_khz,
+                                       sf,
+                                       cr_denom,
+                                       tx_power,
+                                       preamble_len,
+                                       sync_word,
+                                       crc_len);
+}
+
+bool Tab5Board::ensureRadioReady()
+{
+    static bool acquired = false;
+    if (!acquired)
+    {
+        acquired = radio().acquire();
+        if (acquired)
+        {
+            ESP_LOGI(kTag, "SX126x radio acquired");
+        }
+        else
+        {
+            ESP_LOGW(kTag, "SX126x radio acquire failed");
+        }
+    }
+    return acquired;
+}
+
+void Tab5Board::copyOwnerTag(const char* src, char* dst, size_t dst_len)
+{
+    if (dst == nullptr || dst_len == 0)
+    {
+        return;
+    }
+    if (src == nullptr)
+    {
+        dst[0] = '\0';
+        return;
+    }
+    const size_t copy_len = std::min(std::strlen(src), dst_len - 1);
+    std::memcpy(dst, src, copy_len);
+    dst[copy_len] = '\0';
+}
+
+Tab5Board::ManagedI2cSlot* Tab5Board::findManagedI2cSlot(uint16_t address, uint32_t speed_hz)
+{
+    for (auto& slot : managed_system_i2c_)
+    {
+        if (slot.active && slot.address == address && slot.speed_hz == speed_hz && slot.handle != nullptr)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+const Tab5Board::ManagedI2cSlot* Tab5Board::findManagedI2cSlot(uint16_t address, uint32_t speed_hz) const
+{
+    for (const auto& slot : managed_system_i2c_)
+    {
+        if (slot.active && slot.address == address && slot.speed_hz == speed_hz && slot.handle != nullptr)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+Tab5Board::ManagedI2cSlot* Tab5Board::findFreeManagedI2cSlot()
+{
+    for (auto& slot : managed_system_i2c_)
+    {
+        if (!slot.active)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+Tab5Board::ManagedLeaseSlot* Tab5Board::findLeaseSlot(std::array<ManagedLeaseSlot, 6>& slots, const char* owner)
+{
+    if (owner == nullptr || owner[0] == '\0')
+    {
+        return nullptr;
+    }
+    for (auto& slot : slots)
+    {
+        if (slot.active && std::strncmp(slot.owner, owner, sizeof(slot.owner)) == 0)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+const Tab5Board::ManagedLeaseSlot* Tab5Board::findLeaseSlot(const std::array<ManagedLeaseSlot, 6>& slots,
+                                                            const char* owner) const
+{
+    if (owner == nullptr || owner[0] == '\0')
+    {
+        return nullptr;
+    }
+    for (const auto& slot : slots)
+    {
+        if (slot.active && std::strncmp(slot.owner, owner, sizeof(slot.owner)) == 0)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+Tab5Board::ManagedLeaseSlot* Tab5Board::findFreeLeaseSlot(std::array<ManagedLeaseSlot, 6>& slots)
+{
+    for (auto& slot : slots)
+    {
+        if (!slot.active)
+        {
+            return &slot;
+        }
+    }
+    return nullptr;
+}
+
+void Tab5Board::updateExt5vStateLocked(bool enabled)
+{
+    if (ext_5v_enabled_ == enabled)
+    {
+        return;
+    }
+    bsp_set_ext_5v_en(enabled);
+    ext_5v_enabled_ = enabled;
+    ESP_LOGI(kTag, "M5-Bus Ext5V %s", enabled ? "enabled" : "disabled");
+}
+
+void Tab5Board::logManagedResourcesLocked(const char* reason) const
+{
+    size_t i2c_count = 0;
+    for (const auto& slot : managed_system_i2c_)
+    {
+        if (slot.active && slot.handle != nullptr)
+        {
+            ++i2c_count;
+        }
+    }
+
+    size_t ext5v_count = 0;
+    for (const auto& slot : ext5v_leases_)
+    {
+        if (slot.active && slot.refs > 0)
+        {
+            ++ext5v_count;
+        }
+    }
+
+    ESP_LOGI(kTag,
+             "managed resources reason=%s sys_i2c_devices=%u ext5v_leases=%u ext5v=%d gps_uart=%d",
+             reason ? reason : "unknown",
+             static_cast<unsigned>(i2c_count),
+             static_cast<unsigned>(ext5v_count),
+             ext_5v_enabled_ ? 1 : 0,
+             gps_uart_configured_ ? 1 : 0);
+}
+
+} // namespace boards::tab5
+
+BoardBase& board = ::boards::tab5::Tab5Board::instance();
diff --git a/boards/tdeck/README.md b/boards/tdeck/README.md
new file mode 100644
index 00000000..2a005079
--- /dev/null
+++ b/boards/tdeck/README.md
@@ -0,0 +1,14 @@
+# `boards/tdeck`
+
+Board-owned home for T-Deck support.
+
+Current responsibilities:
+
+- own the `boards::tdeck::TDeckBoard` implementation
+- own T-Deck-specific ESP adapter glue under `boards/tdeck/platform_esp_board_runtime.h`
+- keep T-Deck bring-up, pin usage, and singleton/runtime behavior inside `boards/tdeck/*`
+
+Boundary note:
+
+- shared ESP board abstractions, display helpers, and dispatcher glue stay in `platform/esp/boards`
+- T-Deck-specific runtime and board knowledge belongs in `boards/tdeck`
diff --git a/platform/esp/boards/tlora_pager/board_runtime_impl.h b/boards/tdeck/include/boards/tdeck/platform_esp_board_runtime.h
similarity index 58%
rename from platform/esp/boards/tlora_pager/board_runtime_impl.h
rename to boards/tdeck/include/boards/tdeck/platform_esp_board_runtime.h
index 37bceaf3..3e585bbf 100644
--- a/platform/esp/boards/tlora_pager/board_runtime_impl.h
+++ b/boards/tdeck/include/boards/tdeck/platform_esp_board_runtime.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "board/TLoRaPagerBoard.h"
+#include "boards/tdeck/tdeck_board.h"
 #include "platform/esp/boards/board_runtime.h"
 #include "ui/LV_Helper.h"
 
@@ -10,20 +10,20 @@ namespace platform::esp::boards::detail
 inline void initializeBoard(bool waking_from_sleep)
 {
 #if HAS_GPS
-    board.begin(NO_HW_NFC);
+    ::boards::tdeck::board.begin();
 #else
-    board.begin(NO_HW_GPS | NO_HW_NFC);
+    ::boards::tdeck::board.begin(NO_HW_GPS);
 #endif
 
     if (waking_from_sleep)
     {
-        board.wakeUp();
+        ::boards::tdeck::board.wakeUp();
     }
 }
 
 inline void initializeDisplay()
 {
-    beginLvglHelper(static_cast<LilyGo_Display&>(instance));
+    beginLvglHelper(static_cast<LilyGo_Display&>(::boards::tdeck::instance));
 }
 
 inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
@@ -39,9 +39,9 @@ inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
 inline AppContextInitHandles resolveAppContextInitHandles()
 {
 #if HAS_GPS
-    return {&board, &instance, &instance, &instance};
+    return {&::boards::tdeck::board, &::boards::tdeck::instance, &::boards::tdeck::instance, &::boards::tdeck::instance};
 #else
-    return {&board, &instance, nullptr, nullptr};
+    return {&::boards::tdeck::board, &::boards::tdeck::instance, nullptr, nullptr};
 #endif
 }
 
diff --git a/platform/esp/boards/include/board/TDeckBoard.h b/boards/tdeck/include/boards/tdeck/tdeck_board.h
similarity index 96%
rename from platform/esp/boards/include/board/TDeckBoard.h
rename to boards/tdeck/include/boards/tdeck/tdeck_board.h
index 4b7ed393..79f82cf4 100644
--- a/platform/esp/boards/include/board/TDeckBoard.h
+++ b/boards/tdeck/include/boards/tdeck/tdeck_board.h
@@ -6,11 +6,11 @@
 #include <TouchDrvGT911.hpp>
 #include <XPowersAXP2101.tpp>
 
-#include "BoardBase.h"
-#include "GpsBoard.h"
-#include "LoraBoard.h"
-#include "MotionBoard.h"
-#include "SdBoard.h"
+#include "board/BoardBase.h"
+#include "board/GpsBoard.h"
+#include "board/LoraBoard.h"
+#include "board/MotionBoard.h"
+#include "board/SdBoard.h"
 #include "board/TLoRaPagerTypes.h"
 #include "display/DisplayInterface.h"
 #include "pins_arduino.h"
@@ -22,6 +22,9 @@
 
 #define newModule() new Module(LORA_CS, LORA_IRQ, LORA_RST, LORA_BUSY)
 
+namespace boards::tdeck
+{
+
 class SX1262Access : public SX1262
 {
   public:
@@ -175,3 +178,5 @@ class TDeckBoard : public BoardBase,
 
 extern TDeckBoard& instance;
 extern BoardBase& board;
+
+} // namespace boards::tdeck
diff --git a/boards/tdeck/library.json b/boards/tdeck/library.json
new file mode 100644
index 00000000..df045165
--- /dev/null
+++ b/boards/tdeck/library.json
@@ -0,0 +1,47 @@
+{
+  "name": "boards_tdeck",
+  "version": "0.1.0",
+  "frameworks": [
+    "arduino"
+  ],
+  "platforms": [
+    "espressif32"
+  ],
+  "build": {
+    "includeDir": "include",
+    "srcDir": "src",
+    "flags": [
+      "-std=gnu++17",
+      "-Iinclude",
+      "-I../..",
+      "-I../../platform/esp/boards/include",
+      "-I../../modules/ui_shared/include",
+      "-I../../modules/core_sys/include",
+      "-I../../modules/core_chat/include",
+      "-I../../modules/core_gps/include",
+      "-I../../modules/core_hostlink/include",
+      "-I../../modules/core_team/include",
+      "-I../../platform/esp/arduino_common/include"
+    ]
+  },
+  "dependencies": [
+    {
+      "name": "lvgl"
+    },
+    {
+      "name": "SensorLib"
+    },
+    {
+      "name": "XPowersLib"
+    },
+    {
+      "name": "RadioLib"
+    },
+    {
+      "name": "TinyGPSPlus"
+    },
+    {
+      "name": "ESP8266Audio"
+    }
+  ]
+}
diff --git a/platform/esp/boards/src/board/TDeckBoard.cpp b/boards/tdeck/src/tdeck_board.cpp
similarity index 99%
rename from platform/esp/boards/src/board/TDeckBoard.cpp
rename to boards/tdeck/src/tdeck_board.cpp
index b3d2a450..2dc42ed1 100644
--- a/platform/esp/boards/src/board/TDeckBoard.cpp
+++ b/boards/tdeck/src/tdeck_board.cpp
@@ -1,5 +1,5 @@
 #if defined(ARDUINO_T_DECK)
-#include "board/TDeckBoard.h"
+#include "boards/tdeck/tdeck_board.h"
 #include "board/sd_utils.h"
 #include "display/drivers/ST7789TDeck.h"
 #include <AudioFileSourcePROGMEM.h>
@@ -11,6 +11,9 @@
 #include <limits>
 #include <sys/time.h>
 
+namespace boards::tdeck
+{
+
 namespace
 {
 constexpr time_t kMinValidEpochSeconds = 1577836800; // 2020-01-01 00:00:00 UTC
@@ -1174,4 +1177,8 @@ TDeckBoard& getInstanceRef()
 
 TDeckBoard& instance = getInstanceRef();
 BoardBase& board = getInstanceRef();
+
+} // namespace boards::tdeck
+
+BoardBase& board = ::boards::tdeck::instance;
 #endif // defined(ARDUINO_T_DECK)
diff --git a/boards/tlora_pager/README.md b/boards/tlora_pager/README.md
new file mode 100644
index 00000000..dc9db9c5
--- /dev/null
+++ b/boards/tlora_pager/README.md
@@ -0,0 +1,14 @@
+# `boards/tlora_pager`
+
+Board-owned home for T-LoRa Pager support.
+
+Current responsibilities:
+
+- own the `boards::tlora_pager::TLoRaPagerBoard` implementation
+- own T-LoRa Pager-specific ESP adapter glue under `boards/tlora_pager/platform_esp_board_runtime.h`
+- keep Pager-specific bring-up, power sequencing, and singleton/runtime behavior inside `boards/tlora_pager/*`
+
+Boundary note:
+
+- shared ESP board abstractions, display/input helpers, and dispatcher glue stay in `platform/esp/boards`
+- T-LoRa Pager-specific runtime and board knowledge belongs in `boards/tlora_pager`
diff --git a/platform/esp/boards/tdeck/board_runtime_impl.h b/boards/tlora_pager/include/boards/tlora_pager/platform_esp_board_runtime.h
similarity index 54%
rename from platform/esp/boards/tdeck/board_runtime_impl.h
rename to boards/tlora_pager/include/boards/tlora_pager/platform_esp_board_runtime.h
index 52bd23e3..4e0881cf 100644
--- a/platform/esp/boards/tdeck/board_runtime_impl.h
+++ b/boards/tlora_pager/include/boards/tlora_pager/platform_esp_board_runtime.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "board/TDeckBoard.h"
+#include "boards/tlora_pager/tlora_pager_board.h"
 #include "platform/esp/boards/board_runtime.h"
 #include "ui/LV_Helper.h"
 
@@ -10,20 +10,20 @@ namespace platform::esp::boards::detail
 inline void initializeBoard(bool waking_from_sleep)
 {
 #if HAS_GPS
-    board.begin();
+    ::boards::tlora_pager::board.begin(NO_HW_NFC);
 #else
-    board.begin(NO_HW_GPS);
+    ::boards::tlora_pager::board.begin(NO_HW_GPS | NO_HW_NFC);
 #endif
 
     if (waking_from_sleep)
     {
-        board.wakeUp();
+        ::boards::tlora_pager::board.wakeUp();
     }
 }
 
 inline void initializeDisplay()
 {
-    beginLvglHelper(static_cast<LilyGo_Display&>(instance));
+    beginLvglHelper(static_cast<LilyGo_Display&>(::boards::tlora_pager::instance));
 }
 
 inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
@@ -39,9 +39,9 @@ inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
 inline AppContextInitHandles resolveAppContextInitHandles()
 {
 #if HAS_GPS
-    return {&board, &instance, &instance, &instance};
+    return {&::boards::tlora_pager::board, &::boards::tlora_pager::instance, &::boards::tlora_pager::instance, &::boards::tlora_pager::instance};
 #else
-    return {&board, &instance, nullptr, nullptr};
+    return {&::boards::tlora_pager::board, &::boards::tlora_pager::instance, nullptr, nullptr};
 #endif
 }
 
diff --git a/platform/esp/boards/include/board/TLoRaPagerBoard.h b/boards/tlora_pager/include/boards/tlora_pager/tlora_pager_board.h
similarity index 98%
rename from platform/esp/boards/include/board/TLoRaPagerBoard.h
rename to boards/tlora_pager/include/boards/tlora_pager/tlora_pager_board.h
index aa563156..ed0156ee 100644
--- a/platform/esp/boards/include/board/TLoRaPagerBoard.h
+++ b/boards/tlora_pager/include/boards/tlora_pager/tlora_pager_board.h
@@ -15,11 +15,11 @@
 #include <Wire.h>
 #include <memory>
 
-#include "BoardBase.h"
-#include "GpsBoard.h"
-#include "LoraBoard.h"
-#include "MotionBoard.h"
-#include "SdBoard.h"
+#include "board/BoardBase.h"
+#include "board/GpsBoard.h"
+#include "board/LoraBoard.h"
+#include "board/MotionBoard.h"
+#include "board/SdBoard.h"
 
 // Forward declaration to avoid circular includes
 namespace app
@@ -49,7 +49,7 @@ class AppContext;
 
 // Keyboard
 #ifdef USING_INPUT_DEV_KEYBOARD
-#include "LilyGoKeyboard.h"
+#include "board/LilyGoKeyboard.h"
 #endif
 
 #include "board/TLoRaPagerTypes.h"
@@ -72,6 +72,9 @@ class SX1262Access : public SX1262
 
 #define newModule() new Module(LORA_CS, LORA_IRQ, LORA_RST, LORA_BUSY)
 
+namespace boards::tlora_pager
+{
+
 /**
  * @class TLoRaPagerBoard
  * @brief Main board class for T-LoRa-Pager hardware
@@ -496,5 +499,7 @@ class TLoRaPagerBoard : public BoardBase,
 extern TLoRaPagerBoard& instance;
 extern BoardBase& board;
 
+} // namespace boards::tlora_pager
+
 #define DEVICE_MAX_BRIGHTNESS_LEVEL 16
 #define DEVICE_MIN_BRIGHTNESS_LEVEL 0
diff --git a/boards/tlora_pager/library.json b/boards/tlora_pager/library.json
new file mode 100644
index 00000000..cdd9201f
--- /dev/null
+++ b/boards/tlora_pager/library.json
@@ -0,0 +1,59 @@
+{
+  "name": "boards_tlora_pager",
+  "version": "0.1.0",
+  "frameworks": [
+    "arduino"
+  ],
+  "platforms": [
+    "espressif32"
+  ],
+  "build": {
+    "includeDir": "include",
+    "srcDir": "src",
+    "flags": [
+      "-std=gnu++17",
+      "-Iinclude",
+      "-I../..",
+      "-I../../platform/esp/boards/include",
+      "-I../../modules/ui_shared/include",
+      "-I../../modules/core_sys/include",
+      "-I../../modules/core_chat/include",
+      "-I../../modules/core_gps/include",
+      "-I../../modules/core_hostlink/include",
+      "-I../../modules/core_team/include",
+      "-I../../platform/esp/arduino_common/include"
+    ]
+  },
+  "dependencies": [
+    {
+      "name": "lvgl"
+    },
+    {
+      "name": "SensorLib"
+    },
+    {
+      "name": "XPowersLib"
+    },
+    {
+      "name": "RadioLib"
+    },
+    {
+      "name": "TinyGPSPlus"
+    },
+    {
+      "name": "Adafruit TCA8418"
+    },
+    {
+      "name": "Adafruit BusIO"
+    },
+    {
+      "name": "STM32duino ST25R3916"
+    },
+    {
+      "name": "STM32duino NFC-RFAL"
+    },
+    {
+      "name": "esp_arduino_audio_codec"
+    }
+  ]
+}
diff --git a/platform/esp/boards/src/board/TLoRaPagerBoard.cpp b/boards/tlora_pager/src/tlora_pager_board.cpp
similarity index 99%
rename from platform/esp/boards/src/board/TLoRaPagerBoard.cpp
rename to boards/tlora_pager/src/tlora_pager_board.cpp
index 06507edc..70d62ed4 100644
--- a/platform/esp/boards/src/board/TLoRaPagerBoard.cpp
+++ b/boards/tlora_pager/src/tlora_pager_board.cpp
@@ -1,5 +1,5 @@
 #if defined(ARDUINO_T_LORA_PAGER)
-#include "board/TLoRaPagerBoard.h"
+#include "boards/tlora_pager/tlora_pager_board.h"
 #include "board/sd_utils.h"
 
 #include "freertos/FreeRTOS.h"
@@ -19,6 +19,9 @@
 #include "ui/widgets/system_notification.h"
 #include <Preferences.h>
 
+namespace boards::tlora_pager
+{
+
 #ifndef GPS_BOARD_LOG_ENABLE
 #define GPS_BOARD_LOG_ENABLE 0
 #endif
@@ -2610,4 +2613,8 @@ TLoRaPagerBoard& getInstanceRef()
 
 TLoRaPagerBoard& instance = getInstanceRef();
 BoardBase& board = getInstanceRef();
+
+} // namespace boards::tlora_pager
+
+BoardBase& board = ::boards::tlora_pager::instance;
 #endif // defined(ARDUINO_T_LORA_PAGER)
diff --git a/boards/twatchs3/README.md b/boards/twatchs3/README.md
new file mode 100644
index 00000000..404fe7fc
--- /dev/null
+++ b/boards/twatchs3/README.md
@@ -0,0 +1,14 @@
+# `boards/twatchs3`
+
+Board-owned home for T-Watch S3 support.
+
+Current responsibilities:
+
+- own the `boards::twatchs3::TWatchS3Board` implementation
+- own T-Watch S3-specific ESP adapter glue under `boards/twatchs3/platform_esp_board_runtime.h`
+- keep T-Watch S3 bring-up, pin usage, and singleton/runtime behavior inside `boards/twatchs3/*`
+
+Boundary note:
+
+- shared ESP board abstractions, display helpers, and dispatcher glue stay in `platform/esp/boards`
+- T-Watch S3-specific runtime and board knowledge belongs in `boards/twatchs3`
diff --git a/platform/esp/boards/twatchs3/board_runtime_impl.h b/boards/twatchs3/include/boards/twatchs3/platform_esp_board_runtime.h
similarity index 61%
rename from platform/esp/boards/twatchs3/board_runtime_impl.h
rename to boards/twatchs3/include/boards/twatchs3/platform_esp_board_runtime.h
index b51dd674..7efd33b7 100644
--- a/platform/esp/boards/twatchs3/board_runtime_impl.h
+++ b/boards/twatchs3/include/boards/twatchs3/platform_esp_board_runtime.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "board/TWatchS3Board.h"
+#include "boards/twatchs3/twatchs3_board.h"
 #include "platform/esp/boards/board_runtime.h"
 #include "ui/LV_Helper.h"
 
@@ -10,20 +10,20 @@ namespace platform::esp::boards::detail
 inline void initializeBoard(bool waking_from_sleep)
 {
 #if HAS_GPS
-    board.begin(NO_HW_SD | NO_HW_NFC);
+    ::boards::twatchs3::instance.begin(NO_HW_SD | NO_HW_NFC);
 #else
-    board.begin(NO_HW_GPS | NO_HW_SD | NO_HW_NFC);
+    ::boards::twatchs3::instance.begin(NO_HW_GPS | NO_HW_SD | NO_HW_NFC);
 #endif
 
     if (waking_from_sleep)
     {
-        board.wakeUp();
+        ::boards::twatchs3::instance.wakeUp();
     }
 }
 
 inline void initializeDisplay()
 {
-    beginLvglHelper(static_cast<LilyGo_Display&>(instance));
+    beginLvglHelper(static_cast<LilyGo_Display&>(::boards::twatchs3::instance));
 }
 
 inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
@@ -38,7 +38,7 @@ inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
 
 inline AppContextInitHandles resolveAppContextInitHandles()
 {
-    return {&board, &instance, nullptr, nullptr};
+    return {&board, &::boards::twatchs3::instance, nullptr, nullptr};
 }
 
 } // namespace platform::esp::boards::detail
diff --git a/platform/esp/boards/include/board/TWatchS3Board.h b/boards/twatchs3/include/boards/twatchs3/twatchs3_board.h
similarity index 96%
rename from platform/esp/boards/include/board/TWatchS3Board.h
rename to boards/twatchs3/include/boards/twatchs3/twatchs3_board.h
index 304073f3..5bcbe544 100644
--- a/platform/esp/boards/include/board/TWatchS3Board.h
+++ b/boards/twatchs3/include/boards/twatchs3/twatchs3_board.h
@@ -5,8 +5,8 @@
 #include <TouchDrvFT6X36.hpp>
 #include <XPowersAXP2101.tpp>
 
-#include "BoardBase.h"
-#include "LoraBoard.h"
+#include "board/BoardBase.h"
+#include "board/LoraBoard.h"
 #include "board/TLoRaPagerTypes.h"
 #include "display/DisplayInterface.h"
 #include "pins_arduino.h"
@@ -15,6 +15,9 @@
 #error "SCREEN_WIDTH and SCREEN_HEIGHT must be provided via build flags (env .ini)."
 #endif
 
+namespace boards::twatchs3
+{
+
 class SX1262Access : public SX1262
 {
   public:
@@ -32,7 +35,6 @@ class TWatchS3Board : public BoardBase,
   public:
     static TWatchS3Board* getInstance();
 
-    // BoardBase
     uint32_t begin(uint32_t disable_hw_init = 0) override;
     void wakeUp() override {}
     void handlePowerButton() override {}
@@ -56,7 +58,6 @@ class TWatchS3Board : public BoardBase,
     void vibrator() override {}
     void stopVibrator() override {}
 
-    // LilyGo_Display
     void setRotation(uint8_t rotation) override;
     uint8_t getRotation() override;
     void pushColors(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t* color) override;
@@ -66,7 +67,6 @@ class TWatchS3Board : public BoardBase,
     bool hasTouch() override { return touch_ready_; }
     uint8_t getPoint(int16_t* x, int16_t* y, uint8_t get_point) override;
 
-    // LoraBoard
     bool isRadioOnline() const override { return (devices_probe_ & HW_RADIO_ONLINE) != 0; }
     int transmitRadio(const uint8_t* data, size_t len) override;
     int startRadioReceive() override;
@@ -85,7 +85,6 @@ class TWatchS3Board : public BoardBase,
     bool initPMU();
     bool initTouch();
 
-  private:
     uint32_t devices_probe_ = 0;
     uint8_t brightness_ = 8;
     uint8_t rotation_ = 0;
@@ -108,4 +107,7 @@ class TWatchS3Board : public BoardBase,
 };
 
 extern TWatchS3Board& instance;
+
+} // namespace boards::twatchs3
+
 extern BoardBase& board;
diff --git a/boards/twatchs3/library.json b/boards/twatchs3/library.json
new file mode 100644
index 00000000..3d3ef0f6
--- /dev/null
+++ b/boards/twatchs3/library.json
@@ -0,0 +1,41 @@
+{
+  "name": "boards_twatchs3",
+  "version": "0.1.0",
+  "frameworks": [
+    "arduino"
+  ],
+  "platforms": [
+    "espressif32"
+  ],
+  "build": {
+    "includeDir": "include",
+    "srcDir": "src",
+    "flags": [
+      "-std=gnu++17",
+      "-Iinclude",
+      "-I../..",
+      "-I../../platform/esp/boards/include",
+      "-I../../modules/ui_shared/include",
+      "-I../../modules/core_sys/include",
+      "-I../../modules/core_chat/include",
+      "-I../../modules/core_gps/include",
+      "-I../../modules/core_hostlink/include",
+      "-I../../modules/core_team/include",
+      "-I../../platform/esp/arduino_common/include"
+    ]
+  },
+  "dependencies": [
+    {
+      "name": "lvgl"
+    },
+    {
+      "name": "SensorLib"
+    },
+    {
+      "name": "XPowersLib"
+    },
+    {
+      "name": "RadioLib"
+    }
+  ]
+}
diff --git a/platform/esp/boards/src/board/TWatchS3Board.cpp b/boards/twatchs3/src/twatchs3_board.cpp
similarity index 94%
rename from platform/esp/boards/src/board/TWatchS3Board.cpp
rename to boards/twatchs3/src/twatchs3_board.cpp
index 54ff8b49..0bce4ef1 100644
--- a/platform/esp/boards/src/board/TWatchS3Board.cpp
+++ b/boards/twatchs3/src/twatchs3_board.cpp
@@ -1,12 +1,14 @@
 #if defined(ARDUINO_T_WATCH_S3)
-#include "board/TWatchS3Board.h"
+#include "boards/twatchs3/twatchs3_board.h"
 
 #include "display/drivers/ST7789WatchS3.h"
 #include <Wire.h>
 #include <ctime>
 #include <esp_idf_version.h>
 #include <esp_sleep.h>
-#include <limits>
+
+namespace boards::twatchs3
+{
 
 namespace
 {
@@ -61,8 +63,8 @@ TWatchS3Board::TWatchS3Board()
 
 TWatchS3Board* TWatchS3Board::getInstance()
 {
-    static TWatchS3Board instance;
-    return &instance;
+    static TWatchS3Board singleton;
+    return &singleton;
 }
 
 uint32_t TWatchS3Board::begin(uint32_t disable_hw_init)
@@ -174,11 +176,9 @@ bool TWatchS3Board::initPMU()
 
 bool TWatchS3Board::initTouch()
 {
-    bool ok = false;
-
     Wire1.begin(TOUCH_SDA, TOUCH_SCL);
     touch_.setPins(TOUCH_RST, TOUCH_INT);
-    ok = touch_.begin(Wire1, FT6X36_SLAVE_ADDRESS, TOUCH_SDA, TOUCH_SCL);
+    bool ok = touch_.begin(Wire1, FT6X36_SLAVE_ADDRESS, TOUCH_SDA, TOUCH_SCL);
     if (!ok)
     {
         Serial.println("[TWatchS3Board] touch init failed");
@@ -204,24 +204,26 @@ void TWatchS3Board::softwareShutdown()
 void TWatchS3Board::setBrightness(uint8_t level)
 {
     brightness_ = level;
-    if (display_ready_)
+    if (!display_ready_)
     {
-        LilyGoDispArduinoSPI::setBrightness(level);
-        setup_backlight();
+        return;
+    }
+
+    LilyGoDispArduinoSPI::setBrightness(level);
+    setup_backlight();
 #if defined(DISP_BL)
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
-        if (s_backlight_ready)
-        {
-            ledcWrite(DISP_BL, brightness_);
-        }
-#else
-        if (s_backlight_ready)
-        {
-            ledcWrite(LEDC_BACKLIGHT_CHANNEL, brightness_);
-        }
-#endif
-#endif
+    if (s_backlight_ready)
+    {
+        ledcWrite(DISP_BL, brightness_);
     }
+#else
+    if (s_backlight_ready)
+    {
+        ledcWrite(LEDC_BACKLIGHT_CHANNEL, brightness_);
+    }
+#endif
+#endif
 }
 
 bool TWatchS3Board::isRTCReady() const
@@ -416,5 +418,8 @@ TWatchS3Board& getInstanceRef()
 } // namespace
 
 TWatchS3Board& instance = getInstanceRef();
-BoardBase& board = getInstanceRef();
+
+} // namespace boards::twatchs3
+
+BoardBase& board = ::boards::twatchs3::instance;
 #endif // defined(ARDUINO_T_WATCH_S3)
diff --git a/docs/REPOSITORY_MIGRATION_PLAN.md b/docs/REPOSITORY_MIGRATION_PLAN.md
index c744c165..ba91dacf 100644
--- a/docs/REPOSITORY_MIGRATION_PLAN.md
+++ b/docs/REPOSITORY_MIGRATION_PLAN.md
@@ -1200,7 +1200,7 @@ The repository now has evidence of a second real ESP-IDF board target outside Ta
 - `.tmp/T-Display-P4` is a pure ESP-IDF device reference tree for an `esp32p4` target
 - this means `apps/esp_idf_tab5` should be treated as a transitional shell, not the final IDF app-layer shape
 - the intended end-state is `apps/esp_idf/` as the shared IDF shell root, with target descriptors under `apps/esp_idf/targets/tab5` and `apps/esp_idf/targets/t_display_p4`
-- board-specific runtime details should continue to converge downward into `platform/esp/boards/tab5` and the planned `platform/esp/boards/t_display_p4`
+- board-specific runtime details should continue to converge downward into `boards/tab5` and `boards/t_display_p4`
 
 This reframes the IDF plan from "one board-specific shell" to "one shared IDF shell with multiple board targets".
 
@@ -1219,7 +1219,7 @@ This is the first concrete code move from a board-specific IDF shell toward a sh
 - the top-level IDF build now selects its active target shell through `TRAIL_MATE_IDF_TARGET` instead of hardwiring `apps/esp_idf_tab5`
 - introduced `apps/esp_idf_t_display_p4` as a second transitional IDF target shell so the repository no longer assumes Tab5 is the only IDF board
 - changed `platform/esp/boards/src/board_runtime.cpp` to select board runtime by explicit board macro (`TRAIL_MATE_ESP_BOARD_*`) instead of by `CONFIG_IDF_TARGET_ESP32P4`, which would incorrectly collapse multiple ESP32-P4 boards onto the same runtime implementation
-- added initial T-Display-P4 target metadata and board-profile placeholders under `apps/esp_idf/targets/t_display_p4` and `platform/esp/boards/t_display_p4`
+- added initial T-Display-P4 target metadata and board-profile placeholders under `apps/esp_idf/targets/t_display_p4`, now converged into `boards/t_display_p4`
 
 This makes the IDF side structurally ready for multiple boards that share the same SoC family.
 
diff --git a/docs/devices/lilygo-t-lora-pager.md b/docs/devices/lilygo-t-lora-pager.md
index 17716c79..7d2022a4 100644
--- a/docs/devices/lilygo-t-lora-pager.md
+++ b/docs/devices/lilygo-t-lora-pager.md
@@ -67,26 +67,26 @@ Primary board definition files:
 - [boards/lilygo-t-lora-pager.json](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/lilygo-t-lora-pager.json)
 - [pins_arduino.h](/C:/Users/VicLi/Documents/Projects/trail-mate/variants/lilygo_tlora_pager/pins_arduino.h)
 - [tlora_pager.ini](/C:/Users/VicLi/Documents/Projects/trail-mate/variants/lilygo_tlora_pager/envs/tlora_pager.ini)
-- [TLoRaPagerBoard.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/platform/esp/boards/src/board/TLoRaPagerBoard.cpp)
-- [TLoRaPagerBoard.h](/C:/Users/VicLi/Documents/Projects/trail-mate/platform/esp/boards/include/board/TLoRaPagerBoard.h)
+- [tlora_pager_board.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/tlora_pager/src/tlora_pager_board.cpp)
+- [tlora_pager_board.h](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/tlora_pager/include/boards/tlora_pager/tlora_pager_board.h)
 
 Rules:
 
 - pin truth belongs in `variants/lilygo_tlora_pager/pins_arduino.h`
-- board bring-up behavior belongs in `platform/esp/boards/src/board/TLoRaPagerBoard.cpp`
+- board bring-up behavior belongs in `boards/tlora_pager/src/tlora_pager_board.cpp`
 - environment-specific radio and display choices belong in `variants/lilygo_tlora_pager/envs/tlora_pager.ini`
 - device docs should reflect what this repository actually builds, not just vendor marketing material
 
 ## Important Boundary
 
 This repository uses the LilyGo Pager as an ESP board with its own runtime
-implementation in [TLoRaPagerBoard.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/platform/esp/boards/src/board/TLoRaPagerBoard.cpp).
+implementation in [tlora_pager_board.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/tlora_pager/src/tlora_pager_board.cpp).
 
 That means the most authoritative sources for day-to-day maintenance are:
 
 - `pins_arduino.h` for GPIO ownership
 - `tlora_pager.ini` for enabled features per environment
-- `TLoRaPagerBoard.cpp` for initialization order and power sequencing
+- `tlora_pager_board.cpp` for initialization order and power sequencing
 
 If external vendor docs disagree with runtime behavior here, prefer the checked-in
 board runtime unless real hardware verification proves otherwise.
@@ -255,7 +255,7 @@ These flags are part of the board contract and are relied on by the ESP platform
 ## Runtime Bring-Up Notes
 
 The board runtime in
-[TLoRaPagerBoard.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/platform/esp/boards/src/board/TLoRaPagerBoard.cpp)
+[tlora_pager_board.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/tlora_pager/src/tlora_pager_board.cpp)
 currently initializes or manages:
 
 - battery gauge `BQ27220`
@@ -301,5 +301,5 @@ When changing this board next time:
 
 1. Update [pins_arduino.h](/C:/Users/VicLi/Documents/Projects/trail-mate/variants/lilygo_tlora_pager/pins_arduino.h) first for GPIO truth.
 2. Update [tlora_pager.ini](/C:/Users/VicLi/Documents/Projects/trail-mate/variants/lilygo_tlora_pager/envs/tlora_pager.ini) if the radio or build flags change.
-3. Update [TLoRaPagerBoard.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/platform/esp/boards/src/board/TLoRaPagerBoard.cpp) for init order, power gating or runtime behavior.
+3. Update [tlora_pager_board.cpp](/C:/Users/VicLi/Documents/Projects/trail-mate/boards/tlora_pager/src/tlora_pager_board.cpp) for init order, power gating or runtime behavior.
 4. Keep this document aligned with the checked-in implementation, not with stale vendor copy.
diff --git a/modules/core_chat/include/chat/ble/meshcore_phone_core.h b/modules/core_chat/include/chat/ble/meshcore_phone_core.h
index 7001a673..9c3ef31a 100644
--- a/modules/core_chat/include/chat/ble/meshcore_phone_core.h
+++ b/modules/core_chat/include/chat/ble/meshcore_phone_core.h
@@ -15,7 +15,7 @@ namespace contacts
 {
 struct NodeEntry;
 }
-}
+} // namespace chat
 
 namespace ble
 {
diff --git a/modules/core_chat/include/chat/runtime/self_identity_policy.h b/modules/core_chat/include/chat/runtime/self_identity_policy.h
index 50a1952b..950f5118 100644
--- a/modules/core_chat/include/chat/runtime/self_identity_policy.h
+++ b/modules/core_chat/include/chat/runtime/self_identity_policy.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "chat/runtime/self_identity_provider.h"
 #include "chat/domain/chat_types.h"
+#include "chat/runtime/self_identity_provider.h"
 
 #include <cstddef>
 
diff --git a/modules/core_chat/src/ble/meshcore_phone_core.cpp b/modules/core_chat/src/ble/meshcore_phone_core.cpp
index e9696275..d5afad17 100644
--- a/modules/core_chat/src/ble/meshcore_phone_core.cpp
+++ b/modules/core_chat/src/ble/meshcore_phone_core.cpp
@@ -548,11 +548,11 @@ void MeshCorePhoneCore::handleCmdFrame(const uint8_t* data, size_t len)
         uint32_t est_timeout = 0;
         bool sent_flood = false;
         if (!backend->sendAnonRequestPayload(pubkey,
-                                          kPubKeySize,
-                                          payload,
-                                          payload_len,
-                                          &est_timeout,
-                                          &sent_flood))
+                                             kPubKeySize,
+                                             payload,
+                                             payload_len,
+                                             &est_timeout,
+                                             &sent_flood))
         {
             enqueueErr(ERR_CODE_TABLE_FULL);
             return;
@@ -581,11 +581,11 @@ void MeshCorePhoneCore::handleCmdFrame(const uint8_t* data, size_t len)
         uint32_t est_timeout = 0;
         bool sent_flood = false;
         if (!backend->sendPeerRequestType(pubkey,
-                                       kPubKeySize,
-                                       0x01,
-                                       &tag,
-                                       &est_timeout,
-                                       &sent_flood))
+                                          kPubKeySize,
+                                          0x01,
+                                          &tag,
+                                          &est_timeout,
+                                          &sent_flood))
         {
             enqueueErr(ERR_CODE_TABLE_FULL);
             return;
@@ -996,13 +996,13 @@ void MeshCorePhoneCore::handleCmdFrame(const uint8_t* data, size_t len)
         uint32_t est_timeout = 0;
         bool sent_flood = false;
         if (!backend->sendPeerRequestPayload(pubkey,
-                                          kPubKeySize,
-                                          req_data,
-                                          sizeof(req_data),
-                                          true,
-                                          &tag,
-                                          &est_timeout,
-                                          &sent_flood))
+                                             kPubKeySize,
+                                             req_data,
+                                             sizeof(req_data),
+                                             true,
+                                             &tag,
+                                             &est_timeout,
+                                             &sent_flood))
         {
             enqueueErr(ERR_CODE_TABLE_FULL);
             return;
@@ -1083,13 +1083,13 @@ void MeshCorePhoneCore::handleCmdFrame(const uint8_t* data, size_t len)
         uint32_t est_timeout = 0;
         bool sent_flood = false;
         if (!backend->sendPeerRequestPayload(pubkey,
-                                          kPubKeySize,
-                                          payload,
-                                          payload_len,
-                                          false,
-                                          &tag,
-                                          &est_timeout,
-                                          &sent_flood))
+                                             kPubKeySize,
+                                             payload,
+                                             payload_len,
+                                             false,
+                                             &tag,
+                                             &est_timeout,
+                                             &sent_flood))
         {
             enqueueErr(ERR_CODE_TABLE_FULL);
             return;
@@ -1790,4 +1790,3 @@ bool MeshCorePhoneCore::buildContactFromNode(const chat::contacts::NodeEntry& en
 }
 
 } // namespace ble
-
diff --git a/modules/core_chat/src/ble/meshtastic_phone_core.cpp b/modules/core_chat/src/ble/meshtastic_phone_core.cpp
index df579169..94c8f29e 100644
--- a/modules/core_chat/src/ble/meshtastic_phone_core.cpp
+++ b/modules/core_chat/src/ble/meshtastic_phone_core.cpp
@@ -1,8 +1,8 @@
 #include "chat/ble/meshtastic_phone_core.h"
 
 #include "app/app_config.h"
-#include "chat/runtime/self_identity_policy.h"
 #include "chat/ports/i_mesh_adapter.h"
+#include "chat/runtime/self_identity_policy.h"
 #include "chat/usecase/chat_service.h"
 #include "pb_decode.h"
 #include "pb_encode.h"
diff --git a/modules/core_sys/include/platform/ui/orientation_runtime.h b/modules/core_sys/include/platform/ui/orientation_runtime.h
new file mode 100644
index 00000000..4c98c7f7
--- /dev/null
+++ b/modules/core_sys/include/platform/ui/orientation_runtime.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cstdint>
+
+namespace platform::ui::orientation
+{
+
+struct HeadingState
+{
+    bool available = false;
+    bool sensor_ready = false;
+    float heading_deg = 0.0f;
+    int16_t raw_x = 0;
+    int16_t raw_y = 0;
+    int16_t raw_z = 0;
+    uint32_t last_update_ms = 0;
+};
+
+HeadingState get_heading();
+void ensure_heading_runtime();
+
+} // namespace platform::ui::orientation
diff --git a/modules/ui_mono_128x64/include/ui/mono_128x64/runtime.h b/modules/ui_mono_128x64/include/ui/mono_128x64/runtime.h
index 3661b51c..23574bc6 100644
--- a/modules/ui_mono_128x64/include/ui/mono_128x64/runtime.h
+++ b/modules/ui_mono_128x64/include/ui/mono_128x64/runtime.h
@@ -111,9 +111,9 @@ class Runtime : public chat::ChatService::IncomingTextObserver
         MessageInfo,
         Compose,
         SettingsMenu,
-        IdentitySettings,
         RadioSettings,
         DeviceSettings,
+        InfoPage,
         GnssPage,
         ActionPage,
     };
@@ -122,9 +122,6 @@ class Runtime : public chat::ChatService::IncomingTextObserver
     {
         None = 0,
         Message,
-        UserName,
-        ShortName,
-        MeshtasticPsk,
         MeshCoreChannelName,
     };
 
@@ -143,9 +140,9 @@ class Runtime : public chat::ChatService::IncomingTextObserver
     void renderMessageInfo();
     void renderCompose();
     void renderSettingsMenu();
-    void renderIdentitySettings();
     void renderRadioSettings();
     void renderDeviceSettings();
+    void renderInfoPage();
     void renderGnssPage();
     void renderActionPage();
 
@@ -209,9 +206,9 @@ class Runtime : public chat::ChatService::IncomingTextObserver
 
     size_t main_menu_index_ = 0;
     size_t settings_menu_index_ = 0;
-    size_t identity_index_ = 0;
     size_t radio_index_ = 0;
     size_t device_index_ = 0;
+    size_t info_scroll_ = 0;
     size_t action_index_ = 0;
     size_t chat_list_index_ = 0;
     size_t node_list_index_ = 0;
diff --git a/modules/ui_mono_128x64/src/runtime.cpp b/modules/ui_mono_128x64/src/runtime.cpp
index 833daa6a..feb1e369 100644
--- a/modules/ui_mono_128x64/src/runtime.cpp
+++ b/modules/ui_mono_128x64/src/runtime.cpp
@@ -1,6 +1,7 @@
 #include "ui/mono_128x64/runtime.h"
 
 #include "app/app_config.h"
+#include "ble/ble_manager.h"
 #include "chat/infra/mesh_protocol_utils.h"
 #include "chat/infra/meshcore/mc_region_presets.h"
 #include "chat/infra/meshtastic/mt_region.h"
@@ -12,9 +13,10 @@
 #include <array>
 #include <cctype>
 #include <cmath>
+#include <cstdarg>
 #include <cstdio>
-#include <cstring>
 #include <cstdlib>
+#include <cstring>
 
 namespace ui::mono_128x64
 {
@@ -24,58 +26,67 @@ const char* inputActionName(InputAction action)
 {
     switch (action)
     {
-    case InputAction::None: return "None";
-    case InputAction::Up: return "Up";
-    case InputAction::Down: return "Down";
-    case InputAction::Left: return "Left";
-    case InputAction::Right: return "Right";
-    case InputAction::Select: return "Select";
-    case InputAction::Back: return "Back";
-    case InputAction::Primary: return "Primary";
-    case InputAction::Secondary: return "Secondary";
-    default: return "?";
+    case InputAction::None:
+        return "None";
+    case InputAction::Up:
+        return "Up";
+    case InputAction::Down:
+        return "Down";
+    case InputAction::Left:
+        return "Left";
+    case InputAction::Right:
+        return "Right";
+    case InputAction::Select:
+        return "Select";
+    case InputAction::Back:
+        return "Back";
+    case InputAction::Primary:
+        return "Primary";
+    case InputAction::Secondary:
+        return "Secondary";
+    default:
+        return "?";
     }
 }
 
-
 constexpr const char* kMainMenuItems[] = {
     "CHATS",
     "NODES",
-    "NEW MESSAGE",
-    "SETTINGS",
     "GPS",
-    "RADIO",
-    "DEVICE",
-    "ACTIONS",
+    "SETTINGS",
+    "INFO",
 };
 
 constexpr const char* kSettingsMenuItems[] = {
-    "IDENTITY",
-    "RADIO",
+    "LORA",
     "DEVICE",
 };
 
-constexpr const char* kIdentityItems[] = {
-    "USER NAME",
-    "SHORT NAME",
-};
-
-constexpr const char* kRadioItems[] = {
+constexpr const char* kMeshtasticRadioItems[] = {
     "PROTOCOL",
-    "TX POWER",
     "REGION",
-    "PRESET",
+    "TX POWER",
+    "MODEM",
     "CHANNEL",
     "ENCRYPT",
-    "PSK/Name",
+};
+
+constexpr const char* kMeshCoreRadioItems[] = {
+    "PROTOCOL",
+    "REGION",
+    "TX POWER",
+    "PRESET",
+    "SLOT",
+    "ENCRYPT",
+    "NAME",
 };
 
 constexpr const char* kDeviceItems[] = {
     "BLE",
-    "TIME ZONE",
     "GPS",
-    "GPS INTERVAL",
-    "CHAT CHANNEL",
+    "SATS",
+    "GPS INT",
+    "TIME ZONE",
 };
 
 constexpr const char* kActionItems[] = {
@@ -121,20 +132,104 @@ constexpr uint32_t kSleepTimeoutMs = 30000;
 constexpr uint32_t kComposeMultiTapWindowMs = 700;
 constexpr size_t kMessageInfoPageSize = 6;
 constexpr size_t kNodeInfoPageSize = 6;
+constexpr size_t kInfoPageSize = 6;
 constexpr size_t kGnssSummaryPageSize = 6;
 constexpr size_t kGnssSatPageSize = 5;
 constexpr int kTimezoneMin = -12 * 60;
 constexpr int kTimezoneMax = 14 * 60;
 constexpr int kTimezoneStep = 60;
 constexpr const char* kHamTerms[] = {
-    "73", "88", "AGN", "ALFA", "ATT", "BREAK", "BRAVO", "CALL", "CHARLIE", "COPY", "CQ", "CTCSS", "DE",
-    "DELTA", "DIRECT", "DUPLEX", "DX", "ECHO", "ES", "FB", "FM", "FREQ", "FT8", "FT4", "HOTEL", "ID",
-    "INDIA", "INFO", "JA", "JULIETT", "KILO", "LIMA", "LOG", "LSB", "MIKE", "NIL", "NOVEMBER", "OM",
-    "OSCAR", "OUT", "OVER", "PAPA", "PSE", "QRL", "QRM", "QRN", "QRP", "QRQ", "QRS", "QRT", "QRV",
-    "QRZ", "QSB", "QSL", "QSO", "QSP", "QSX", "QSY", "QTC", "QTH", "QTR", "QUEBEC", "RELAY", "REPEATER",
-    "RIG", "ROGER", "ROMEO", "RST", "RX", "SEND", "SIERRA", "SIMPLEX", "SOLID", "SPLIT", "STANDBY", "SYM",
-    "TANGO", "TKS", "TNX", "TU", "TX", "UNIFORM", "USB", "VICTOR", "WAIT", "WHISKEY", "X-RAY", "XYL",
-    "YANKEE", "YL", "ZULU",
+    "73",
+    "88",
+    "AGN",
+    "ALFA",
+    "ATT",
+    "BREAK",
+    "BRAVO",
+    "CALL",
+    "CHARLIE",
+    "COPY",
+    "CQ",
+    "CTCSS",
+    "DE",
+    "DELTA",
+    "DIRECT",
+    "DUPLEX",
+    "DX",
+    "ECHO",
+    "ES",
+    "FB",
+    "FM",
+    "FREQ",
+    "FT8",
+    "FT4",
+    "HOTEL",
+    "ID",
+    "INDIA",
+    "INFO",
+    "JA",
+    "JULIETT",
+    "KILO",
+    "LIMA",
+    "LOG",
+    "LSB",
+    "MIKE",
+    "NIL",
+    "NOVEMBER",
+    "OM",
+    "OSCAR",
+    "OUT",
+    "OVER",
+    "PAPA",
+    "PSE",
+    "QRL",
+    "QRM",
+    "QRN",
+    "QRP",
+    "QRQ",
+    "QRS",
+    "QRT",
+    "QRV",
+    "QRZ",
+    "QSB",
+    "QSL",
+    "QSO",
+    "QSP",
+    "QSX",
+    "QSY",
+    "QTC",
+    "QTH",
+    "QTR",
+    "QUEBEC",
+    "RELAY",
+    "REPEATER",
+    "RIG",
+    "ROGER",
+    "ROMEO",
+    "RST",
+    "RX",
+    "SEND",
+    "SIERRA",
+    "SIMPLEX",
+    "SOLID",
+    "SPLIT",
+    "STANDBY",
+    "SYM",
+    "TANGO",
+    "TKS",
+    "TNX",
+    "TU",
+    "TX",
+    "UNIFORM",
+    "USB",
+    "VICTOR",
+    "WAIT",
+    "WHISKEY",
+    "X-RAY",
+    "XYL",
+    "YANKEE",
+    "YL",
+    "ZULU",
 };
 
 template <typename T, size_t N>
@@ -185,11 +280,14 @@ const char* composeKeysetForMode(ui::mono_128x64::Runtime::ComposeMode mode)
 {
     switch (mode)
     {
-    case ui::mono_128x64::Runtime::ComposeMode::Num: return kComposeNumKeys;
-    case ui::mono_128x64::Runtime::ComposeMode::Sym: return kComposeSymKeys;
+    case ui::mono_128x64::Runtime::ComposeMode::Num:
+        return kComposeNumKeys;
+    case ui::mono_128x64::Runtime::ComposeMode::Sym:
+        return kComposeSymKeys;
     case ui::mono_128x64::Runtime::ComposeMode::AbcUpper:
     case ui::mono_128x64::Runtime::ComposeMode::AbcLower:
-    default: return kComposeAbcKeys;
+    default:
+        return kComposeAbcKeys;
     }
 }
 
@@ -197,11 +295,16 @@ const char* composeModeLabel(ui::mono_128x64::Runtime::ComposeMode mode)
 {
     switch (mode)
     {
-    case ui::mono_128x64::Runtime::ComposeMode::AbcLower: return "abc";
-    case ui::mono_128x64::Runtime::ComposeMode::AbcUpper: return "ABC";
-    case ui::mono_128x64::Runtime::ComposeMode::Num: return "123";
-    case ui::mono_128x64::Runtime::ComposeMode::Sym: return "SYM";
-    default: return "ABC";
+    case ui::mono_128x64::Runtime::ComposeMode::AbcLower:
+        return "abc";
+    case ui::mono_128x64::Runtime::ComposeMode::AbcUpper:
+        return "ABC";
+    case ui::mono_128x64::Runtime::ComposeMode::Num:
+        return "123";
+    case ui::mono_128x64::Runtime::ComposeMode::Sym:
+        return "SYM";
+    default:
+        return "ABC";
     }
 }
 
@@ -330,10 +433,13 @@ const char* gnssFixLabel(::gps::GnssFix fix)
 {
     switch (fix)
     {
-    case ::gps::GnssFix::FIX2D: return "2D";
-    case ::gps::GnssFix::FIX3D: return "3D";
+    case ::gps::GnssFix::FIX2D:
+        return "2D";
+    case ::gps::GnssFix::FIX3D:
+        return "3D";
     case ::gps::GnssFix::NOFIX:
-    default: return "NO";
+    default:
+        return "NO";
     }
 }
 
@@ -341,12 +447,17 @@ const char* gnssSystemLabel(::gps::GnssSystem sys)
 {
     switch (sys)
     {
-    case ::gps::GnssSystem::GPS: return "GPS";
-    case ::gps::GnssSystem::GLN: return "GLN";
-    case ::gps::GnssSystem::GAL: return "GAL";
-    case ::gps::GnssSystem::BD: return "BDS";
+    case ::gps::GnssSystem::GPS:
+        return "GPS";
+    case ::gps::GnssSystem::GLN:
+        return "GLN";
+    case ::gps::GnssSystem::GAL:
+        return "GAL";
+    case ::gps::GnssSystem::BD:
+        return "BDS";
     case ::gps::GnssSystem::UNKNOWN:
-    default: return "UNK";
+    default:
+        return "UNK";
     }
 }
 
@@ -376,6 +487,110 @@ const char* protocolShortLabel(chat::MeshProtocol protocol)
     return protocol == chat::MeshProtocol::MeshCore ? "MC" : "MT";
 }
 
+const char* protocolLabel(chat::MeshProtocol protocol)
+{
+    return protocol == chat::MeshProtocol::MeshCore ? "MeshCore" : "Meshtastic";
+}
+
+const char* const* radioItemsFor(chat::MeshProtocol protocol)
+{
+    return protocol == chat::MeshProtocol::MeshCore ? kMeshCoreRadioItems : kMeshtasticRadioItems;
+}
+
+size_t radioItemCount(chat::MeshProtocol protocol)
+{
+    return protocol == chat::MeshProtocol::MeshCore ? arrayCount(kMeshCoreRadioItems) : arrayCount(kMeshtasticRadioItems);
+}
+
+const char* radioRegionLabel(const app::AppConfig& cfg)
+{
+    if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
+    {
+        const auto* region = chat::meshtastic::findRegion(
+            static_cast<meshtastic_Config_LoRaConfig_RegionCode>(cfg.meshtastic_config.region));
+        return region ? region->label : "-";
+    }
+
+    const auto* preset = chat::meshcore::findRegionPresetById(cfg.meshcore_config.meshcore_region_preset);
+    return preset ? preset->title : "Custom";
+}
+
+const char* gpsSatMaskLabel(uint8_t mask)
+{
+    switch (mask)
+    {
+    case 0x1:
+        return "GPS";
+    case 0x1 | 0x8:
+        return "GPS+BDS";
+    case 0x1 | 0x4:
+        return "GPS+GAL";
+    case 0x1 | 0x8 | 0x4:
+        return "GPS+BDS+GAL";
+    case 0x1 | 0x8 | 0x4 | 0x2:
+        return "GPS+BDS+GAL+GLO";
+    default:
+        return "CUSTOM";
+    }
+}
+
+uint8_t nextGpsSatMask(uint8_t current, int delta)
+{
+    static constexpr uint8_t kGpsMasks[] = {
+        0x1 | 0x8 | 0x4,
+        0x1,
+        0x1 | 0x8,
+        0x1 | 0x4,
+        0x1 | 0x8 | 0x4 | 0x2,
+    };
+
+    int index = 0;
+    for (size_t i = 0; i < arrayCount(kGpsMasks); ++i)
+    {
+        if (kGpsMasks[i] == current)
+        {
+            index = static_cast<int>(i);
+            break;
+        }
+    }
+    index = clampValue(index + delta, 0, static_cast<int>(arrayCount(kGpsMasks)) - 1);
+    return kGpsMasks[index];
+}
+
+void formatTimezoneLabel(int offset_min, char* out, size_t out_len)
+{
+    if (!out || out_len == 0)
+    {
+        return;
+    }
+
+    const int hours = offset_min / 60;
+    const int minutes = std::abs(offset_min % 60);
+    if (minutes == 0)
+    {
+        std::snprintf(out, out_len, "UTC%+d", hours);
+    }
+    else
+    {
+        std::snprintf(out, out_len, "UTC%+d:%02d", hours, minutes);
+    }
+}
+
+void appendStatus(Runtime* runtime, const char* fmt, ...)
+{
+    if (!runtime || !fmt)
+    {
+        return;
+    }
+
+    char line[40] = {};
+    va_list args;
+    va_start(args, fmt);
+    std::vsnprintf(line, sizeof(line), fmt, args);
+    va_end(args);
+    runtime->appendBootLog(line);
+}
+
 template <size_t N>
 void appendInfoLine(char (&dst)[N], const char* label, const char* value)
 {
@@ -408,56 +623,23 @@ void setEncryptEnabled(app::AppConfig& config, bool enabled)
     config.privacy_encrypt_mode = enabled ? 1 : 0;
 }
 
-void bytesToHex(const uint8_t* data, size_t len, char* out, size_t out_len)
+bool loadBlePairingStatus(app::IAppFacade* app, ble::BlePairingStatus* out)
 {
-    if (!out || out_len == 0)
+    if (!app || !out)
     {
-        return;
-    }
-
-    out[0] = '\0';
-    if (!data || len == 0)
-    {
-        return;
-    }
-
-    size_t pos = 0;
-    for (size_t i = 0; i < len && pos + 2 < out_len; ++i)
-    {
-        const int written = std::snprintf(out + pos, out_len - pos, "%02X", static_cast<unsigned>(data[i]));
-        if (written <= 0)
-        {
-            break;
-        }
-        pos += static_cast<size_t>(written);
+        return false;
     }
+    ble::BleManager* manager = app->getBleManager();
+    return manager ? manager->getPairingStatus(out) : false;
 }
 
-bool hexToBytes(const char* hex, uint8_t* out, size_t out_len)
+const char* blePairingModeLabel(const ble::BlePairingStatus& status)
 {
-    if (!hex || !out)
+    if (!status.requires_passkey)
     {
-        return false;
+        return "OPEN";
     }
-
-    const size_t hex_len = std::strlen(hex);
-    if (hex_len != out_len * 2U)
-    {
-        return false;
-    }
-
-    for (size_t i = 0; i < out_len; ++i)
-    {
-        char part[3] = {hex[i * 2U], hex[i * 2U + 1U], '\0'};
-        char* end = nullptr;
-        const long value = std::strtol(part, &end, 16);
-        if (!end || *end != '\0' || value < 0 || value > 255)
-        {
-            return false;
-        }
-        out[i] = static_cast<uint8_t>(value);
-    }
-    return true;
+    return status.is_fixed_pin ? "FIXED" : "RANDOM";
 }
 
 } // namespace
@@ -624,18 +806,23 @@ void Runtime::handleInput(InputAction action)
         {
             switch (main_menu_index_)
             {
-            case 0: enterPage(Page::ChatList); break;
-            case 1: enterPage(Page::NodeList); break;
-            case 2:
-                active_conversation_ = chat::ConversationId(chat::ChannelId::PRIMARY, 0, app()->getConfig().mesh_protocol);
-                openCompose(EditTarget::Message);
+            case 0:
+                enterPage(Page::ChatList);
+                break;
+            case 1:
+                enterPage(Page::NodeList);
+                break;
+            case 2:
+                enterPage(Page::GnssPage);
+                break;
+            case 3:
+                enterPage(Page::SettingsMenu);
+                break;
+            case 4:
+                enterPage(Page::InfoPage);
+                break;
+            default:
                 break;
-            case 3: enterPage(Page::SettingsMenu); break;
-            case 4: enterPage(Page::GnssPage); break;
-            case 5: enterPage(Page::RadioSettings); break;
-            case 6: enterPage(Page::DeviceSettings); break;
-            case 7: enterPage(Page::ActionPage); break;
-            default: break;
             }
         }
         break;
@@ -961,38 +1148,32 @@ void Runtime::handleInput(InputAction action)
         {
             switch (settings_menu_index_)
             {
-            case 0: enterPage(Page::IdentitySettings); break;
-            case 1: enterPage(Page::RadioSettings); break;
-            case 2: enterPage(Page::DeviceSettings); break;
-            default: break;
+            case 0:
+                enterPage(Page::RadioSettings);
+                break;
+            case 1:
+                enterPage(Page::DeviceSettings);
+                break;
+            default:
+                break;
             }
         }
         break;
 
-    case Page::IdentitySettings:
-        if (action == InputAction::Up && identity_index_ > 0)
+    case Page::InfoPage:
+        if (action == InputAction::Up && info_scroll_ > 0)
         {
-            --identity_index_;
+            info_scroll_ = (info_scroll_ >= kInfoPageSize) ? (info_scroll_ - kInfoPageSize) : 0U;
         }
-        else if (action == InputAction::Down && identity_index_ + 1 < arrayCount(kIdentityItems))
+        else if (action == InputAction::Down)
         {
-            ++identity_index_;
+            info_scroll_ += kInfoPageSize;
         }
-        else if (action == InputAction::Left || action == InputAction::Back)
+        else if (action == InputAction::Left || action == InputAction::Back ||
+                 action == InputAction::Right || action == InputAction::Select || action == InputAction::Primary)
         {
             enterPage(Page::MainMenu);
         }
-        else if (action == InputAction::Right || action == InputAction::Select || action == InputAction::Primary)
-        {
-            if (identity_index_ == 0)
-            {
-                openCompose(EditTarget::UserName, app()->getConfig().node_name);
-            }
-            else
-            {
-                openCompose(EditTarget::ShortName, app()->getConfig().short_name);
-            }
-        }
         break;
 
     case Page::RadioSettings:
@@ -1000,7 +1181,7 @@ void Runtime::handleInput(InputAction action)
         {
             --radio_index_;
         }
-        else if (action == InputAction::Down && radio_index_ + 1 < arrayCount(kRadioItems))
+        else if (action == InputAction::Down && radio_index_ + 1 < radioItemCount(app()->getConfig().mesh_protocol))
         {
             ++radio_index_;
         }
@@ -1014,23 +1195,14 @@ void Runtime::handleInput(InputAction action)
         }
         else if (action == InputAction::Back)
         {
-            enterPage(Page::MainMenu);
+            enterPage(Page::SettingsMenu);
         }
         else if (action == InputAction::Select || action == InputAction::Primary)
         {
-            if (radio_index_ == 6)
+            if (app()->getConfig().mesh_protocol == chat::MeshProtocol::MeshCore &&
+                radio_index_ + 1 == radioItemCount(app()->getConfig().mesh_protocol))
             {
-                const auto protocol = app()->getConfig().mesh_protocol;
-                if (protocol == chat::MeshProtocol::Meshtastic)
-                {
-                    char hex[33] = {};
-                    bytesToHex(app()->getConfig().meshtastic_config.secondary_key, 16, hex, sizeof(hex));
-                    openCompose(EditTarget::MeshtasticPsk, hex);
-                }
-                else
-                {
-                    openCompose(EditTarget::MeshCoreChannelName, app()->getConfig().meshcore_config.meshcore_channel_name);
-                }
+                openCompose(EditTarget::MeshCoreChannelName, app()->getConfig().meshcore_config.meshcore_channel_name);
             }
             else
             {
@@ -1058,7 +1230,7 @@ void Runtime::handleInput(InputAction action)
         }
         else if (action == InputAction::Back)
         {
-            enterPage(Page::MainMenu);
+            enterPage(Page::SettingsMenu);
         }
         break;
 
@@ -1129,25 +1301,77 @@ void Runtime::render()
     display_.clear();
     switch (page_)
     {
-    case Page::BootLog: renderBootLog(); break;
-    case Page::Screensaver: renderScreensaver(); break;
-    case Page::Sleep: renderSleep(); break;
-    case Page::MainMenu: renderMainMenu(); break;
-    case Page::ChatList: renderChatList(); break;
-    case Page::NodeList: renderNodeList(); break;
-    case Page::NodeInfo: renderNodeInfo(); break;
-    case Page::Conversation: renderConversation(); break;
-    case Page::MessageMenu: renderMessageMenu(); break;
-    case Page::MessageInfo: renderMessageInfo(); break;
-    case Page::Compose: renderCompose(); break;
-    case Page::SettingsMenu: renderSettingsMenu(); break;
-    case Page::IdentitySettings: renderIdentitySettings(); break;
-    case Page::RadioSettings: renderRadioSettings(); break;
-    case Page::DeviceSettings: renderDeviceSettings(); break;
-    case Page::GnssPage: renderGnssPage(); break;
-    case Page::ActionPage: renderActionPage(); break;
-    default: renderScreensaver(); break;
+    case Page::BootLog:
+        renderBootLog();
+        break;
+    case Page::Screensaver:
+        renderScreensaver();
+        break;
+    case Page::Sleep:
+        renderSleep();
+        break;
+    case Page::MainMenu:
+        renderMainMenu();
+        break;
+    case Page::ChatList:
+        renderChatList();
+        break;
+    case Page::NodeList:
+        renderNodeList();
+        break;
+    case Page::NodeInfo:
+        renderNodeInfo();
+        break;
+    case Page::Conversation:
+        renderConversation();
+        break;
+    case Page::MessageMenu:
+        renderMessageMenu();
+        break;
+    case Page::MessageInfo:
+        renderMessageInfo();
+        break;
+    case Page::Compose:
+        renderCompose();
+        break;
+    case Page::SettingsMenu:
+        renderSettingsMenu();
+        break;
+    case Page::RadioSettings:
+        renderRadioSettings();
+        break;
+    case Page::DeviceSettings:
+        renderDeviceSettings();
+        break;
+    case Page::InfoPage:
+        renderInfoPage();
+        break;
+    case Page::GnssPage:
+        renderGnssPage();
+        break;
+    case Page::ActionPage:
+        renderActionPage();
+        break;
+    default:
+        renderScreensaver();
+        break;
     }
+
+    ble::BlePairingStatus ble_status{};
+    if (loadBlePairingStatus(app(), &ble_status) &&
+        ble_status.requires_passkey &&
+        ble_status.is_pairing_active)
+    {
+        display_.fillRect(0, 45, display_.width(), 19, false);
+        display_.drawHLine(0, 44, display_.width());
+        char line1[24] = {};
+        char line2[24] = {};
+        std::snprintf(line1, sizeof(line1), "BLE %s PIN", ble_status.is_fixed_pin ? "FIXED" : "PAIR");
+        std::snprintf(line2, sizeof(line2), "%06lu", static_cast<unsigned long>(ble_status.passkey));
+        text_renderer_.drawText(display_, 0, 46, line1);
+        text_renderer_.drawText(display_, 0, 54, line2);
+    }
+
     display_.present();
 }
 
@@ -1569,61 +1793,28 @@ void Runtime::renderSettingsMenu()
     drawMenuList("SETTINGS", kSettingsMenuItems, arrayCount(kSettingsMenuItems), settings_menu_index_);
 }
 
-void Runtime::renderIdentitySettings()
-{
-    drawTitleBar("IDENTITY", nullptr);
-    char value[40] = {};
-    for (size_t i = 0; i < arrayCount(kIdentityItems); ++i)
-    {
-        if (i == 0)
-        {
-            copyText(value, app()->getConfig().node_name);
-        }
-        else
-        {
-            copyText(value, app()->getConfig().short_name);
-        }
-
-        char line[48] = {};
-        std::snprintf(line, sizeof(line), "%s: %s", kIdentityItems[i], value[0] ? value : "-");
-        drawTextClipped(0, 10 + static_cast<int>(i * text_renderer_.lineHeight()),
-                        display_.width(), line, i == identity_index_);
-    }
-}
-
 void Runtime::renderRadioSettings()
 {
-    drawTitleBar("RADIO", protocolShortLabel(app()->getConfig().mesh_protocol));
+    const auto protocol = app()->getConfig().mesh_protocol;
+    const char* const* items = radioItemsFor(protocol);
+    const size_t item_count = radioItemCount(protocol);
+
+    drawTitleBar("LORA", protocolShortLabel(protocol));
     char value[40] = {};
     auto& cfg = app()->getConfig();
-    for (size_t i = 0; i < arrayCount(kRadioItems); ++i)
+    for (size_t i = 0; i < item_count; ++i)
     {
         value[0] = '\0';
         switch (i)
         {
         case 0:
-            copyText(value, cfg.mesh_protocol == chat::MeshProtocol::MeshCore ? "MeshCore" : "Meshtastic");
+            copyText(value, protocolLabel(cfg.mesh_protocol));
             break;
         case 1:
-            std::snprintf(value, sizeof(value), "%ddBm", static_cast<int>(cfg.activeMeshConfig().tx_power));
+            copyText(value, radioRegionLabel(cfg));
             break;
         case 2:
-            if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
-            {
-                if (const auto* region = chat::meshtastic::findRegion(
-                        static_cast<meshtastic_Config_LoRaConfig_RegionCode>(cfg.meshtastic_config.region)))
-                {
-                    copyText(value, region->label);
-                }
-            }
-            else if (const auto* preset = chat::meshcore::findRegionPresetById(cfg.meshcore_config.meshcore_region_preset))
-            {
-                copyText(value, preset->title);
-            }
-            else
-            {
-                copyText(value, "Custom");
-            }
+            std::snprintf(value, sizeof(value), "%ddBm", static_cast<int>(cfg.activeMeshConfig().tx_power));
             break;
         case 3:
             if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
@@ -1634,9 +1825,7 @@ void Runtime::renderRadioSettings()
             }
             else
             {
-                std::snprintf(value, sizeof(value), "%.3f/%.0f",
-                              static_cast<double>(cfg.meshcore_config.meshcore_freq_mhz),
-                              static_cast<double>(cfg.meshcore_config.meshcore_bw_khz));
+                copyText(value, radioRegionLabel(cfg));
             }
             break;
         case 4:
@@ -1646,8 +1835,7 @@ void Runtime::renderRadioSettings()
             }
             else
             {
-                std::snprintf(value, sizeof(value), "%s/%u",
-                              cfg.meshcore_config.meshcore_channel_name,
+                std::snprintf(value, sizeof(value), "%u",
                               static_cast<unsigned>(cfg.meshcore_config.meshcore_channel_slot));
             }
             break;
@@ -1655,13 +1843,7 @@ void Runtime::renderRadioSettings()
             copyText(value, encryptEnabled(cfg) ? "On" : "Off");
             break;
         case 6:
-            if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
-            {
-                char hex[33] = {};
-                bytesToHex(cfg.meshtastic_config.secondary_key, 16, hex, sizeof(hex));
-                copyText(value, hex[0] ? hex : "0000...");
-            }
-            else
+            if (cfg.mesh_protocol == chat::MeshProtocol::MeshCore)
             {
                 copyText(value, cfg.meshcore_config.meshcore_channel_name);
             }
@@ -1669,7 +1851,7 @@ void Runtime::renderRadioSettings()
         }
 
         char line[48] = {};
-        std::snprintf(line, sizeof(line), "%s: %s", kRadioItems[i], value);
+        std::snprintf(line, sizeof(line), "%s: %s", items[i], value);
         drawTextClipped(0, 10 + static_cast<int>(i * text_renderer_.lineHeight()),
                         display_.width(), line, i == radio_index_);
     }
@@ -1678,37 +1860,225 @@ void Runtime::renderRadioSettings()
 void Runtime::renderDeviceSettings()
 {
     drawTitleBar("DEVICE", nullptr);
+    ble::BlePairingStatus ble_status{};
+    const bool has_ble_status = loadBlePairingStatus(app(), &ble_status);
     char line[48] = {};
     for (size_t i = 0; i < arrayCount(kDeviceItems); ++i)
     {
         if (i == 0)
         {
-            std::snprintf(line, sizeof(line), "BLE: %s", app()->isBleEnabled() ? "ON" : "OFF");
+            if (has_ble_status && ble_status.requires_passkey && ble_status.passkey != 0)
+            {
+                std::snprintf(line, sizeof(line), "BLE: ON %s %06lu",
+                              ble_status.is_fixed_pin ? "FIX" : "PIN",
+                              static_cast<unsigned long>(ble_status.passkey));
+            }
+            else if (has_ble_status && ble_status.requires_passkey)
+            {
+                std::snprintf(line, sizeof(line), "BLE: ON %s",
+                              ble_status.is_fixed_pin ? "FIXED" : "RANDOM");
+            }
+            else
+            {
+                std::snprintf(line, sizeof(line), "BLE: %s", app()->isBleEnabled() ? "ON" : "OFF");
+            }
         }
         else if (i == 1)
         {
-            const int tz = host_.timezone_offset_min_fn ? host_.timezone_offset_min_fn() : 0;
-            std::snprintf(line, sizeof(line), "TIME ZONE: UTC%+d", tz / 60);
+            std::snprintf(line, sizeof(line), "GPS: %s", app()->getConfig().gps_mode != 0 ? "ON" : "OFF");
         }
         else if (i == 2)
         {
-            std::snprintf(line, sizeof(line), "GPS: %s", app()->getConfig().gps_mode != 0 ? "ON" : "OFF");
+            std::snprintf(line, sizeof(line), "SATS: %s", gpsSatMaskLabel(app()->getConfig().gps_sat_mask));
         }
         else if (i == 3)
         {
             std::snprintf(line, sizeof(line), "GPS INT: %lus",
                           static_cast<unsigned long>(app()->getConfig().gps_interval_ms / 1000UL));
         }
-        else
+        else if (i == 4)
         {
-            std::snprintf(line, sizeof(line), "CHAT CH: %s",
-                          app()->getConfig().chat_channel == 0 ? "PRIMARY" : "SECONDARY");
+            const int tz = host_.timezone_offset_min_fn ? host_.timezone_offset_min_fn() : 0;
+            char tz_label[16] = {};
+            formatTimezoneLabel(tz, tz_label, sizeof(tz_label));
+            std::snprintf(line, sizeof(line), "TIME ZONE: %s", tz_label);
         }
         drawTextClipped(0, 10 + static_cast<int>(i * text_renderer_.lineHeight()),
                         display_.width(), line, i == device_index_);
     }
 }
 
+void Runtime::renderInfoPage()
+{
+    drawTitleBar("INFO", nullptr);
+
+    char lines[24][40] = {};
+    size_t line_count = 0;
+    auto push_line = [&](const char* text)
+    {
+        if (!text || text[0] == '\0' || line_count >= arrayCount(lines))
+        {
+            return;
+        }
+        copyText(lines[line_count++], text);
+    };
+    auto push_kv = [&](const char* key, const char* value)
+    {
+        if (!key || !value || line_count >= arrayCount(lines))
+        {
+            return;
+        }
+        appendInfoLine(lines[line_count++], key, value);
+    };
+
+    char long_name[24] = {};
+    char short_name[12] = {};
+    app()->getEffectiveUserInfo(long_name, sizeof(long_name), short_name, sizeof(short_name));
+    const auto& cfg = app()->getConfig();
+    const auto battery = host_.battery_info_fn ? host_.battery_info_fn() : platform::ui::device::BatteryInfo{};
+    const auto gps = host_.gps_data_fn ? host_.gps_data_fn() : platform::ui::gps::GpsState{};
+    ble::BlePairingStatus ble_status{};
+    const bool has_ble_status = loadBlePairingStatus(app(), &ble_status);
+
+    push_line("[DEVICE]");
+    push_kv("NAME", long_name[0] ? long_name : "-");
+    push_kv("SHORT", short_name[0] ? short_name : "-");
+    char self_id[16] = {};
+    formatNodeLabel(self_id, sizeof(self_id));
+    push_kv("NODE", self_id[0] ? self_id : "-");
+
+    char value[40] = {};
+    std::snprintf(value, sizeof(value), "%s", protocolLabel(cfg.mesh_protocol));
+    push_kv("PROTO", value);
+    push_kv("BLE", app()->isBleEnabled() ? "ON" : "OFF");
+    if (has_ble_status && ble_status.requires_passkey)
+    {
+        push_kv("BLE MODE", blePairingModeLabel(ble_status));
+        if (ble_status.passkey != 0)
+        {
+            std::snprintf(value, sizeof(value), "%06lu", static_cast<unsigned long>(ble_status.passkey));
+            push_kv("BLE PIN", value);
+        }
+    }
+
+    if (host_.format_frequency_fn)
+    {
+        char freq[24] = {};
+        host_.format_frequency_fn(host_.active_lora_frequency_hz_fn ? host_.active_lora_frequency_hz_fn() : 0U,
+                                  freq,
+                                  sizeof(freq));
+        push_kv("FREQ", freq[0] ? freq : "-");
+    }
+
+    push_line("[RADIO]");
+    std::snprintf(value, sizeof(value), "%s", protocolLabel(cfg.mesh_protocol));
+    push_kv("PROTO", value);
+    push_kv("REGION", radioRegionLabel(cfg));
+    std::snprintf(value, sizeof(value), "%ddBm", static_cast<int>(cfg.activeMeshConfig().tx_power));
+    push_kv("TX", value);
+    if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
+    {
+        push_kv("MODEM", chat::meshtastic::presetDisplayName(
+                             static_cast<meshtastic_Config_LoRaConfig_ModemPreset>(cfg.meshtastic_config.modem_preset)));
+        std::snprintf(value, sizeof(value), "Slot %u", static_cast<unsigned>(cfg.meshtastic_config.channel_num));
+        push_kv("CHAN", value);
+        push_kv("ENCRYPT", encryptEnabled(cfg) ? "ON" : "OFF");
+    }
+    else
+    {
+        push_kv("PRESET", radioRegionLabel(cfg));
+        push_kv("NAME", cfg.meshcore_config.meshcore_channel_name);
+        std::snprintf(value, sizeof(value), "%u",
+                      static_cast<unsigned>(cfg.meshcore_config.meshcore_channel_slot));
+        push_kv("SLOT", value);
+        push_kv("ENCRYPT", encryptEnabled(cfg) ? "ON" : "OFF");
+    }
+
+    push_line("[SYSTEM]");
+    push_kv("BLE", app()->isBleEnabled() ? "ON" : "OFF");
+    if (has_ble_status && ble_status.requires_passkey)
+    {
+        push_kv("BLE MODE", blePairingModeLabel(ble_status));
+        if (ble_status.passkey != 0)
+        {
+            std::snprintf(value, sizeof(value), "%06lu", static_cast<unsigned long>(ble_status.passkey));
+            push_kv("BLE PIN", value);
+        }
+    }
+    if (battery.available && battery.level >= 0)
+    {
+        std::snprintf(value, sizeof(value), "%d%%%s", battery.level, battery.charging ? "+" : "");
+        push_kv("BAT", value);
+    }
+    else
+    {
+        push_kv("BAT", "-");
+    }
+    char tz_label[16] = {};
+    formatTimezoneLabel(host_.timezone_offset_min_fn ? host_.timezone_offset_min_fn() : 0, tz_label, sizeof(tz_label));
+    push_kv("TZ", tz_label[0] ? tz_label : "UTC+0");
+
+    char time_buf[16] = {};
+    char date_buf[24] = {};
+    formatTime(time_buf, sizeof(time_buf), date_buf, sizeof(date_buf));
+    push_kv("TIME", time_buf[0] ? time_buf : "-");
+    push_kv("DATE", date_buf[0] ? date_buf : "-");
+
+    push_line("[GPS]");
+    push_kv("GPS", cfg.gps_mode != 0 ? "ON" : "OFF");
+    push_kv("SATS", gpsSatMaskLabel(cfg.gps_sat_mask));
+    std::snprintf(value, sizeof(value), "%lus", static_cast<unsigned long>(cfg.gps_interval_ms / 1000UL));
+    push_kv("INT", value);
+    push_kv("PWR", (host_.gps_powered_fn && host_.gps_powered_fn()) ? "ON" : "OFF");
+    if (gps.valid)
+    {
+        std::snprintf(value, sizeof(value), "%.5f", gps.lat);
+        push_kv("LAT", value);
+        std::snprintf(value, sizeof(value), "%.5f", gps.lng);
+        push_kv("LON", value);
+        std::snprintf(value, sizeof(value), "%u", static_cast<unsigned>(gps.satellites));
+        push_kv("SATS", value);
+        if (gps.has_alt)
+        {
+            std::snprintf(value, sizeof(value), "%.0fm", gps.alt_m);
+            push_kv("ALT", value);
+        }
+        if (gps.has_speed)
+        {
+            std::snprintf(value, sizeof(value), "%.1fkmh", gps.speed_mps * 3.6);
+            push_kv("SPD", value);
+        }
+        if (gps.has_course)
+        {
+            std::snprintf(value, sizeof(value), "%.0fdeg", gps.course_deg);
+            push_kv("CRS", value);
+        }
+        std::snprintf(value, sizeof(value), "%lus", static_cast<unsigned long>(gps.age / 1000UL));
+        push_kv("AGE", value);
+    }
+    else
+    {
+        push_kv("FIX", "SEARCH");
+    }
+
+    const size_t max_scroll = line_count > kInfoPageSize ? (line_count - kInfoPageSize) : 0U;
+    if (info_scroll_ > max_scroll)
+    {
+        info_scroll_ = max_scroll;
+    }
+
+    const int line_h = text_renderer_.lineHeight();
+    const int start_y = 10;
+    const size_t visible = std::min(line_count - info_scroll_, kInfoPageSize);
+    for (size_t i = 0; i < visible; ++i)
+    {
+        drawTextClipped(0,
+                        start_y + static_cast<int>(i * line_h),
+                        display_.width(),
+                        lines[info_scroll_ + i]);
+    }
+}
+
 void Runtime::renderGnssPage()
 {
     const auto state = host_.gps_data_fn ? host_.gps_data_fn() : platform::ui::gps::GpsState{};
@@ -1894,6 +2264,10 @@ void Runtime::enterPage(Page page)
         message_info_scroll_ = 0;
         buildMessageInfo();
     }
+    else if (page == Page::InfoPage)
+    {
+        info_scroll_ = 0;
+    }
     else if (page == Page::GnssPage)
     {
         gnss_page_index_ = 0;
@@ -2048,8 +2422,8 @@ void Runtime::buildNodeInfo()
     push_kv("LN", node.long_name[0] != '\0' ? node.long_name : "-");
 
     push_section("LINK");
-    push_kv("P", node.protocol == chat::contacts::NodeProtocolType::MeshCore ? "MC" :
-                 node.protocol == chat::contacts::NodeProtocolType::Meshtastic ? "MT" : "?");
+    push_kv("P", node.protocol == chat::contacts::NodeProtocolType::MeshCore ? "MC" : node.protocol == chat::contacts::NodeProtocolType::Meshtastic ? "MT"
+                                                                                                                                                    : "?");
     std::snprintf(value, sizeof(value), "%u", static_cast<unsigned>(node.hops_away));
     push_kv("HP", node.hops_away == 0xFF ? "-" : value);
     std::snprintf(value, sizeof(value), "%u", static_cast<unsigned>(node.channel));
@@ -2386,14 +2760,9 @@ void Runtime::adjustRadioSetting(int delta)
                                       ? chat::MeshProtocol::MeshCore
                                       : chat::MeshProtocol::Meshtastic,
                                   false);
+        appendStatus(this, "proto %s", protocolShortLabel(app()->getConfig().mesh_protocol));
         break;
     case 1:
-        cfg.activeMeshConfig().tx_power = static_cast<int8_t>(clampValue<int>(
-            static_cast<int>(cfg.activeMeshConfig().tx_power) + delta,
-            static_cast<int>(app::AppConfig::kTxPowerMinDbm),
-            static_cast<int>(app::AppConfig::kTxPowerMaxDbm)));
-        break;
-    case 2:
         if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
         {
             size_t count = 0;
@@ -2433,6 +2802,14 @@ void Runtime::adjustRadioSetting(int delta)
                 cfg.meshcore_config.meshcore_region_preset = table[index].id;
             }
         }
+        appendStatus(this, "region %s", radioRegionLabel(cfg));
+        break;
+    case 2:
+        cfg.activeMeshConfig().tx_power = static_cast<int8_t>(clampValue<int>(
+            static_cast<int>(cfg.activeMeshConfig().tx_power) + delta,
+            static_cast<int>(app::AppConfig::kTxPowerMinDbm),
+            static_cast<int>(app::AppConfig::kTxPowerMaxDbm)));
+        appendStatus(this, "tx %ddBm", static_cast<int>(cfg.activeMeshConfig().tx_power));
         break;
     case 3:
         if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
@@ -2466,21 +2843,34 @@ void Runtime::adjustRadioSetting(int delta)
                 cfg.meshcore_config.meshcore_cr = table[index].cr;
             }
         }
+        if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
+        {
+            appendStatus(this, "modem %s",
+                         chat::meshtastic::presetDisplayName(
+                             static_cast<meshtastic_Config_LoRaConfig_ModemPreset>(cfg.meshtastic_config.modem_preset)));
+        }
+        else
+        {
+            appendStatus(this, "preset %s", radioRegionLabel(cfg));
+        }
         break;
     case 4:
         if (cfg.mesh_protocol == chat::MeshProtocol::Meshtastic)
         {
             cfg.meshtastic_config.channel_num = static_cast<uint16_t>(clampValue<int>(
                 static_cast<int>(cfg.meshtastic_config.channel_num) + delta, 0, 255));
+            appendStatus(this, "channel %u", static_cast<unsigned>(cfg.meshtastic_config.channel_num));
         }
         else
         {
             cfg.meshcore_config.meshcore_channel_slot = static_cast<uint8_t>(clampValue<int>(
                 static_cast<int>(cfg.meshcore_config.meshcore_channel_slot) + delta, 0, 15));
+            appendStatus(this, "slot %u", static_cast<unsigned>(cfg.meshcore_config.meshcore_channel_slot));
         }
         break;
     case 5:
         setEncryptEnabled(cfg, !encryptEnabled(cfg));
+        appendStatus(this, "encrypt %s", encryptEnabled(cfg) ? "on" : "off");
         break;
     default:
         break;
@@ -2499,17 +2889,19 @@ void Runtime::adjustDeviceSetting(int delta)
     if (device_index_ == 0)
     {
         app()->setBleEnabled(!app()->isBleEnabled());
+        appendStatus(this, "ble %s", app()->isBleEnabled() ? "on" : "off");
     }
-    else if (device_index_ == 1 && host_.timezone_offset_min_fn && host_.set_timezone_offset_min_fn)
-    {
-        const int current = host_.timezone_offset_min_fn();
-        const int next = clampValue(current + delta * kTimezoneStep, kTimezoneMin, kTimezoneMax);
-        host_.set_timezone_offset_min_fn(next);
-    }
-    else if (device_index_ == 2)
+    else if (device_index_ == 1)
     {
         app()->getConfig().gps_mode = (app()->getConfig().gps_mode == 0) ? 1 : 0;
         commitConfig();
+        appendStatus(this, "gps %s", app()->getConfig().gps_mode != 0 ? "on" : "off");
+    }
+    else if (device_index_ == 2)
+    {
+        app()->getConfig().gps_sat_mask = nextGpsSatMask(app()->getConfig().gps_sat_mask, delta);
+        commitConfig();
+        appendStatus(this, "sats %s", gpsSatMaskLabel(app()->getConfig().gps_sat_mask));
     }
     else if (device_index_ == 3)
     {
@@ -2523,11 +2915,16 @@ void Runtime::adjustDeviceSetting(int delta)
         const int next = clampValue<int>(static_cast<int>(index) + delta, 0, static_cast<int>(arrayCount(kGpsIntervals)) - 1);
         app()->getConfig().gps_interval_ms = kGpsIntervals[next];
         commitConfig();
+        appendStatus(this, "gps int %lus", static_cast<unsigned long>(app()->getConfig().gps_interval_ms / 1000UL));
     }
-    else if (device_index_ == 4)
+    else if (device_index_ == 4 && host_.timezone_offset_min_fn && host_.set_timezone_offset_min_fn)
     {
-        app()->getConfig().chat_channel = app()->getConfig().chat_channel == 0 ? 1 : 0;
-        commitConfig();
+        const int current = host_.timezone_offset_min_fn();
+        const int next = clampValue(current + delta * kTimezoneStep, kTimezoneMin, kTimezoneMax);
+        host_.set_timezone_offset_min_fn(next);
+        char tz_label[16] = {};
+        formatTimezoneLabel(next, tz_label, sizeof(tz_label));
+        appendStatus(this, "tz %s", tz_label);
     }
 }
 
@@ -2827,15 +3224,6 @@ void Runtime::saveEditedTextToConfig()
     auto& cfg = app()->getConfig();
     switch (edit_target_)
     {
-    case EditTarget::UserName:
-        copyText(cfg.node_name, compose_buffer_);
-        break;
-    case EditTarget::ShortName:
-        copyText(cfg.short_name, compose_buffer_);
-        break;
-    case EditTarget::MeshtasticPsk:
-        (void)hexToBytes(compose_buffer_, cfg.meshtastic_config.secondary_key, 16);
-        break;
     case EditTarget::MeshCoreChannelName:
         copyText(cfg.meshcore_config.meshcore_channel_name, compose_buffer_);
         break;
@@ -3046,7 +3434,7 @@ void Runtime::drawTextClipped(int x, int y, int w, const char* text, bool invers
 
 bool Runtime::editUsesHexCharset() const
 {
-    return edit_target_ == EditTarget::MeshtasticPsk;
+    return false;
 }
 
 bool Runtime::usesSmartCompose() const
diff --git a/modules/ui_mono_128x64/src/text_renderer.cpp b/modules/ui_mono_128x64/src/text_renderer.cpp
index d9c6d6c6..f17bd622 100644
--- a/modules/ui_mono_128x64/src/text_renderer.cpp
+++ b/modules/ui_mono_128x64/src/text_renderer.cpp
@@ -237,14 +237,70 @@ void drawGlyphBitmap(MonoDisplay& display, const MonoFont& font, int x, int y, c
 const MonoFont& builtin_ui_font()
 {
     static const uint8_t kBitmap[] = {
-        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-        0x00, 0x40, 0x40, 0x40, 0x40, 0x00, 0x40, 0x00,
-        0x00, 0xA0, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00,
-        0x00, 0xA0, 0xE0, 0xA0, 0xA0, 0xE0, 0xA0, 0x00,
-        0x00, 0x40, 0xE0, 0xC0, 0x60, 0x60, 0xC0, 0x40,
-        0x00, 0x00, 0xA0, 0x20, 0x40, 0x80, 0xA0, 0x00,
-        0x00, 0x40, 0xA0, 0x40, 0xA0, 0xA0, 0x60, 0x00,
-        0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x40,
+        0x40,
+        0x40,
+        0x40,
+        0x00,
+        0x40,
+        0x00,
+        0x00,
+        0xA0,
+        0xA0,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0xA0,
+        0xE0,
+        0xA0,
+        0xA0,
+        0xE0,
+        0xA0,
+        0x00,
+        0x00,
+        0x40,
+        0xE0,
+        0xC0,
+        0x60,
+        0x60,
+        0xC0,
+        0x40,
+        0x00,
+        0x00,
+        0xA0,
+        0x20,
+        0x40,
+        0x80,
+        0xA0,
+        0x00,
+        0x00,
+        0x40,
+        0xA0,
+        0x40,
+        0xA0,
+        0xA0,
+        0x60,
+        0x00,
+        0x00,
+        0x40,
+        0x40,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
+        0x00,
     };
     static const MonoGlyph kGlyphs[] = {
         {0, 8, 8, 0, -1, 4},
diff --git a/modules/ui_shared/include/ui/menu/dashboard/dashboard_state.h b/modules/ui_shared/include/ui/menu/dashboard/dashboard_state.h
new file mode 100644
index 00000000..280a6189
--- /dev/null
+++ b/modules/ui_shared/include/ui/menu/dashboard/dashboard_state.h
@@ -0,0 +1,86 @@
+#pragma once
+
+#include "ui/menu/dashboard/dashboard_style.h"
+
+namespace ui::menu::dashboard
+{
+
+struct MeshWidgetUi
+{
+    DashboardCardChrome chrome{};
+    lv_obj_t* orbit_outer = nullptr;
+    lv_obj_t* orbit_mid = nullptr;
+    lv_obj_t* orbit_core = nullptr;
+    lv_obj_t* hero_value = nullptr;
+    lv_obj_t* hero_caption = nullptr;
+    lv_obj_t* stat_tiles[3]{};
+    lv_obj_t* stat_values[3]{};
+    lv_obj_t* stat_captions[3]{};
+    lv_obj_t* signal_bar_wrap = nullptr;
+    lv_obj_t* signal_bars[12]{};
+    lv_obj_t* footer_label = nullptr;
+};
+
+struct GpsWidgetUi
+{
+    DashboardCardChrome chrome{};
+    lv_obj_t* radar = nullptr;
+    lv_obj_t* radar_rings[3]{};
+    lv_obj_t* radar_cross_h = nullptr;
+    lv_obj_t* radar_cross_v = nullptr;
+    lv_obj_t* sat_dots[8]{};
+    lv_obj_t* sat_labels[8]{};
+    lv_obj_t* sat_use_tags[8]{};
+    lv_obj_t* stat_tiles[3]{};
+    lv_obj_t* stat_values[3]{};
+    lv_obj_t* stat_captions[3]{};
+    lv_obj_t* footer_label = nullptr;
+};
+
+struct RecentWidgetUi
+{
+    DashboardCardChrome chrome{};
+    lv_obj_t* rows[2]{};
+    lv_obj_t* row_dots[2]{};
+    lv_obj_t* row_names[2]{};
+    lv_obj_t* row_previews[2]{};
+    lv_obj_t* row_badges[2]{};
+    lv_obj_t* row_badge_labels[2]{};
+    lv_obj_t* scan_track = nullptr;
+    lv_obj_t* scan_runner = nullptr;
+    lv_obj_t* footer_label = nullptr;
+};
+
+struct CompassWidgetUi
+{
+    DashboardCardChrome chrome{};
+    lv_obj_t* dial = nullptr;
+    lv_obj_t* dial_ring = nullptr;
+    lv_obj_t* dial_inner_ring = nullptr;
+    lv_obj_t* north_marker = nullptr;
+    lv_obj_t* needle = nullptr;
+    lv_obj_t* center_dot = nullptr;
+    lv_obj_t* cardinal_labels[4]{};
+    lv_obj_t* target_name = nullptr;
+    lv_obj_t* distance_value = nullptr;
+    lv_obj_t* bearing_value = nullptr;
+    lv_obj_t* footer_label = nullptr;
+};
+
+struct DashboardUi
+{
+    lv_obj_t* panel = nullptr;
+    lv_obj_t* grid = nullptr;
+    lv_timer_t* timer = nullptr;
+    uint32_t tick = 0;
+    bool dock_right = false;
+    MeshWidgetUi mesh{};
+    GpsWidgetUi gps{};
+    RecentWidgetUi recent{};
+    CompassWidgetUi compass{};
+};
+
+DashboardUi& dashboard_state();
+void dashboard_reset();
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/include/ui/menu/dashboard/dashboard_style.h b/modules/ui_shared/include/ui/menu/dashboard/dashboard_style.h
new file mode 100644
index 00000000..be1a68f1
--- /dev/null
+++ b/modules/ui_shared/include/ui/menu/dashboard/dashboard_style.h
@@ -0,0 +1,56 @@
+#pragma once
+
+#include "lvgl.h"
+
+#if !defined(LV_FONT_MONTSERRAT_12) || !LV_FONT_MONTSERRAT_12
+#define lv_font_montserrat_12 lv_font_montserrat_14
+#endif
+
+#if !defined(LV_FONT_MONTSERRAT_16) || !LV_FONT_MONTSERRAT_16
+#define lv_font_montserrat_16 lv_font_montserrat_14
+#endif
+
+namespace ui::menu::dashboard
+{
+
+struct DashboardCardChrome
+{
+    lv_obj_t* card = nullptr;
+    lv_obj_t* header = nullptr;
+    lv_obj_t* title = nullptr;
+    lv_obj_t* status_chip = nullptr;
+    lv_obj_t* status_label = nullptr;
+    lv_obj_t* body = nullptr;
+    lv_obj_t* footer = nullptr;
+};
+
+lv_color_t color_amber();
+lv_color_t color_amber_dark();
+lv_color_t color_panel_bg();
+lv_color_t color_line();
+lv_color_t color_text();
+lv_color_t color_text_dim();
+lv_color_t color_warn();
+lv_color_t color_ok();
+lv_color_t color_info();
+lv_color_t color_soft_amber();
+lv_color_t color_soft_blue();
+lv_color_t color_soft_green();
+lv_color_t color_soft_warn();
+
+DashboardCardChrome create_card_chrome(lv_obj_t* parent,
+                                       const char* title,
+                                       lv_coord_t card_w,
+                                       lv_coord_t card_h);
+void set_status_chip(DashboardCardChrome& chrome, const char* text, lv_color_t bg, lv_color_t fg);
+void style_stat_tile(lv_obj_t* tile, lv_color_t bg);
+void style_body_label(lv_obj_t* label, const lv_font_t* font, lv_color_t color);
+void style_footer_label(lv_obj_t* label);
+void style_ring_object(lv_obj_t* obj, lv_coord_t diameter, lv_coord_t border, lv_color_t color);
+void format_distance(double meters, char* out, size_t out_len);
+float normalize_degrees(float value);
+float bearing_between(double lat1, double lon1, double lat2, double lon2);
+double haversine_m(double lat1, double lon1, double lat2, double lon2);
+const char* compass_rose(float bearing);
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/include/ui/menu/dashboard/dashboard_widgets.h b/modules/ui_shared/include/ui/menu/dashboard/dashboard_widgets.h
new file mode 100644
index 00000000..c021822b
--- /dev/null
+++ b/modules/ui_shared/include/ui/menu/dashboard/dashboard_widgets.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "lvgl.h"
+
+namespace ui::menu::dashboard
+{
+
+void create_mesh_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h);
+void refresh_mesh_widget();
+
+void create_gps_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h);
+void refresh_gps_widget();
+
+void create_recent_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h);
+void refresh_recent_widget();
+
+void create_compass_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h);
+void refresh_compass_widget();
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/include/ui/menu/menu_dashboard.h b/modules/ui_shared/include/ui/menu/menu_dashboard.h
new file mode 100644
index 00000000..195a2a12
--- /dev/null
+++ b/modules/ui_shared/include/ui/menu/menu_dashboard.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "lvgl.h"
+
+#include "ui/menu/menu_layout.h"
+
+namespace ui::menu::dashboard
+{
+
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5) || defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
+void init(lv_obj_t* menu_panel, lv_obj_t* grid_panel, const ui::menu_layout::InitOptions& options);
+void bringToFront();
+void setActive(bool active);
+#else
+inline void init(lv_obj_t* menu_panel, lv_obj_t* grid_panel, const ui::menu_layout::InitOptions& options)
+{
+    (void)menu_panel;
+    (void)grid_panel;
+    (void)options;
+}
+
+inline void bringToFront()
+{
+}
+
+inline void setActive(bool active)
+{
+    (void)active;
+}
+#endif
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/include/ui/menu/menu_layout.h b/modules/ui_shared/include/ui/menu/menu_layout.h
index 2dce1738..fcbc17da 100644
--- a/modules/ui_shared/include/ui/menu/menu_layout.h
+++ b/modules/ui_shared/include/ui/menu/menu_layout.h
@@ -19,6 +19,7 @@ struct InitOptions
 void init(const InitOptions& options);
 lv_obj_t* menuPanel();
 void bringContentToFront();
+void setMenuVisible(bool visible);
 
 } // namespace menu_layout
 } // namespace ui
diff --git a/modules/ui_shared/include/ui/menu/menu_profile.h b/modules/ui_shared/include/ui/menu/menu_profile.h
index dbaaf9e4..bd328259 100644
--- a/modules/ui_shared/include/ui/menu/menu_profile.h
+++ b/modules/ui_shared/include/ui/menu/menu_profile.h
@@ -69,11 +69,13 @@ struct MenuLayoutProfile
 
     lv_coord_t title_offset_x = 0;
     lv_coord_t title_offset_y = 0;
+    uint8_t max_columns = 0;
 
     bool wrap_grid = false;
     bool vertical_scroll = false;
     bool snap_center = false;
     bool transparent_cards = false;
+    bool grid_anchor_top_left = false;
     bool show_top_bar = false;
     bool show_card_label = false;
     bool show_desc_label = true;
diff --git a/modules/ui_shared/include/ui/menu/menu_runtime.h b/modules/ui_shared/include/ui/menu/menu_runtime.h
index f5f09e48..a6cbde94 100644
--- a/modules/ui_shared/include/ui/menu/menu_runtime.h
+++ b/modules/ui_shared/include/ui/menu/menu_runtime.h
@@ -10,6 +10,14 @@ namespace ui
 namespace menu_runtime
 {
 
+enum class Scene : uint8_t
+{
+    Menu = 0,
+    App,
+    WatchFace,
+    Sleeping,
+};
+
 struct Hooks
 {
     struct WatchFaceHooks
@@ -29,6 +37,9 @@ struct Hooks
 void init(lv_obj_t* screen_root, lv_obj_t* main_screen, lv_obj_t* menu_panel, const Hooks& hooks);
 void showWatchFace();
 void onWakeFromSleep();
+void setMenuActive(bool active);
+void setScene(Scene scene);
+Scene currentScene();
 
 } // namespace menu_runtime
 } // namespace ui
diff --git a/modules/ui_shared/include/ui/ui_status.h b/modules/ui_shared/include/ui/ui_status.h
index 41417d6f..56d5f7dc 100644
--- a/modules/ui_shared/include/ui/ui_status.h
+++ b/modules/ui_shared/include/ui/ui_status.h
@@ -23,6 +23,7 @@ void register_menu_status_row(lv_obj_t* row,
 void register_chat_badge(lv_obj_t* badge_bg, lv_obj_t* badge_label);
 void force_update();
 int get_total_unread();
+void set_menu_active(bool active);
 
 } // namespace status
 } // namespace ui
diff --git a/modules/ui_shared/include/ui/widgets/ime/pinyin_ime.h b/modules/ui_shared/include/ui/widgets/ime/pinyin_ime.h
index d18767f9..b4fe7b05 100644
--- a/modules/ui_shared/include/ui/widgets/ime/pinyin_ime.h
+++ b/modules/ui_shared/include/ui/widgets/ime/pinyin_ime.h
@@ -17,7 +17,10 @@ class PinyinIme
 {
   public:
 #if defined(GAT562_NO_PINYIN_IME) && GAT562_NO_PINYIN_IME
-    void setEnabled(bool enabled) { enabled_ = enabled; }
+    void setEnabled(bool enabled)
+    {
+        enabled_ = enabled;
+    }
     bool isEnabled() const { return false; }
 
     void reset()
diff --git a/modules/ui_shared/src/ui/app_catalog_builder.cpp b/modules/ui_shared/src/ui/app_catalog_builder.cpp
index 53aa0b70..a012eada 100644
--- a/modules/ui_shared/src/ui/app_catalog_builder.cpp
+++ b/modules/ui_shared/src/ui/app_catalog_builder.cpp
@@ -28,6 +28,12 @@ namespace
 
 constexpr size_t kMaxMenuApps = 16;
 
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+constexpr bool kTab5SkipSkyPlot = true;
+#else
+constexpr bool kTab5SkipSkyPlot = false;
+#endif
+
 extern "C"
 {
     extern const lv_image_dsc_t Chat;
@@ -201,7 +207,10 @@ AppCatalog build(const FeatureFlags& flags)
         }
         if (flags.include_gnss_skyplot)
         {
-            add(&s_skyplot_app);
+            if (!kTab5SkipSkyPlot)
+            {
+                add(&s_skyplot_app);
+            }
         }
         add_common_tail();
     }
@@ -213,7 +222,10 @@ AppCatalog build(const FeatureFlags& flags)
         }
         if (flags.include_gnss_skyplot)
         {
-            add(&s_skyplot_app);
+            if (!kTab5SkipSkyPlot)
+            {
+                add(&s_skyplot_app);
+            }
         }
         if (flags.include_tracker)
         {
diff --git a/modules/ui_shared/src/ui/app_runtime.cpp b/modules/ui_shared/src/ui/app_runtime.cpp
index 27f5fd5d..b7a207bb 100644
--- a/modules/ui_shared/src/ui/app_runtime.cpp
+++ b/modules/ui_shared/src/ui/app_runtime.cpp
@@ -1,5 +1,11 @@
 #include "ui/app_runtime.h"
+#include "ui/menu/menu_layout.h"
 #include "ui/menu/menu_profile.h"
+#include "ui/menu/menu_runtime.h"
+
+#if defined(ESP_PLATFORM)
+#include "esp_log.h"
+#endif
 
 lv_obj_t* main_screen = nullptr;
 lv_group_t* menu_g = nullptr;
@@ -7,6 +13,10 @@ lv_group_t* app_g = nullptr;
 
 namespace
 {
+#if defined(ESP_PLATFORM)
+constexpr const char* kTag = "ui-app-runtime";
+#endif
+
 AppScreen* s_active_app = nullptr;
 AppScreen* s_pending_exit = nullptr;
 lv_timer_t* s_exit_timer = nullptr;
@@ -19,6 +29,31 @@ lv_anim_enable_t transition_anim()
                : LV_ANIM_ON;
 }
 
+void show_menu_internal()
+{
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "show_menu_internal active=%s", s_active_app ? s_active_app->name() : "(null)");
+#endif
+    ui_clear_active_app();
+    set_default_group(menu_g);
+    ui::menu_layout::setMenuVisible(true);
+    ui::menu_runtime::setScene(ui::menu_runtime::Scene::Menu);
+    lv_tileview_set_tile_by_index(main_screen, 0, 0, transition_anim());
+}
+
+uint32_t child_count(lv_obj_t* obj)
+{
+    if (obj == nullptr)
+    {
+        return 0;
+    }
+#if LVGL_VERSION_MAJOR >= 9
+    return lv_obj_get_child_count(obj);
+#else
+    return static_cast<uint32_t>(lv_obj_get_child_cnt(obj));
+#endif
+}
+
 uint32_t exit_delay_ms()
 {
     return ui::menu_profile::current().input_mode == ui::menu_profile::InputMode::TouchPrimary ? 16U : 120U;
@@ -41,18 +76,51 @@ void exit_to_menu_timer_cb(lv_timer_t* timer)
         return;
     }
     s_pending_exit = nullptr;
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "exit_to_menu_timer_cb begin app=%s", app->name());
+#endif
     if (main_screen == nullptr)
     {
         app->exit(nullptr);
+        s_active_app = nullptr;
         return;
     }
     lv_obj_t* parent = lv_obj_get_child(main_screen, 1);
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag,
+             "exit_to_menu_timer_cb parent=%p child_count_before=%lu",
+             parent,
+             static_cast<unsigned long>(child_count(parent)));
+#endif
     app->exit(parent);
+    if (parent != nullptr)
+    {
+        const uint32_t leaked_children = child_count(parent);
+        if (leaked_children > 0)
+        {
+#if defined(ESP_PLATFORM)
+            ESP_LOGW(kTag,
+                     "exit_to_menu_timer_cb cleaning leaked app_panel children=%lu",
+                     static_cast<unsigned long>(leaked_children));
+#endif
+            lv_obj_clean(parent);
+        }
+    }
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag,
+             "exit_to_menu_timer_cb parent=%p child_count_after=%lu",
+             parent,
+             static_cast<unsigned long>(child_count(parent)));
+#endif
+    s_active_app = nullptr;
+    show_menu_internal();
     if (menu_g)
     {
-        set_default_group(menu_g);
         lv_group_set_editing(menu_g, false);
     }
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "exit_to_menu_timer_cb complete");
+#endif
 }
 } // namespace
 
@@ -84,9 +152,7 @@ void set_default_group(lv_group_t* group)
 
 void menu_show()
 {
-    ui_clear_active_app();
-    set_default_group(menu_g);
-    lv_tileview_set_tile_by_index(main_screen, 0, 0, transition_anim());
+    show_menu_internal();
 }
 
 AppScreen* ui_get_active_app()
@@ -101,17 +167,31 @@ void ui_clear_active_app()
 
 void ui_switch_to_app(AppScreen* app, lv_obj_t* parent)
 {
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag,
+             "ui_switch_to_app from=%s to=%s parent=%d",
+             s_active_app ? s_active_app->name() : "(null)",
+             app ? app->name() : "(null)",
+             parent ? 1 : 0);
+#endif
     if (s_pending_exit == app)
     {
         s_pending_exit = nullptr;
     }
     if (s_active_app && s_active_app != app)
     {
+#if defined(ESP_PLATFORM)
+        ESP_LOGI(kTag, "exiting previous app=%s", s_active_app->name());
+#endif
         s_active_app->exit(parent);
     }
     if (app)
     {
+#if defined(ESP_PLATFORM)
+        ESP_LOGI(kTag, "enter app=%s", app->name());
+#endif
         app->enter(parent);
+        ui::menu_runtime::setScene(ui::menu_runtime::Scene::App);
     }
     s_active_app = app;
 }
@@ -123,14 +203,18 @@ void ui_exit_active_app(lv_obj_t* parent)
         s_active_app->exit(parent);
     }
     s_active_app = nullptr;
+    ui::menu_runtime::setScene(ui::menu_runtime::Scene::Menu);
 }
 
 void ui_request_exit_to_menu()
 {
     AppScreen* app = s_active_app;
-    menu_show();
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "ui_request_exit_to_menu app=%s", app ? app->name() : "(null)");
+#endif
     if (app == nullptr)
     {
+        menu_show();
         return;
     }
     if (s_pending_exit == app)
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_compass_widget.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_compass_widget.cpp
new file mode 100644
index 00000000..d484a388
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_compass_widget.cpp
@@ -0,0 +1,284 @@
+#include "ui/menu/dashboard/dashboard_widgets.h"
+
+#include <cstdio>
+#include <cstring>
+#include <string>
+
+#include "app/app_facade_access.h"
+#include "chat/domain/contact_types.h"
+#include "chat/usecase/contact_service.h"
+#include "platform/ui/gps_runtime.h"
+#include "platform/ui/orientation_runtime.h"
+#include "ui/menu/dashboard/dashboard_state.h"
+#include "ui/screens/team/team_ui_store.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+void set_label_text_if_changed(lv_obj_t* label, const char* text)
+{
+    if (label == nullptr || text == nullptr)
+    {
+        return;
+    }
+    const char* current = lv_label_get_text(label);
+    if (current == nullptr || std::strcmp(current, text) != 0)
+    {
+        lv_label_set_text(label, text);
+    }
+}
+
+std::string best_name_for(const chat::contacts::NodeInfo& info)
+{
+    if (!info.display_name.empty())
+    {
+        return info.display_name;
+    }
+    if (info.short_name[0] != '\0')
+    {
+        return info.short_name;
+    }
+    return "Unknown";
+}
+
+} // namespace
+
+void create_compass_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h)
+{
+    auto& compass = dashboard_state().compass;
+    compass.chrome = create_card_chrome(parent, "Mini Compass", card_w, card_h);
+
+    const lv_coord_t body_w = lv_obj_get_width(compass.chrome.body);
+    const lv_coord_t body_h = lv_obj_get_height(compass.chrome.body);
+    const lv_coord_t dial_d = std::min<lv_coord_t>(body_h - 8, std::max<lv_coord_t>(80, body_w / 2));
+
+    compass.dial = lv_obj_create(compass.chrome.body);
+    lv_obj_set_size(compass.dial, dial_d, dial_d);
+    lv_obj_align(compass.dial, LV_ALIGN_LEFT_MID, 2, 0);
+    lv_obj_set_style_bg_color(compass.dial, lv_color_hex(0xF7ECD2), 0);
+    lv_obj_set_style_bg_opa(compass.dial, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(compass.dial, 0, 0);
+    lv_obj_set_style_radius(compass.dial, LV_RADIUS_CIRCLE, 0);
+    lv_obj_clear_flag(compass.dial, LV_OBJ_FLAG_SCROLLABLE);
+
+    compass.dial_ring = lv_obj_create(compass.dial);
+    style_ring_object(compass.dial_ring, dial_d - 4, 2, color_line());
+    lv_obj_center(compass.dial_ring);
+
+    compass.dial_inner_ring = lv_obj_create(compass.dial);
+    style_ring_object(compass.dial_inner_ring, dial_d - 28, 1, color_line());
+    lv_obj_center(compass.dial_inner_ring);
+
+    compass.north_marker = lv_obj_create(compass.dial);
+    lv_obj_set_size(compass.north_marker, 12, 12);
+    lv_obj_set_style_radius(compass.north_marker, LV_RADIUS_CIRCLE, 0);
+    lv_obj_set_style_bg_color(compass.north_marker, color_warn(), 0);
+    lv_obj_set_style_bg_opa(compass.north_marker, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(compass.north_marker, 0, 0);
+    lv_obj_align(compass.north_marker, LV_ALIGN_TOP_MID, 0, 5);
+
+    compass.needle = lv_obj_create(compass.dial);
+    lv_obj_set_size(compass.needle, 4, dial_d / 2 - 10);
+    lv_obj_set_style_radius(compass.needle, 2, 0);
+    lv_obj_set_style_bg_color(compass.needle, color_amber_dark(), 0);
+    lv_obj_set_style_bg_opa(compass.needle, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(compass.needle, 0, 0);
+    lv_obj_set_style_transform_pivot_x(compass.needle, 2, 0);
+    lv_obj_set_style_transform_pivot_y(compass.needle, dial_d / 2 - 12, 0);
+    lv_obj_align(compass.needle, LV_ALIGN_CENTER, 0, -8);
+
+    compass.center_dot = lv_obj_create(compass.dial);
+    lv_obj_set_size(compass.center_dot, 14, 14);
+    lv_obj_set_style_radius(compass.center_dot, LV_RADIUS_CIRCLE, 0);
+    lv_obj_set_style_bg_color(compass.center_dot, color_text(), 0);
+    lv_obj_set_style_bg_opa(compass.center_dot, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(compass.center_dot, 0, 0);
+    lv_obj_center(compass.center_dot);
+
+    static constexpr const char* kCardinals[] = {"N", "E", "S", "W"};
+    static constexpr lv_align_t kAligns[] = {LV_ALIGN_TOP_MID, LV_ALIGN_RIGHT_MID, LV_ALIGN_BOTTOM_MID, LV_ALIGN_LEFT_MID};
+    static constexpr lv_coord_t kOffsets[4][2] = {{0, -2}, {-3, 0}, {0, 2}, {3, 0}};
+    for (size_t i = 0; i < 4; ++i)
+    {
+        compass.cardinal_labels[i] = lv_label_create(compass.dial);
+        style_body_label(compass.cardinal_labels[i], &lv_font_montserrat_12, i == 0 ? color_warn() : color_text_dim());
+        lv_label_set_text(compass.cardinal_labels[i], kCardinals[i]);
+        lv_obj_align(compass.cardinal_labels[i], kAligns[i], kOffsets[i][0], kOffsets[i][1]);
+    }
+
+    const lv_coord_t stats_x = static_cast<lv_coord_t>(dial_d + 14);
+    const lv_coord_t stats_w = std::max<lv_coord_t>(96, body_w - stats_x);
+
+    compass.target_name = lv_label_create(compass.chrome.body);
+    style_body_label(compass.target_name, &lv_font_montserrat_16, color_text());
+    lv_obj_set_width(compass.target_name, stats_w);
+    lv_obj_set_pos(compass.target_name, stats_x, 4);
+    lv_label_set_text(compass.target_name, "No target");
+
+    compass.distance_value = lv_label_create(compass.chrome.body);
+    style_body_label(compass.distance_value, &lv_font_montserrat_16, color_info());
+    lv_obj_set_pos(compass.distance_value, stats_x, 34);
+    lv_label_set_text(compass.distance_value, "--");
+
+    compass.bearing_value = lv_label_create(compass.chrome.body);
+    style_body_label(compass.bearing_value, &lv_font_montserrat_12, color_text_dim());
+    lv_obj_set_width(compass.bearing_value, stats_w);
+    lv_obj_set_pos(compass.bearing_value, stats_x, 62);
+    lv_label_set_text(compass.bearing_value, "awaiting position");
+
+    compass.footer_label = lv_label_create(compass.chrome.footer);
+    style_footer_label(compass.footer_label);
+    lv_obj_align(compass.footer_label, LV_ALIGN_LEFT_MID, 0, 0);
+    lv_label_set_text(compass.footer_label, "compass wakes after GPS fix");
+}
+
+void refresh_compass_widget()
+{
+    auto& compass = dashboard_state().compass;
+    if (compass.chrome.card == nullptr)
+    {
+        return;
+    }
+
+    const auto self = platform::ui::gps::get_data();
+    const auto heading = platform::ui::orientation::get_heading();
+    const bool self_valid = self.valid;
+
+    double best_distance = 0.0;
+    float best_bearing = 0.0f;
+    float needle_bearing = 0.0f;
+    std::string best_name = "No target";
+    bool found_target = false;
+
+    if (self_valid)
+    {
+        team::ui::TeamUiSnapshot team_snap;
+        if (team::ui::team_ui_get_store().load(team_snap))
+        {
+            auto& contacts = app::messagingFacade().getContactService();
+            const uint32_t self_id = app::messagingFacade().getSelfNodeId();
+            for (const auto& member : team_snap.members)
+            {
+                if (member.node_id == 0 || member.node_id == self_id)
+                {
+                    continue;
+                }
+
+                const chat::contacts::NodeInfo* info = contacts.getNodeInfo(member.node_id);
+                if (info == nullptr || !info->position.valid)
+                {
+                    continue;
+                }
+
+                const double lat = static_cast<double>(info->position.latitude_i) / 1e7;
+                const double lon = static_cast<double>(info->position.longitude_i) / 1e7;
+                const double distance = haversine_m(self.lat, self.lng, lat, lon);
+                if (!found_target || distance < best_distance)
+                {
+                    found_target = true;
+                    best_distance = distance;
+                    best_bearing = bearing_between(self.lat, self.lng, lat, lon);
+                    best_name = best_name_for(*info);
+                }
+            }
+        }
+    }
+
+    if (!self_valid)
+    {
+        set_status_chip(compass.chrome,
+                        heading.available ? "COMPASS" : "NO FIX",
+                        heading.available ? color_soft_blue() : color_soft_warn(),
+                        heading.available ? color_info() : color_warn());
+        set_label_text_if_changed(compass.target_name, heading.available ? "North locked" : "Need local GPS");
+
+        char heading_buf[48];
+        if (heading.available)
+        {
+            std::snprintf(heading_buf, sizeof(heading_buf), "%s  |  %03.0f deg", compass_rose(heading.heading_deg), heading.heading_deg);
+            needle_bearing = normalize_degrees(360.0f - heading.heading_deg);
+        }
+        else
+        {
+            std::snprintf(heading_buf, sizeof(heading_buf), "--");
+        }
+        set_label_text_if_changed(compass.distance_value, heading.available ? heading_buf : "--");
+        set_label_text_if_changed(compass.bearing_value,
+                                  heading.available ? "magnetometer heading active" : "heading unlocks after first fix");
+        set_label_text_if_changed(compass.footer_label,
+                                  heading.available ? "device heading from 9-axis module" : "compass wakes after GPS fix");
+        lv_obj_set_style_transform_rotation(compass.needle, static_cast<lv_coord_t>(needle_bearing * 10.0f), 0);
+        lv_obj_set_style_bg_opa(compass.north_marker, LV_OPA_COVER, 0);
+        return;
+    }
+
+    if (!found_target)
+    {
+        set_status_chip(compass.chrome,
+                        heading.available ? "SEARCH" : "WAIT IMU",
+                        color_soft_blue(),
+                        color_info());
+        set_label_text_if_changed(compass.target_name, heading.available ? "Awaiting teammate" : "Heading starting");
+        if (heading.available)
+        {
+            char heading_buf[48];
+            std::snprintf(heading_buf, sizeof(heading_buf), "%s  |  %03.0f deg", compass_rose(heading.heading_deg), heading.heading_deg);
+            set_label_text_if_changed(compass.distance_value, heading_buf);
+            set_label_text_if_changed(compass.bearing_value, "team member position will appear here");
+            set_label_text_if_changed(compass.footer_label, "needle shows north until target lock");
+            needle_bearing = normalize_degrees(360.0f - heading.heading_deg);
+        }
+        else
+        {
+            set_label_text_if_changed(compass.distance_value, "--");
+            set_label_text_if_changed(compass.bearing_value, "magnetometer still warming up");
+            set_label_text_if_changed(compass.footer_label, "waiting for module GNSS compass");
+        }
+        lv_obj_set_style_transform_rotation(compass.needle, static_cast<lv_coord_t>(needle_bearing * 10.0f), 0);
+        lv_obj_set_style_bg_opa(compass.north_marker, LV_OPA_COVER, 0);
+        return;
+    }
+
+    set_status_chip(compass.chrome, compass_rose(best_bearing), color_soft_green(), color_ok());
+    set_label_text_if_changed(compass.target_name, best_name.c_str());
+
+    char distance_buf[24];
+    format_distance(best_distance, distance_buf, sizeof(distance_buf));
+    set_label_text_if_changed(compass.distance_value, distance_buf);
+
+    char bearing_buf[48];
+    if (heading.available)
+    {
+        std::snprintf(bearing_buf,
+                      sizeof(bearing_buf),
+                      "%s  |  %03.0f tgt  /  %03.0f hdg",
+                      compass_rose(best_bearing),
+                      best_bearing,
+                      heading.heading_deg);
+        needle_bearing = normalize_degrees(best_bearing - heading.heading_deg);
+    }
+    else
+    {
+        std::snprintf(bearing_buf, sizeof(bearing_buf), "%s  |  %03.0f deg", compass_rose(best_bearing), best_bearing);
+        needle_bearing = best_bearing;
+    }
+    set_label_text_if_changed(compass.bearing_value, bearing_buf);
+
+    char footer[64];
+    if (heading.available)
+    {
+        std::snprintf(footer, sizeof(footer), "peer lock  |  turn %03.0f deg", needle_bearing);
+    }
+    else
+    {
+        std::snprintf(footer, sizeof(footer), "nearest peer  |  %.0f m away", best_distance);
+    }
+    set_label_text_if_changed(compass.footer_label, footer);
+
+    lv_obj_set_style_transform_rotation(compass.needle, static_cast<lv_coord_t>(needle_bearing * 10.0f), 0);
+    lv_obj_set_style_bg_opa(compass.north_marker, LV_OPA_COVER, 0);
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_gps_widget.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_gps_widget.cpp
new file mode 100644
index 00000000..16096d71
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_gps_widget.cpp
@@ -0,0 +1,279 @@
+#include "ui/menu/dashboard/dashboard_widgets.h"
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+#include "platform/ui/gps_runtime.h"
+#include "ui/menu/dashboard/dashboard_state.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+void set_label_text_if_changed(lv_obj_t* label, const char* text)
+{
+    if (label == nullptr || text == nullptr)
+    {
+        return;
+    }
+    const char* current = lv_label_get_text(label);
+    if (current == nullptr || std::strcmp(current, text) != 0)
+    {
+        lv_label_set_text(label, text);
+    }
+}
+
+lv_color_t satellite_color(gps::GnssSystem sys)
+{
+    switch (sys)
+    {
+    case gps::GnssSystem::GPS:
+        return color_amber_dark();
+    case gps::GnssSystem::GLN:
+        return color_info();
+    case gps::GnssSystem::GAL:
+        return color_ok();
+    case gps::GnssSystem::BD:
+        return color_warn();
+    default:
+        return color_text_dim();
+    }
+}
+
+int sat_rank(const gps::GnssSatInfo& sat)
+{
+    const int used_bonus = sat.used ? 1000 : 0;
+    const int snr_score = std::max(0, static_cast<int>(sat.snr)) * 10;
+    return used_bonus + snr_score + sat.elevation;
+}
+
+const char* fix_text(gps::GnssFix fix)
+{
+    switch (fix)
+    {
+    case gps::GnssFix::FIX3D:
+        return "3D FIX";
+    case gps::GnssFix::FIX2D:
+        return "2D FIX";
+    default:
+        return "NO FIX";
+    }
+}
+
+void create_stat_tiles(GpsWidgetUi& gps_ui, lv_obj_t* body, lv_coord_t x, lv_coord_t tile_w)
+{
+    static constexpr const char* kCaptions[] = {"Fix", "Used", "HDOP"};
+    const lv_color_t colors[] = {color_soft_blue(), color_soft_green(), color_soft_amber()};
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        gps_ui.stat_tiles[i] = lv_obj_create(body);
+        lv_obj_set_size(gps_ui.stat_tiles[i], tile_w, 30);
+        lv_obj_set_pos(gps_ui.stat_tiles[i], x, static_cast<lv_coord_t>(i * 34));
+        style_stat_tile(gps_ui.stat_tiles[i], colors[i]);
+
+        gps_ui.stat_values[i] = lv_label_create(gps_ui.stat_tiles[i]);
+        style_body_label(gps_ui.stat_values[i], &lv_font_montserrat_16, color_text());
+        lv_obj_align(gps_ui.stat_values[i], LV_ALIGN_LEFT_MID, 0, -1);
+        lv_label_set_text(gps_ui.stat_values[i], "--");
+
+        gps_ui.stat_captions[i] = lv_label_create(gps_ui.stat_tiles[i]);
+        style_body_label(gps_ui.stat_captions[i], &lv_font_montserrat_12, color_text_dim());
+        lv_obj_align(gps_ui.stat_captions[i], LV_ALIGN_RIGHT_MID, 0, -1);
+        lv_label_set_text(gps_ui.stat_captions[i], kCaptions[i]);
+    }
+}
+
+} // namespace
+
+void create_gps_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h)
+{
+    auto& gps_ui = dashboard_state().gps;
+    gps_ui.chrome = create_card_chrome(parent, "GPS Status", card_w, card_h);
+
+    const lv_coord_t body_w = lv_obj_get_width(gps_ui.chrome.body);
+    const lv_coord_t body_h = lv_obj_get_height(gps_ui.chrome.body);
+    const lv_coord_t radar_d = std::min<lv_coord_t>(body_h - 8, std::max<lv_coord_t>(74, body_w / 2));
+
+    gps_ui.radar = lv_obj_create(gps_ui.chrome.body);
+    lv_obj_set_size(gps_ui.radar, radar_d, radar_d);
+    lv_obj_align(gps_ui.radar, LV_ALIGN_LEFT_MID, 2, 0);
+    lv_obj_set_style_bg_color(gps_ui.radar, lv_color_hex(0xF7ECD2), 0);
+    lv_obj_set_style_bg_opa(gps_ui.radar, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(gps_ui.radar, 0, 0);
+    lv_obj_set_style_radius(gps_ui.radar, LV_RADIUS_CIRCLE, 0);
+    lv_obj_clear_flag(gps_ui.radar, LV_OBJ_FLAG_SCROLLABLE);
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        gps_ui.radar_rings[i] = lv_obj_create(gps_ui.radar);
+        style_ring_object(gps_ui.radar_rings[i],
+                          static_cast<lv_coord_t>(radar_d - static_cast<lv_coord_t>(i * (radar_d / 4))),
+                          1,
+                          color_line());
+        lv_obj_center(gps_ui.radar_rings[i]);
+    }
+
+    gps_ui.radar_cross_h = lv_obj_create(gps_ui.radar);
+    lv_obj_set_size(gps_ui.radar_cross_h, radar_d - 16, 1);
+    lv_obj_center(gps_ui.radar_cross_h);
+    lv_obj_set_style_bg_color(gps_ui.radar_cross_h, color_line(), 0);
+    lv_obj_set_style_bg_opa(gps_ui.radar_cross_h, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(gps_ui.radar_cross_h, 0, 0);
+
+    gps_ui.radar_cross_v = lv_obj_create(gps_ui.radar);
+    lv_obj_set_size(gps_ui.radar_cross_v, 1, radar_d - 16);
+    lv_obj_center(gps_ui.radar_cross_v);
+    lv_obj_set_style_bg_color(gps_ui.radar_cross_v, color_line(), 0);
+    lv_obj_set_style_bg_opa(gps_ui.radar_cross_v, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(gps_ui.radar_cross_v, 0, 0);
+
+    for (size_t i = 0; i < 8; ++i)
+    {
+        gps_ui.sat_dots[i] = lv_obj_create(gps_ui.radar);
+        lv_obj_set_size(gps_ui.sat_dots[i], 16, 16);
+        lv_obj_set_style_radius(gps_ui.sat_dots[i], LV_RADIUS_CIRCLE, 0);
+        lv_obj_set_style_bg_color(gps_ui.sat_dots[i], color_line(), 0);
+        lv_obj_set_style_bg_opa(gps_ui.sat_dots[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_border_width(gps_ui.sat_dots[i], 2, 0);
+        lv_obj_set_style_border_color(gps_ui.sat_dots[i], color_text_dim(), 0);
+        lv_obj_add_flag(gps_ui.sat_dots[i], LV_OBJ_FLAG_HIDDEN);
+
+        gps_ui.sat_labels[i] = lv_label_create(gps_ui.sat_dots[i]);
+        style_body_label(gps_ui.sat_labels[i], &lv_font_montserrat_12, lv_color_white());
+        lv_obj_center(gps_ui.sat_labels[i]);
+
+        gps_ui.sat_use_tags[i] = lv_label_create(gps_ui.radar);
+        lv_obj_set_style_bg_color(gps_ui.sat_use_tags[i], color_ok(), 0);
+        lv_obj_set_style_bg_opa(gps_ui.sat_use_tags[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_radius(gps_ui.sat_use_tags[i], 6, 0);
+        lv_obj_set_style_pad_left(gps_ui.sat_use_tags[i], 4, 0);
+        lv_obj_set_style_pad_right(gps_ui.sat_use_tags[i], 4, 0);
+        lv_obj_set_style_pad_top(gps_ui.sat_use_tags[i], 1, 0);
+        lv_obj_set_style_pad_bottom(gps_ui.sat_use_tags[i], 1, 0);
+        lv_obj_set_style_text_color(gps_ui.sat_use_tags[i], lv_color_white(), 0);
+        lv_obj_set_style_text_font(gps_ui.sat_use_tags[i], &lv_font_montserrat_12, 0);
+        lv_label_set_text(gps_ui.sat_use_tags[i], "U");
+        lv_obj_add_flag(gps_ui.sat_use_tags[i], LV_OBJ_FLAG_HIDDEN);
+    }
+
+    create_stat_tiles(gps_ui, gps_ui.chrome.body, static_cast<lv_coord_t>(radar_d + 14),
+                      std::max<lv_coord_t>(96, body_w - radar_d - 18));
+
+    gps_ui.footer_label = lv_label_create(gps_ui.chrome.footer);
+    style_footer_label(gps_ui.footer_label);
+    lv_obj_align(gps_ui.footer_label, LV_ALIGN_LEFT_MID, 0, 0);
+    lv_label_set_text(gps_ui.footer_label, "searching satellites");
+}
+
+void refresh_gps_widget()
+{
+    auto& gps_ui = dashboard_state().gps;
+    if (gps_ui.chrome.card == nullptr)
+    {
+        return;
+    }
+
+    gps::GnssSatInfo sats[gps::kMaxGnssSats];
+    std::size_t sat_count = 0;
+    gps::GnssStatus gnss{};
+    const bool has_snapshot = platform::ui::gps::get_gnss_snapshot(sats, gps::kMaxGnssSats, &sat_count, &gnss);
+    const auto state = platform::ui::gps::get_data();
+    const bool fix = state.valid || (has_snapshot && gnss.fix != gps::GnssFix::NOFIX);
+
+    set_status_chip(gps_ui.chrome,
+                    fix_text(gnss.fix),
+                    fix ? color_soft_green() : color_soft_warn(),
+                    fix ? color_ok() : color_warn());
+
+    set_label_text_if_changed(gps_ui.stat_values[0], fix_text(gnss.fix));
+
+    char used_buf[16];
+    std::snprintf(used_buf, sizeof(used_buf), "%u/%u",
+                  static_cast<unsigned>(gnss.sats_in_use),
+                  static_cast<unsigned>(has_snapshot ? sat_count : 0));
+    set_label_text_if_changed(gps_ui.stat_values[1], used_buf);
+
+    char hdop_buf[16];
+    std::snprintf(hdop_buf, sizeof(hdop_buf), "%.1f", has_snapshot ? gnss.hdop : 0.0f);
+    set_label_text_if_changed(gps_ui.stat_values[2], hdop_buf);
+
+    std::array<gps::GnssSatInfo, gps::kMaxGnssSats> ranked{};
+    for (size_t i = 0; i < sat_count && i < ranked.size(); ++i)
+    {
+        ranked[i] = sats[i];
+    }
+    std::sort(ranked.begin(),
+              ranked.begin() + static_cast<std::ptrdiff_t>(std::min(sat_count, ranked.size())),
+              [](const gps::GnssSatInfo& lhs, const gps::GnssSatInfo& rhs)
+              {
+                  const int lhs_rank = sat_rank(lhs);
+                  const int rhs_rank = sat_rank(rhs);
+                  if (lhs_rank != rhs_rank)
+                  {
+                      return lhs_rank > rhs_rank;
+                  }
+                  return lhs.id < rhs.id;
+              });
+
+    const lv_coord_t radar_w = lv_obj_get_width(gps_ui.radar);
+    const lv_coord_t center = radar_w / 2;
+    const float radius = static_cast<float>((radar_w / 2) - 12);
+    const size_t shown = std::min<std::size_t>(8, sat_count);
+    for (size_t i = 0; i < 8; ++i)
+    {
+        const bool visible = i < shown;
+        if (!visible)
+        {
+            lv_obj_add_flag(gps_ui.sat_dots[i], LV_OBJ_FLAG_HIDDEN);
+            lv_obj_add_flag(gps_ui.sat_use_tags[i], LV_OBJ_FLAG_HIDDEN);
+            continue;
+        }
+
+        const auto& sat = ranked[i];
+        const float sat_r = radius * (1.0f - (static_cast<float>(sat.elevation) / 90.0f));
+        const float angle = normalize_degrees(static_cast<float>(sat.azimuth));
+        const float radians = angle * 3.14159265358979323846f / 180.0f;
+        const lv_coord_t x = static_cast<lv_coord_t>(center + sat_r * std::sin(radians) - 8.0f);
+        const lv_coord_t y = static_cast<lv_coord_t>(center - sat_r * std::cos(radians) - 8.0f);
+
+        lv_obj_clear_flag(gps_ui.sat_dots[i], LV_OBJ_FLAG_HIDDEN);
+        lv_obj_set_pos(gps_ui.sat_dots[i], x, y);
+        lv_obj_set_style_bg_color(gps_ui.sat_dots[i], satellite_color(sat.sys), 0);
+        lv_obj_set_style_border_color(gps_ui.sat_dots[i], sat.used ? color_ok() : (sat.snr >= 20 ? color_info() : color_warn()), 0);
+
+        char label_buf[8];
+        std::snprintf(label_buf, sizeof(label_buf), "%u", static_cast<unsigned>(sat.id));
+        set_label_text_if_changed(gps_ui.sat_labels[i], label_buf);
+
+        if (sat.used)
+        {
+            lv_obj_clear_flag(gps_ui.sat_use_tags[i], LV_OBJ_FLAG_HIDDEN);
+            lv_obj_set_pos(gps_ui.sat_use_tags[i], static_cast<lv_coord_t>(x - 4), static_cast<lv_coord_t>(y + 12));
+        }
+        else
+        {
+            lv_obj_add_flag(gps_ui.sat_use_tags[i], LV_OBJ_FLAG_HIDDEN);
+        }
+    }
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        lv_obj_set_style_border_opa(gps_ui.radar_rings[i], i == 0 ? LV_OPA_COVER : LV_OPA_60, 0);
+        lv_obj_set_style_border_color(gps_ui.radar_rings[i], i == 0 ? color_info() : color_line(), 0);
+    }
+
+    char footer[72];
+    std::snprintf(footer,
+                  sizeof(footer),
+                  "%s  |  %u in view",
+                  fix ? "position stream active" : "waiting for better sky view",
+                  static_cast<unsigned>(has_snapshot ? sat_count : 0));
+    set_label_text_if_changed(gps_ui.footer_label, footer);
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_mesh_widget.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_mesh_widget.cpp
new file mode 100644
index 00000000..5bc47669
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_mesh_widget.cpp
@@ -0,0 +1,190 @@
+#include "ui/menu/dashboard/dashboard_widgets.h"
+
+#include <algorithm>
+#include <cstdio>
+#include <cstring>
+
+#include "app/app_facade_access.h"
+#include "platform/ui/device_runtime.h"
+#include "ui/menu/dashboard/dashboard_state.h"
+#include "ui/screens/team/team_ui_store.h"
+#include "ui/ui_status.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+void set_label_text_if_changed(lv_obj_t* label, const char* text)
+{
+    if (label == nullptr || text == nullptr)
+    {
+        return;
+    }
+    const char* current = lv_label_get_text(label);
+    if (current == nullptr || std::strcmp(current, text) != 0)
+    {
+        lv_label_set_text(label, text);
+    }
+}
+
+void create_stat_column(MeshWidgetUi& mesh, lv_obj_t* parent, lv_coord_t x, lv_coord_t body_h)
+{
+    static constexpr const char* kCaptions[] = {"Team", "Unread", "Power"};
+    const lv_coord_t tile_w = std::max<lv_coord_t>(92, lv_obj_get_width(parent) - x);
+    const lv_coord_t tile_h = (body_h - 12) / 3;
+    const lv_color_t colors[] = {color_soft_amber(), color_soft_blue(), color_soft_green()};
+
+    for (size_t i = 0; i < 3; ++i)
+    {
+        mesh.stat_tiles[i] = lv_obj_create(parent);
+        lv_obj_set_size(mesh.stat_tiles[i], tile_w, tile_h);
+        lv_obj_set_pos(mesh.stat_tiles[i], x, static_cast<lv_coord_t>(i * (tile_h + 6)));
+        style_stat_tile(mesh.stat_tiles[i], colors[i]);
+
+        mesh.stat_values[i] = lv_label_create(mesh.stat_tiles[i]);
+        style_body_label(mesh.stat_values[i], &lv_font_montserrat_16, color_text());
+        lv_obj_align(mesh.stat_values[i], LV_ALIGN_TOP_LEFT, 0, 0);
+        lv_label_set_text(mesh.stat_values[i], "--");
+
+        mesh.stat_captions[i] = lv_label_create(mesh.stat_tiles[i]);
+        style_body_label(mesh.stat_captions[i], &lv_font_montserrat_12, color_text_dim());
+        lv_obj_align(mesh.stat_captions[i], LV_ALIGN_BOTTOM_LEFT, 0, 0);
+        lv_label_set_text(mesh.stat_captions[i], kCaptions[i]);
+    }
+}
+
+} // namespace
+
+void create_mesh_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h)
+{
+    auto& mesh = dashboard_state().mesh;
+    mesh.chrome = create_card_chrome(parent, "Mesh Status", card_w, card_h);
+
+    const lv_coord_t body_w = lv_obj_get_width(mesh.chrome.body);
+    const lv_coord_t body_h = lv_obj_get_height(mesh.chrome.body);
+    const lv_coord_t hero_d = std::min<lv_coord_t>(body_h - 12, std::max<lv_coord_t>(60, body_w / 2 - 8));
+
+    mesh.orbit_outer = lv_obj_create(mesh.chrome.body);
+    style_ring_object(mesh.orbit_outer, hero_d, 2, color_line());
+    lv_obj_align(mesh.orbit_outer, LV_ALIGN_LEFT_MID, 4, 0);
+
+    mesh.orbit_mid = lv_obj_create(mesh.chrome.body);
+    style_ring_object(mesh.orbit_mid, hero_d - 16, 2, color_amber());
+    lv_obj_align_to(mesh.orbit_mid, mesh.orbit_outer, LV_ALIGN_CENTER, 0, 0);
+
+    mesh.orbit_core = lv_obj_create(mesh.chrome.body);
+    lv_obj_set_size(mesh.orbit_core, hero_d - 34, hero_d - 34);
+    lv_obj_set_style_radius(mesh.orbit_core, LV_RADIUS_CIRCLE, 0);
+    lv_obj_set_style_bg_color(mesh.orbit_core, color_amber_dark(), 0);
+    lv_obj_set_style_bg_opa(mesh.orbit_core, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(mesh.orbit_core, 0, 0);
+    lv_obj_align_to(mesh.orbit_core, mesh.orbit_outer, LV_ALIGN_CENTER, 0, 0);
+
+    mesh.hero_value = lv_label_create(mesh.orbit_core);
+    style_body_label(mesh.hero_value, &lv_font_montserrat_16, lv_color_white());
+    lv_obj_align(mesh.hero_value, LV_ALIGN_CENTER, 0, -8);
+    lv_label_set_text(mesh.hero_value, "MESH");
+
+    mesh.hero_caption = lv_label_create(mesh.orbit_core);
+    style_body_label(mesh.hero_caption, &lv_font_montserrat_12, lv_color_hex(0xFFF7E8));
+    lv_obj_align(mesh.hero_caption, LV_ALIGN_CENTER, 0, 10);
+    lv_label_set_text(mesh.hero_caption, "online");
+
+    create_stat_column(mesh, mesh.chrome.body, hero_d + 16, body_h);
+
+    mesh.signal_bar_wrap = lv_obj_create(mesh.chrome.footer);
+    lv_obj_set_size(mesh.signal_bar_wrap, 68, 18);
+    lv_obj_align(mesh.signal_bar_wrap, LV_ALIGN_LEFT_MID, 0, 0);
+    lv_obj_set_style_bg_opa(mesh.signal_bar_wrap, LV_OPA_TRANSP, 0);
+    lv_obj_set_style_border_width(mesh.signal_bar_wrap, 0, 0);
+    lv_obj_set_style_pad_all(mesh.signal_bar_wrap, 0, 0);
+    lv_obj_clear_flag(mesh.signal_bar_wrap, LV_OBJ_FLAG_SCROLLABLE);
+
+    for (size_t i = 0; i < 12; ++i)
+    {
+        mesh.signal_bars[i] = lv_obj_create(mesh.signal_bar_wrap);
+        lv_obj_set_size(mesh.signal_bars[i], 4, 6);
+        lv_obj_set_pos(mesh.signal_bars[i], static_cast<lv_coord_t>(i * 5), 6);
+        lv_obj_set_style_radius(mesh.signal_bars[i], 2, 0);
+        lv_obj_set_style_bg_color(mesh.signal_bars[i], color_line(), 0);
+        lv_obj_set_style_bg_opa(mesh.signal_bars[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_border_width(mesh.signal_bars[i], 0, 0);
+    }
+
+    mesh.footer_label = lv_label_create(mesh.chrome.footer);
+    style_footer_label(mesh.footer_label);
+    lv_obj_align(mesh.footer_label, LV_ALIGN_RIGHT_MID, 0, 0);
+    lv_label_set_text(mesh.footer_label, "waiting for traffic");
+}
+
+void refresh_mesh_widget()
+{
+    auto& mesh = dashboard_state().mesh;
+    if (mesh.chrome.card == nullptr)
+    {
+        return;
+    }
+
+    team::ui::TeamUiSnapshot team_snap;
+    const bool has_team = team::ui::team_ui_get_store().load(team_snap) && team_snap.in_team;
+    const int unread = ui::status::get_total_unread();
+    const auto battery = platform::ui::device::battery_info();
+
+    char power_buf[16];
+    if (battery.level >= 0)
+    {
+        if (battery.charging)
+        {
+            std::snprintf(power_buf, sizeof(power_buf), "USB");
+        }
+        else
+        {
+            std::snprintf(power_buf, sizeof(power_buf), "%d%%", battery.level);
+        }
+    }
+    else
+    {
+        std::snprintf(power_buf, sizeof(power_buf), "--");
+    }
+
+    set_status_chip(mesh.chrome, has_team ? "LINKED" : "SOLO", has_team ? color_soft_green() : color_soft_amber(),
+                    has_team ? color_ok() : color_text());
+    set_label_text_if_changed(mesh.hero_value, has_team ? "TEAM" : "MESH");
+    set_label_text_if_changed(mesh.hero_caption, unread > 0 ? "traffic active" : "standing by");
+
+    char team_buf[16];
+    std::snprintf(team_buf, sizeof(team_buf), "%u", has_team ? static_cast<unsigned>(team_snap.members.size()) : 0U);
+    set_label_text_if_changed(mesh.stat_values[0], team_buf);
+
+    char unread_buf[16];
+    std::snprintf(unread_buf, sizeof(unread_buf), "%d", unread);
+    set_label_text_if_changed(mesh.stat_values[1], unread_buf);
+    lv_obj_set_style_text_color(mesh.stat_values[1], unread > 0 ? color_warn() : color_text(), 0);
+
+    set_label_text_if_changed(mesh.stat_values[2], power_buf);
+    lv_obj_set_style_text_color(mesh.stat_values[2], battery.charging ? color_info() : color_text(), 0);
+
+    char footer[64];
+    std::snprintf(footer,
+                  sizeof(footer),
+                  "%s  |  %s",
+                  app::runtimeFacade().isBleEnabled() ? "BLE bridge ready" : "LoRa direct path",
+                  unread > 0 ? "new activity" : "quiet net");
+    set_label_text_if_changed(mesh.footer_label, footer);
+
+    lv_obj_set_style_border_opa(mesh.orbit_outer, LV_OPA_60, 0);
+    lv_obj_set_style_border_opa(mesh.orbit_mid, LV_OPA_COVER, 0);
+
+    const int activity = std::min(12, std::max(2, unread + (has_team ? 3 : 1)));
+    for (size_t i = 0; i < 12; ++i)
+    {
+        const lv_coord_t height = static_cast<lv_coord_t>(5 + (i % 4U) * 3U);
+        lv_obj_set_height(mesh.signal_bars[i], height);
+        lv_obj_set_y(mesh.signal_bars[i], static_cast<lv_coord_t>(18 - height));
+        lv_obj_set_style_bg_color(mesh.signal_bars[i], i < static_cast<size_t>(activity) ? color_ok() : color_line(), 0);
+        lv_obj_set_style_bg_opa(mesh.signal_bars[i], i < static_cast<size_t>(activity) ? LV_OPA_COVER : LV_OPA_60, 0);
+    }
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_recent_widget.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_recent_widget.cpp
new file mode 100644
index 00000000..cb5aebe9
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_recent_widget.cpp
@@ -0,0 +1,191 @@
+#include "ui/menu/dashboard/dashboard_widgets.h"
+
+#include <cstdio>
+#include <cstring>
+#include <string>
+
+#include "app/app_facade_access.h"
+#include "chat/domain/chat_types.h"
+#include "chat/usecase/chat_service.h"
+#include "ui/menu/dashboard/dashboard_state.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+constexpr size_t kVisibleRows = 2;
+
+void set_label_text_if_changed(lv_obj_t* label, const char* text)
+{
+    if (label == nullptr || text == nullptr)
+    {
+        return;
+    }
+    const char* current = lv_label_get_text(label);
+    if (current == nullptr || std::strcmp(current, text) != 0)
+    {
+        lv_label_set_text(label, text);
+    }
+}
+
+std::string trim_text(const std::string& text, size_t max_len)
+{
+    if (text.size() <= max_len)
+    {
+        return text;
+    }
+    return text.substr(0, max_len - 1) + "...";
+}
+
+} // namespace
+
+void create_recent_widget(lv_obj_t* parent, lv_coord_t card_w, lv_coord_t card_h)
+{
+    auto& recent = dashboard_state().recent;
+    recent.chrome = create_card_chrome(parent, "Recent Activity", card_w, card_h);
+
+    const lv_coord_t body_w = lv_obj_get_width(recent.chrome.body);
+    const lv_coord_t body_h = lv_obj_get_height(recent.chrome.body);
+    const lv_coord_t gap = 6;
+    const lv_coord_t row_h = std::max<lv_coord_t>(26, (body_h - gap) / static_cast<lv_coord_t>(kVisibleRows));
+
+    for (size_t i = 0; i < kVisibleRows; ++i)
+    {
+        recent.rows[i] = lv_obj_create(recent.chrome.body);
+        lv_obj_set_size(recent.rows[i], body_w, row_h);
+        lv_obj_set_pos(recent.rows[i], 0, static_cast<lv_coord_t>(i * (row_h + gap)));
+        lv_obj_set_style_bg_color(recent.rows[i], i == 0 ? color_soft_amber() : lv_color_hex(0xF6E7C5), 0);
+        lv_obj_set_style_bg_opa(recent.rows[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_border_width(recent.rows[i], 0, 0);
+        lv_obj_set_style_radius(recent.rows[i], 14, 0);
+        lv_obj_set_style_pad_left(recent.rows[i], 10, 0);
+        lv_obj_set_style_pad_right(recent.rows[i], 10, 0);
+        lv_obj_set_style_pad_top(recent.rows[i], 4, 0);
+        lv_obj_set_style_pad_bottom(recent.rows[i], 4, 0);
+        lv_obj_clear_flag(recent.rows[i], LV_OBJ_FLAG_SCROLLABLE);
+
+        recent.row_dots[i] = lv_obj_create(recent.rows[i]);
+        lv_obj_set_size(recent.row_dots[i], 10, 10);
+        lv_obj_set_style_radius(recent.row_dots[i], LV_RADIUS_CIRCLE, 0);
+        lv_obj_set_style_bg_color(recent.row_dots[i], i == 0 ? color_amber_dark() : color_info(), 0);
+        lv_obj_set_style_bg_opa(recent.row_dots[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_border_width(recent.row_dots[i], 0, 0);
+        lv_obj_align(recent.row_dots[i], LV_ALIGN_LEFT_MID, 0, 0);
+
+        recent.row_names[i] = lv_label_create(recent.rows[i]);
+        style_body_label(recent.row_names[i], &lv_font_montserrat_12, color_text());
+        lv_obj_set_width(recent.row_names[i], static_cast<lv_coord_t>(body_w - 80));
+        lv_obj_align(recent.row_names[i], LV_ALIGN_TOP_LEFT, 18, 1);
+        lv_label_set_long_mode(recent.row_names[i], LV_LABEL_LONG_CLIP);
+        lv_label_set_text(recent.row_names[i], "--");
+
+        recent.row_previews[i] = lv_label_create(recent.rows[i]);
+        style_body_label(recent.row_previews[i], &lv_font_montserrat_12, color_text_dim());
+        lv_obj_set_width(recent.row_previews[i], static_cast<lv_coord_t>(body_w - 80));
+        lv_obj_align(recent.row_previews[i], LV_ALIGN_BOTTOM_LEFT, 18, -1);
+        lv_label_set_long_mode(recent.row_previews[i], LV_LABEL_LONG_CLIP);
+        lv_label_set_text(recent.row_previews[i], "");
+
+        recent.row_badges[i] = lv_obj_create(recent.rows[i]);
+        lv_obj_set_size(recent.row_badges[i], LV_SIZE_CONTENT, 16);
+        lv_obj_align(recent.row_badges[i], LV_ALIGN_RIGHT_MID, 0, 0);
+        lv_obj_set_style_radius(recent.row_badges[i], 8, 0);
+        lv_obj_set_style_bg_color(recent.row_badges[i], color_warn(), 0);
+        lv_obj_set_style_bg_opa(recent.row_badges[i], LV_OPA_COVER, 0);
+        lv_obj_set_style_border_width(recent.row_badges[i], 0, 0);
+        lv_obj_set_style_pad_left(recent.row_badges[i], 5, 0);
+        lv_obj_set_style_pad_right(recent.row_badges[i], 5, 0);
+        lv_obj_set_style_pad_top(recent.row_badges[i], 1, 0);
+        lv_obj_set_style_pad_bottom(recent.row_badges[i], 1, 0);
+        lv_obj_add_flag(recent.row_badges[i], LV_OBJ_FLAG_HIDDEN);
+
+        recent.row_badge_labels[i] = lv_label_create(recent.row_badges[i]);
+        style_body_label(recent.row_badge_labels[i], &lv_font_montserrat_12, lv_color_white());
+        lv_obj_center(recent.row_badge_labels[i]);
+    }
+
+    recent.scan_track = lv_obj_create(recent.chrome.footer);
+    lv_obj_set_size(recent.scan_track, 78, 8);
+    lv_obj_align(recent.scan_track, LV_ALIGN_LEFT_MID, 0, 0);
+    lv_obj_set_style_bg_color(recent.scan_track, color_line(), 0);
+    lv_obj_set_style_bg_opa(recent.scan_track, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(recent.scan_track, 0, 0);
+    lv_obj_set_style_radius(recent.scan_track, 4, 0);
+    lv_obj_clear_flag(recent.scan_track, LV_OBJ_FLAG_SCROLLABLE);
+
+    recent.scan_runner = lv_obj_create(recent.scan_track);
+    lv_obj_set_size(recent.scan_runner, 20, 8);
+    lv_obj_set_style_bg_color(recent.scan_runner, color_amber_dark(), 0);
+    lv_obj_set_style_bg_opa(recent.scan_runner, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(recent.scan_runner, 0, 0);
+    lv_obj_set_style_radius(recent.scan_runner, 4, 0);
+
+    recent.footer_label = lv_label_create(recent.chrome.footer);
+    style_footer_label(recent.footer_label);
+    lv_obj_align(recent.footer_label, LV_ALIGN_RIGHT_MID, 0, 0);
+    lv_label_set_text(recent.footer_label, "no recent traffic");
+}
+
+void refresh_recent_widget()
+{
+    auto& recent = dashboard_state().recent;
+    if (recent.chrome.card == nullptr)
+    {
+        return;
+    }
+
+    size_t total = 0;
+    const auto conversations = app::messagingFacade().getChatService().getConversations(0, 3, &total);
+
+    set_status_chip(recent.chrome,
+                    total > 0 ? "LIVE" : "IDLE",
+                    total > 0 ? color_soft_blue() : color_soft_amber(),
+                    total > 0 ? color_info() : color_text());
+
+    for (size_t i = 0; i < kVisibleRows; ++i)
+    {
+        if (i < conversations.size())
+        {
+            const auto& conv = conversations[i];
+            const std::string name = trim_text(conv.name, 16);
+            const std::string preview = trim_text(conv.preview.empty() ? "No preview" : conv.preview, 28);
+            set_label_text_if_changed(recent.row_names[i], name.c_str());
+            set_label_text_if_changed(recent.row_previews[i], preview.c_str());
+            lv_obj_set_style_bg_color(recent.row_dots[i], conv.unread > 0 ? color_warn() : color_info(), 0);
+
+            if (conv.unread > 0)
+            {
+                char unread_buf[12];
+                std::snprintf(unread_buf, sizeof(unread_buf), "%d", conv.unread);
+                set_label_text_if_changed(recent.row_badge_labels[i], unread_buf);
+                lv_obj_clear_flag(recent.row_badges[i], LV_OBJ_FLAG_HIDDEN);
+            }
+            else
+            {
+                lv_obj_add_flag(recent.row_badges[i], LV_OBJ_FLAG_HIDDEN);
+            }
+        }
+        else
+        {
+            set_label_text_if_changed(recent.row_names[i], i == 0 ? "No recent traffic" : "");
+            set_label_text_if_changed(recent.row_previews[i], i == 0 ? "Messages and broadcasts show here" : "");
+            lv_obj_add_flag(recent.row_badges[i], LV_OBJ_FLAG_HIDDEN);
+            lv_obj_set_style_bg_color(recent.row_dots[i], color_line(), 0);
+        }
+    }
+
+    char footer[64];
+    std::snprintf(footer, sizeof(footer), "%u threads active", static_cast<unsigned>(total));
+    set_label_text_if_changed(recent.footer_label, footer);
+
+    const lv_coord_t track_w = lv_obj_get_width(recent.scan_track);
+    const lv_coord_t runner_w = lv_obj_get_width(recent.scan_runner);
+    const lv_coord_t travel = track_w - runner_w;
+    const lv_coord_t x = travel > 0
+                             ? static_cast<lv_coord_t>(((dashboard_state().tick % 2U) == 0U) ? (travel / 3) : ((travel * 2) / 3))
+                             : 0;
+    lv_obj_set_x(recent.scan_runner, x);
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_state.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_state.cpp
new file mode 100644
index 00000000..3597ff55
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_state.cpp
@@ -0,0 +1,27 @@
+#include "ui/menu/dashboard/dashboard_state.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+DashboardUi s_dashboard{};
+
+} // namespace
+
+DashboardUi& dashboard_state()
+{
+    return s_dashboard;
+}
+
+void dashboard_reset()
+{
+    if (s_dashboard.timer != nullptr)
+    {
+        lv_timer_del(s_dashboard.timer);
+        s_dashboard.timer = nullptr;
+    }
+    s_dashboard = DashboardUi{};
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/dashboard/dashboard_style.cpp b/modules/ui_shared/src/ui/menu/dashboard/dashboard_style.cpp
new file mode 100644
index 00000000..0e898b77
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/dashboard/dashboard_style.cpp
@@ -0,0 +1,228 @@
+#include "ui/menu/dashboard/dashboard_style.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstdio>
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+constexpr float kPi = 3.14159265358979323846f;
+
+float deg_to_rad(float value)
+{
+    return value * (kPi / 180.0f);
+}
+
+float rad_to_deg(float value)
+{
+    return value * (180.0f / kPi);
+}
+
+} // namespace
+
+lv_color_t color_amber() { return lv_color_hex(0xEBA341); }
+lv_color_t color_amber_dark() { return lv_color_hex(0xC98118); }
+lv_color_t color_panel_bg() { return lv_color_hex(0xFAF0D8); }
+lv_color_t color_line() { return lv_color_hex(0xE7C98F); }
+lv_color_t color_text() { return lv_color_hex(0x6B4A1E); }
+lv_color_t color_text_dim() { return lv_color_hex(0x8A6A3A); }
+lv_color_t color_warn() { return lv_color_hex(0xB94A2C); }
+lv_color_t color_ok() { return lv_color_hex(0x3E7D3E); }
+lv_color_t color_info() { return lv_color_hex(0x2D6FB6); }
+lv_color_t color_soft_amber() { return lv_color_hex(0xF3D39C); }
+lv_color_t color_soft_blue() { return lv_color_hex(0xDCE8F7); }
+lv_color_t color_soft_green() { return lv_color_hex(0xDCEFD8); }
+lv_color_t color_soft_warn() { return lv_color_hex(0xF5D9D1); }
+
+DashboardCardChrome create_card_chrome(lv_obj_t* parent,
+                                       const char* title,
+                                       lv_coord_t card_w,
+                                       lv_coord_t card_h)
+{
+    DashboardCardChrome chrome{};
+    constexpr lv_coord_t kHeaderH = 30;
+    constexpr lv_coord_t kFooterH = 28;
+
+    chrome.card = lv_obj_create(parent);
+    lv_obj_set_size(chrome.card, card_w, card_h);
+    lv_obj_set_style_bg_color(chrome.card, color_panel_bg(), 0);
+    lv_obj_set_style_bg_opa(chrome.card, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_color(chrome.card, color_line(), 0);
+    lv_obj_set_style_border_width(chrome.card, 1, 0);
+    lv_obj_set_style_radius(chrome.card, 18, 0);
+    lv_obj_set_style_pad_all(chrome.card, 0, 0);
+    lv_obj_set_style_shadow_width(chrome.card, 0, 0);
+    lv_obj_clear_flag(chrome.card, LV_OBJ_FLAG_SCROLLABLE);
+
+    chrome.header = lv_obj_create(chrome.card);
+    lv_obj_set_size(chrome.header, LV_PCT(100), kHeaderH);
+    lv_obj_align(chrome.header, LV_ALIGN_TOP_MID, 0, 0);
+    lv_obj_set_style_bg_color(chrome.header, color_amber(), 0);
+    lv_obj_set_style_bg_opa(chrome.header, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(chrome.header, 0, 0);
+    lv_obj_set_style_radius(chrome.header, 18, 0);
+    lv_obj_set_style_pad_left(chrome.header, 10, 0);
+    lv_obj_set_style_pad_right(chrome.header, 10, 0);
+    lv_obj_set_style_pad_top(chrome.header, 6, 0);
+    lv_obj_set_style_pad_bottom(chrome.header, 6, 0);
+    lv_obj_clear_flag(chrome.header, LV_OBJ_FLAG_SCROLLABLE);
+
+    chrome.title = lv_label_create(chrome.header);
+    lv_label_set_text(chrome.title, title);
+    lv_obj_set_style_text_color(chrome.title, lv_color_hex(0x2A1A05), 0);
+    lv_obj_set_style_text_font(chrome.title, &lv_font_montserrat_14, 0);
+    lv_obj_align(chrome.title, LV_ALIGN_LEFT_MID, 0, 0);
+
+    chrome.status_chip = lv_obj_create(chrome.header);
+    lv_obj_set_size(chrome.status_chip, LV_SIZE_CONTENT, 18);
+    lv_obj_align(chrome.status_chip, LV_ALIGN_RIGHT_MID, 0, 0);
+    lv_obj_set_style_radius(chrome.status_chip, 9, 0);
+    lv_obj_set_style_bg_color(chrome.status_chip, color_panel_bg(), 0);
+    lv_obj_set_style_bg_opa(chrome.status_chip, LV_OPA_80, 0);
+    lv_obj_set_style_border_width(chrome.status_chip, 0, 0);
+    lv_obj_set_style_pad_left(chrome.status_chip, 8, 0);
+    lv_obj_set_style_pad_right(chrome.status_chip, 8, 0);
+    lv_obj_set_style_pad_top(chrome.status_chip, 1, 0);
+    lv_obj_set_style_pad_bottom(chrome.status_chip, 1, 0);
+    lv_obj_clear_flag(chrome.status_chip, LV_OBJ_FLAG_SCROLLABLE);
+
+    chrome.status_label = lv_label_create(chrome.status_chip);
+    lv_label_set_text(chrome.status_label, "--");
+    lv_obj_set_style_text_color(chrome.status_label, color_text(), 0);
+    lv_obj_set_style_text_font(chrome.status_label, &lv_font_montserrat_12, 0);
+    lv_obj_center(chrome.status_label);
+
+    chrome.body = lv_obj_create(chrome.card);
+    lv_obj_set_size(chrome.body, LV_PCT(100), card_h - kHeaderH - kFooterH);
+    lv_obj_align_to(chrome.body, chrome.header, LV_ALIGN_OUT_BOTTOM_MID, 0, 0);
+    lv_obj_set_style_bg_opa(chrome.body, LV_OPA_TRANSP, 0);
+    lv_obj_set_style_border_width(chrome.body, 0, 0);
+    lv_obj_set_style_pad_left(chrome.body, 10, 0);
+    lv_obj_set_style_pad_right(chrome.body, 10, 0);
+    lv_obj_set_style_pad_top(chrome.body, 8, 0);
+    lv_obj_set_style_pad_bottom(chrome.body, 6, 0);
+    lv_obj_clear_flag(chrome.body, LV_OBJ_FLAG_SCROLLABLE);
+
+    chrome.footer = lv_obj_create(chrome.card);
+    lv_obj_set_size(chrome.footer, LV_PCT(100), kFooterH);
+    lv_obj_align(chrome.footer, LV_ALIGN_BOTTOM_MID, 0, 0);
+    lv_obj_set_style_bg_color(chrome.footer, color_soft_amber(), 0);
+    lv_obj_set_style_bg_opa(chrome.footer, LV_OPA_50, 0);
+    lv_obj_set_style_border_width(chrome.footer, 0, 0);
+    lv_obj_set_style_radius(chrome.footer, 18, 0);
+    lv_obj_set_style_pad_left(chrome.footer, 10, 0);
+    lv_obj_set_style_pad_right(chrome.footer, 10, 0);
+    lv_obj_set_style_pad_top(chrome.footer, 5, 0);
+    lv_obj_set_style_pad_bottom(chrome.footer, 5, 0);
+    lv_obj_clear_flag(chrome.footer, LV_OBJ_FLAG_SCROLLABLE);
+
+    return chrome;
+}
+
+void set_status_chip(DashboardCardChrome& chrome, const char* text, lv_color_t bg, lv_color_t fg)
+{
+    if (chrome.status_chip == nullptr || chrome.status_label == nullptr)
+    {
+        return;
+    }
+    lv_obj_set_style_bg_color(chrome.status_chip, bg, 0);
+    lv_obj_set_style_bg_opa(chrome.status_chip, LV_OPA_COVER, 0);
+    lv_obj_set_style_text_color(chrome.status_label, fg, 0);
+    lv_label_set_text(chrome.status_label, text);
+}
+
+void style_stat_tile(lv_obj_t* tile, lv_color_t bg)
+{
+    lv_obj_set_style_bg_color(tile, bg, 0);
+    lv_obj_set_style_bg_opa(tile, LV_OPA_COVER, 0);
+    lv_obj_set_style_border_width(tile, 0, 0);
+    lv_obj_set_style_radius(tile, 14, 0);
+    lv_obj_set_style_pad_left(tile, 10, 0);
+    lv_obj_set_style_pad_right(tile, 10, 0);
+    lv_obj_set_style_pad_top(tile, 6, 0);
+    lv_obj_set_style_pad_bottom(tile, 6, 0);
+    lv_obj_clear_flag(tile, LV_OBJ_FLAG_SCROLLABLE);
+}
+
+void style_body_label(lv_obj_t* label, const lv_font_t* font, lv_color_t color)
+{
+    lv_obj_set_style_text_font(label, font, 0);
+    lv_obj_set_style_text_color(label, color, 0);
+}
+
+void style_footer_label(lv_obj_t* label)
+{
+    lv_obj_set_style_text_font(label, &lv_font_montserrat_12, 0);
+    lv_obj_set_style_text_color(label, color_text_dim(), 0);
+}
+
+void style_ring_object(lv_obj_t* obj, lv_coord_t diameter, lv_coord_t border, lv_color_t color)
+{
+    lv_obj_set_size(obj, diameter, diameter);
+    lv_obj_set_style_radius(obj, LV_RADIUS_CIRCLE, 0);
+    lv_obj_set_style_bg_opa(obj, LV_OPA_TRANSP, 0);
+    lv_obj_set_style_border_width(obj, border, 0);
+    lv_obj_set_style_border_color(obj, color, 0);
+    lv_obj_clear_flag(obj, LV_OBJ_FLAG_SCROLLABLE);
+}
+
+void format_distance(double meters, char* out, size_t out_len)
+{
+    if (meters >= 1000.0)
+    {
+        std::snprintf(out, out_len, "%.1f km", meters / 1000.0);
+    }
+    else
+    {
+        std::snprintf(out, out_len, "%.0f m", meters);
+    }
+}
+
+float normalize_degrees(float value)
+{
+    while (value < 0.0f)
+    {
+        value += 360.0f;
+    }
+    while (value >= 360.0f)
+    {
+        value -= 360.0f;
+    }
+    return value;
+}
+
+float bearing_between(double lat1, double lon1, double lat2, double lon2)
+{
+    const double lat1_rad = deg_to_rad(static_cast<float>(lat1));
+    const double lat2_rad = deg_to_rad(static_cast<float>(lat2));
+    const double dlon = deg_to_rad(static_cast<float>(lon2 - lon1));
+    const double y = std::sin(dlon) * std::cos(lat2_rad);
+    const double x = std::cos(lat1_rad) * std::sin(lat2_rad) -
+                     std::sin(lat1_rad) * std::cos(lat2_rad) * std::cos(dlon);
+    return normalize_degrees(rad_to_deg(static_cast<float>(std::atan2(y, x))));
+}
+
+double haversine_m(double lat1, double lon1, double lat2, double lon2)
+{
+    constexpr double kEarthRadiusM = 6371000.0;
+    const double dlat = deg_to_rad(static_cast<float>(lat2 - lat1));
+    const double dlon = deg_to_rad(static_cast<float>(lon2 - lon1));
+    const double a = std::pow(std::sin(dlat / 2.0), 2.0) +
+                     std::cos(deg_to_rad(static_cast<float>(lat1))) *
+                         std::cos(deg_to_rad(static_cast<float>(lat2))) *
+                         std::pow(std::sin(dlon / 2.0), 2.0);
+    const double c = 2.0 * std::atan2(std::sqrt(a), std::sqrt(std::max(0.0, 1.0 - a)));
+    return kEarthRadiusM * c;
+}
+
+const char* compass_rose(float bearing)
+{
+    static constexpr const char* kNames[] = {"N", "NE", "E", "SE", "S", "SW", "W", "NW"};
+    const int index = static_cast<int>(std::floor((normalize_degrees(bearing) + 22.5f) / 45.0f)) % 8;
+    return kNames[index];
+}
+
+} // namespace ui::menu::dashboard
diff --git a/modules/ui_shared/src/ui/menu/menu_dashboard.cpp b/modules/ui_shared/src/ui/menu/menu_dashboard.cpp
new file mode 100644
index 00000000..11b2e4bc
--- /dev/null
+++ b/modules/ui_shared/src/ui/menu/menu_dashboard.cpp
@@ -0,0 +1,152 @@
+#include "ui/menu/menu_dashboard.h"
+
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5) || defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
+
+#include <algorithm>
+#include <cstdint>
+#include <cstring>
+
+#include "platform/ui/orientation_runtime.h"
+#include "ui/menu/dashboard/dashboard_state.h"
+#include "ui/menu/dashboard/dashboard_widgets.h"
+#include "ui/menu/menu_profile.h"
+
+namespace ui::menu::dashboard
+{
+namespace
+{
+
+constexpr uint32_t kDashboardTimerMs = 220;
+
+bool is_tab5_profile()
+{
+    return std::strcmp(ui::menu_profile::current().name, "tab5") == 0;
+}
+
+void refresh_dashboard(lv_timer_t* timer)
+{
+    (void)timer;
+    auto& dashboard = dashboard_state();
+    if (!is_tab5_profile() || dashboard.panel == nullptr)
+    {
+        return;
+    }
+
+    ++dashboard.tick;
+
+    // Keep motion responsive, but avoid repainting the whole dashboard too aggressively.
+    refresh_compass_widget();
+
+    if ((dashboard.tick % 2U) == 1U)
+    {
+        refresh_recent_widget();
+        refresh_gps_widget();
+    }
+    if ((dashboard.tick % 4U) == 1U)
+    {
+        refresh_mesh_widget();
+    }
+}
+
+} // namespace
+
+void init(lv_obj_t* menu_panel, lv_obj_t* grid_panel, const ui::menu_layout::InitOptions& options)
+{
+    (void)options;
+    if (!is_tab5_profile() || menu_panel == nullptr || grid_panel == nullptr)
+    {
+        return;
+    }
+
+    dashboard_reset();
+    auto& dashboard = dashboard_state();
+    const lv_coord_t screen_w = lv_display_get_physical_horizontal_resolution(nullptr);
+    const lv_coord_t screen_h = lv_display_get_physical_vertical_resolution(nullptr);
+    const lv_coord_t grid_w = lv_obj_get_width(grid_panel);
+    const lv_coord_t right_gap = static_cast<lv_coord_t>(screen_w - grid_w - 16);
+    const lv_coord_t top = 56;
+
+    dashboard.dock_right = right_gap >= 240;
+    dashboard.panel = lv_obj_create(menu_panel);
+    lv_obj_set_style_bg_opa(dashboard.panel, LV_OPA_TRANSP, 0);
+    lv_obj_set_style_border_width(dashboard.panel, 0, 0);
+    lv_obj_set_style_pad_all(dashboard.panel, 0, 0);
+    lv_obj_set_style_pad_row(dashboard.panel, 12, 0);
+    lv_obj_set_style_pad_column(dashboard.panel, 12, 0);
+    lv_obj_set_style_shadow_width(dashboard.panel, 0, 0);
+    lv_obj_clear_flag(dashboard.panel, LV_OBJ_FLAG_SCROLLABLE);
+
+    lv_coord_t panel_w = 0;
+    lv_coord_t panel_h = 0;
+    if (dashboard.dock_right)
+    {
+        panel_w = right_gap;
+        panel_h = std::max<lv_coord_t>(screen_h - top - 10, 220);
+        lv_obj_set_size(dashboard.panel, panel_w, panel_h);
+        lv_obj_align(dashboard.panel, LV_ALIGN_TOP_RIGHT, -8, top);
+    }
+    else
+    {
+        panel_w = std::max<lv_coord_t>(screen_w - 16, 320);
+        panel_h = 240;
+        lv_obj_set_size(dashboard.panel, panel_w, panel_h);
+        lv_obj_align_to(dashboard.panel, grid_panel, LV_ALIGN_OUT_BOTTOM_LEFT, 0, 12);
+    }
+
+    dashboard.grid = lv_obj_create(dashboard.panel);
+    lv_obj_set_size(dashboard.grid, LV_PCT(100), LV_PCT(100));
+    lv_obj_set_style_bg_opa(dashboard.grid, LV_OPA_TRANSP, 0);
+    lv_obj_set_style_border_width(dashboard.grid, 0, 0);
+    lv_obj_set_style_pad_all(dashboard.grid, 0, 0);
+    lv_obj_set_style_pad_row(dashboard.grid, 12, 0);
+    lv_obj_set_style_pad_column(dashboard.grid, 12, 0);
+    lv_obj_set_flex_flow(dashboard.grid, LV_FLEX_FLOW_ROW_WRAP);
+    lv_obj_set_flex_align(dashboard.grid, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_START);
+    lv_obj_clear_flag(dashboard.grid, LV_OBJ_FLAG_SCROLLABLE);
+
+    const lv_coord_t card_w = (panel_w - 12) / 2;
+    const lv_coord_t card_h = dashboard.dock_right ? std::max<lv_coord_t>((panel_h - 12) / 2, 124) : 132;
+
+    create_mesh_widget(dashboard.grid, card_w, card_h);
+    create_gps_widget(dashboard.grid, card_w, card_h);
+    create_recent_widget(dashboard.grid, card_w, card_h);
+    create_compass_widget(dashboard.grid, card_w, card_h);
+
+    dashboard.timer = lv_timer_create(refresh_dashboard, kDashboardTimerMs, nullptr);
+    if (dashboard.timer != nullptr)
+    {
+        lv_timer_set_repeat_count(dashboard.timer, -1);
+    }
+    refresh_dashboard(nullptr);
+}
+
+void bringToFront()
+{
+    auto& dashboard = dashboard_state();
+    if (dashboard.panel != nullptr)
+    {
+        lv_obj_move_foreground(dashboard.panel);
+    }
+}
+
+void setActive(bool active)
+{
+    auto& dashboard = dashboard_state();
+    if (dashboard.timer == nullptr)
+    {
+        return;
+    }
+
+    if (active)
+    {
+        lv_timer_resume(dashboard.timer);
+    }
+    else
+    {
+        lv_timer_pause(dashboard.timer);
+    }
+}
+
+} // namespace ui::menu::dashboard
+
+#endif
diff --git a/modules/ui_shared/src/ui/menu/menu_layout.cpp b/modules/ui_shared/src/ui/menu/menu_layout.cpp
index 283fe770..09d26b0b 100644
--- a/modules/ui_shared/src/ui/menu/menu_layout.cpp
+++ b/modules/ui_shared/src/ui/menu/menu_layout.cpp
@@ -5,8 +5,14 @@
 #include <cstdio>
 #include <cstring>
 
+#if defined(ESP_PLATFORM)
+#include "esp_log.h"
+#endif
+
 #include "ui/app_runtime.h"
+#include "ui/menu/menu_dashboard.h"
 #include "ui/menu/menu_profile.h"
+#include "ui/menu/menu_runtime.h"
 #include "ui/ui_common.h"
 #include "ui/ui_status.h"
 #include "ui/ui_theme.h"
@@ -18,6 +24,10 @@ namespace menu_layout
 namespace
 {
 
+#if defined(ESP_PLATFORM)
+constexpr const char* kTag = "ui-menu-layout";
+#endif
+
 constexpr size_t kMaxMenuApps = 16;
 
 struct MenuAppUi
@@ -51,15 +61,29 @@ void enterPendingApp(void* user_data)
     auto* target_app = static_cast<AppScreen*>(user_data);
     if (target_app == nullptr || target_app != s_pending_app_launch || s_app_panel == nullptr)
     {
+#if defined(ESP_PLATFORM)
+        ESP_LOGW(kTag,
+                 "enterPendingApp skipped target=%s pending=%s app_panel=%d",
+                 target_app ? target_app->name() : "(null)",
+                 s_pending_app_launch ? s_pending_app_launch->name() : "(null)",
+                 s_app_panel ? 1 : 0);
+#endif
         return;
     }
 
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "enterPendingApp target=%s", target_app->name());
+#endif
     s_pending_app_launch = nullptr;
     ui_switch_to_app(target_app, s_app_panel);
 }
 
 void menuHidden()
 {
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "menuHidden -> tile(0,1)");
+#endif
+    setMenuVisible(false);
     lv_tileview_set_tile_by_index(main_screen, 0, 1, transition_anim());
 }
 
@@ -102,18 +126,33 @@ void menuButtonClickCallback(lv_event_t* e)
     auto* target_app = static_cast<AppScreen*>(lv_event_get_user_data(e));
     if (main_screen != nullptr && lv_obj_has_flag(main_screen, LV_OBJ_FLAG_HIDDEN))
     {
+#if defined(ESP_PLATFORM)
+        ESP_LOGW(kTag, "click ignored because main_screen hidden target=%s", target_app ? target_app->name() : "(null)");
+#endif
         return;
     }
 
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag,
+             "menu click target=%s touch_primary=%d",
+             target_app ? target_app->name() : "(null)",
+             ui::menu_profile::current().input_mode == ui::menu_profile::InputMode::TouchPrimary ? 1 : 0);
+#endif
     set_default_group(nullptr);
     if (ui::menu_profile::current().input_mode == ui::menu_profile::InputMode::TouchPrimary)
     {
         s_pending_app_launch = target_app;
+#if defined(ESP_PLATFORM)
+        ESP_LOGI(kTag, "queue async app enter target=%s", target_app ? target_app->name() : "(null)");
+#endif
         menuHidden();
         lv_async_call(enterPendingApp, target_app);
         return;
     }
 
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "direct app enter target=%s", target_app ? target_app->name() : "(null)");
+#endif
     ui_switch_to_app(target_app, s_app_panel);
     menuHidden();
 }
@@ -200,10 +239,7 @@ void createAppButton(lv_obj_t* parent, AppScreen* app, size_t idx)
         lv_obj_set_style_text_font(label, profile.card_label_font, 0);
         lv_obj_set_style_text_color(label, lv_color_hex(0x6B4A1E), 0);
         lv_obj_set_style_text_color(label, lv_color_hex(0x6B4A1E), LV_STATE_FOCUSED);
-        lv_label_set_long_mode(label,
-                               profile.input_mode == ui::menu_profile::InputMode::TouchPrimary
-                                   ? LV_LABEL_LONG_CLIP
-                                   : LV_LABEL_LONG_SCROLL_CIRCULAR);
+        lv_label_set_long_mode(label, LV_LABEL_LONG_DOT);
     }
 
     if (idx < kMaxMenuApps)
@@ -234,19 +270,11 @@ void createAppButton(lv_obj_t* parent, AppScreen* app, size_t idx)
         lv_obj_update_layout(btn);
         if (profile.badge_anchor_mode == ui::menu_profile::BadgeAnchorMode::IconTopRight)
         {
-            lv_obj_align_to(badge,
-                            icon,
-                            LV_ALIGN_TOP_RIGHT,
-                            profile.badge_offset_x,
-                            profile.badge_offset_y);
+            lv_obj_align_to(badge, icon, LV_ALIGN_TOP_RIGHT, profile.badge_offset_x, profile.badge_offset_y);
         }
         else
         {
-            lv_obj_align_to(badge,
-                            icon,
-                            LV_ALIGN_TOP_LEFT,
-                            profile.badge_offset_x,
-                            profile.badge_offset_y);
+            lv_obj_align_to(badge, icon, LV_ALIGN_TOP_LEFT, profile.badge_offset_x, profile.badge_offset_y);
         }
 
         lv_obj_t* badge_label = lv_label_create(badge);
@@ -318,7 +346,16 @@ void createAppGrid()
     lv_obj_t* panel = lv_obj_create(s_menu_panel);
     s_grid_panel = panel;
     lv_obj_set_scrollbar_mode(panel, LV_SCROLLBAR_MODE_OFF);
-    lv_obj_set_size(panel, LV_PCT(100), LV_PCT(profile.grid_height_pct));
+    lv_coord_t panel_width = lv_pct(100);
+    if (profile.max_columns > 0)
+    {
+        panel_width = static_cast<lv_coord_t>(
+            profile.grid_pad_left +
+            profile.grid_pad_right +
+            (profile.card_width * profile.max_columns) +
+            (profile.grid_pad_column * (profile.max_columns - 1)));
+    }
+    lv_obj_set_size(panel, panel_width, LV_PCT(profile.grid_height_pct));
     lv_obj_set_style_pad_row(panel, profile.grid_pad_row, 0);
     lv_obj_set_style_pad_column(panel, profile.grid_pad_column, 0);
     if (profile.variant != ui::menu_profile::LayoutVariant::CompactGrid)
@@ -331,7 +368,7 @@ void createAppGrid()
     lv_obj_set_scroll_dir(panel, profile.vertical_scroll ? LV_DIR_VER : LV_DIR_HOR);
     if (profile.wrap_grid)
     {
-        if (profile.variant == ui::menu_profile::LayoutVariant::CompactGrid)
+        if (profile.grid_anchor_top_left || profile.variant == ui::menu_profile::LayoutVariant::CompactGrid)
         {
             lv_obj_set_flex_align(panel, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_START);
         }
@@ -349,14 +386,17 @@ void createAppGrid()
         lv_obj_set_scroll_snap_x(panel, LV_SCROLL_SNAP_CENTER);
     }
     lv_obj_set_flex_flow(panel, profile.wrap_grid ? LV_FLEX_FLOW_ROW_WRAP : LV_FLEX_FLOW_ROW);
-    lv_obj_align(panel, LV_ALIGN_TOP_MID, 0, profile.grid_top_offset);
+    if (profile.grid_anchor_top_left)
+    {
+        lv_obj_align(panel, LV_ALIGN_TOP_LEFT, 0, profile.grid_top_offset);
+    }
+    else
+    {
+        lv_obj_align(panel, LV_ALIGN_TOP_MID, 0, profile.grid_top_offset);
+    }
     lv_obj_add_style(panel, &frameless_style, 0);
 
     const size_t app_count = ui::catalogCount(s_init_options.apps);
-    if (app_count > kMaxMenuApps)
-    {
-        // Ignore anything above the UI cap for now.
-    }
     for (size_t index = 0; index < app_count && index < kMaxMenuApps; ++index)
     {
         AppScreen* app = ui::catalogAt(s_init_options.apps, index);
@@ -381,10 +421,7 @@ void createAppGrid()
     lv_obj_set_style_text_align(s_node_id_label, LV_TEXT_ALIGN_LEFT, 0);
     lv_obj_set_style_text_color(s_node_id_label, ui::theme::text_muted(), 0);
     lv_obj_set_style_text_font(s_node_id_label, profile.node_id_font, 0);
-    lv_obj_align(s_node_id_label,
-                 LV_ALIGN_BOTTOM_LEFT,
-                 profile.node_id_offset_x,
-                 profile.node_id_offset_y);
+    lv_obj_align(s_node_id_label, LV_ALIGN_BOTTOM_LEFT, profile.node_id_offset_x, profile.node_id_offset_y);
     if (!profile.show_node_id)
     {
         lv_obj_add_flag(s_node_id_label, LV_OBJ_FLAG_HIDDEN);
@@ -394,18 +431,16 @@ void createAppGrid()
     const uint32_t self_id = s_init_options.messaging ? s_init_options.messaging->getSelfNodeId() : 0;
     if (self_id != 0)
     {
-        snprintf(node_id_buf, sizeof(node_id_buf), "ID: !%08lX", static_cast<unsigned long>(self_id));
+        std::snprintf(node_id_buf, sizeof(node_id_buf), "ID: !%08lX", static_cast<unsigned long>(self_id));
     }
     else
     {
-        snprintf(node_id_buf, sizeof(node_id_buf), "ID: -");
+        std::snprintf(node_id_buf, sizeof(node_id_buf), "ID: -");
     }
     lv_label_set_text(s_node_id_label, node_id_buf);
 #endif
-    lv_label_set_long_mode(s_desc_label,
-                           profile.input_mode == ui::menu_profile::InputMode::TouchPrimary
-                               ? LV_LABEL_LONG_CLIP
-                               : LV_LABEL_LONG_SCROLL_CIRCULAR);
+
+    lv_label_set_long_mode(s_desc_label, LV_LABEL_LONG_SCROLL_CIRCULAR);
 
 #if LVGL_VERSION_MAJOR == 9
     s_name_change_id = lv_event_register_id();
@@ -432,6 +467,7 @@ void init(const InitOptions& options)
 
     createPanels();
     createAppGrid();
+    ui::menu::dashboard::init(s_menu_panel, s_grid_panel, s_init_options);
 }
 
 lv_obj_t* menuPanel()
@@ -453,6 +489,26 @@ void bringContentToFront()
     {
         lv_obj_move_foreground(s_node_id_label);
     }
+    ui::menu::dashboard::bringToFront();
+}
+
+void setMenuVisible(bool visible)
+{
+    if (s_menu_panel != nullptr)
+    {
+        if (visible)
+        {
+            lv_obj_clear_flag(s_menu_panel, LV_OBJ_FLAG_HIDDEN);
+        }
+        else
+        {
+            lv_obj_add_flag(s_menu_panel, LV_OBJ_FLAG_HIDDEN);
+        }
+    }
+
+    ui::menu_runtime::setMenuActive(visible);
+    ui::status::set_menu_active(visible);
+    ui::menu::dashboard::setActive(visible);
 }
 
 } // namespace menu_layout
diff --git a/modules/ui_shared/src/ui/menu/menu_profile.cpp b/modules/ui_shared/src/ui/menu/menu_profile.cpp
index 1f63b33d..ad98eec7 100644
--- a/modules/ui_shared/src/ui/menu/menu_profile.cpp
+++ b/modules/ui_shared/src/ui/menu/menu_profile.cpp
@@ -1,5 +1,9 @@
 #include "ui/menu/menu_profile.h"
 
+#if !defined(LV_FONT_MONTSERRAT_12) || !LV_FONT_MONTSERRAT_12
+#define lv_font_montserrat_12 lv_font_montserrat_14
+#endif
+
 #if !defined(LV_FONT_MONTSERRAT_16) || !LV_FONT_MONTSERRAT_16
 #define lv_font_montserrat_16 lv_font_montserrat_14
 #endif
@@ -133,18 +137,20 @@ MenuLayoutProfile make_tab5_profile()
     profile.variant = LayoutVariant::LargeTouchGrid;
     profile.input_mode = InputMode::TouchPrimary;
     profile.badge_anchor_mode = BadgeAnchorMode::IconTopRight;
-    profile.card_width = 176;
-    profile.card_height = 150;
+    profile.card_width = 112;
+    profile.card_height = 120;
     profile.icon_scale = 256;
     profile.card_radius = 0;
     profile.card_border_width = 0;
-    profile.card_pad_top = 10;
-    profile.card_pad_bottom = 10;
-    profile.card_pad_row = 6;
-    profile.grid_height_pct = 80;
-    profile.grid_top_offset = 46;
-    profile.grid_pad_row = 10;
-    profile.grid_pad_column = 10;
+    profile.card_pad_top = 4;
+    profile.card_pad_bottom = 4;
+    profile.card_pad_row = 2;
+    profile.grid_height_pct = 82;
+    profile.grid_top_offset = 56;
+    profile.grid_pad_row = 4;
+    profile.grid_pad_column = 4;
+    profile.grid_pad_left = 4;
+    profile.grid_pad_right = 4;
     profile.top_bar_height = 46;
     profile.top_bar_side_inset = 10;
     profile.top_bar_text_pad = 8;
@@ -160,10 +166,12 @@ MenuLayoutProfile make_tab5_profile()
     profile.badge_pad_v = 3;
     profile.title_offset_x = 0;
     profile.title_offset_y = 0;
+    profile.max_columns = 4;
     profile.wrap_grid = true;
     profile.vertical_scroll = true;
     profile.snap_center = false;
     profile.transparent_cards = true;
+    profile.grid_anchor_top_left = true;
     profile.show_top_bar = true;
     profile.show_card_label = true;
     profile.show_desc_label = false;
diff --git a/modules/ui_shared/src/ui/menu/menu_runtime.cpp b/modules/ui_shared/src/ui/menu/menu_runtime.cpp
index 1de22014..e702928f 100644
--- a/modules/ui_shared/src/ui/menu/menu_runtime.cpp
+++ b/modules/ui_shared/src/ui/menu/menu_runtime.cpp
@@ -4,6 +4,10 @@
 #include <cstring>
 #include <ctime>
 
+#if defined(ESP_PLATFORM)
+#include "esp_log.h"
+#endif
+
 #include "app/app_facade_access.h"
 #include "platform/ui/device_runtime.h"
 #include "platform/ui/time_runtime.h"
@@ -20,6 +24,10 @@ namespace menu_runtime
 namespace
 {
 
+#if defined(ESP_PLATFORM)
+constexpr const char* kTag = "ui-menu-runtime";
+#endif
+
 struct RuntimeState
 {
     Hooks hooks{};
@@ -31,10 +39,21 @@ struct RuntimeState
     lv_timer_t* time_timer = nullptr;
     lv_timer_t* battery_timer = nullptr;
     int watch_face_battery = -1;
+    bool menu_active = true;
+    Scene scene = Scene::Menu;
 };
 
 RuntimeState s_runtime;
 
+bool use_menu_status_icons()
+{
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+    return false;
+#else
+    return true;
+#endif
+}
+
 bool formatMenuTime(char* out, size_t out_len)
 {
     return s_runtime.hooks.format_time ? s_runtime.hooks.format_time(out, out_len) : false;
@@ -42,6 +61,9 @@ bool formatMenuTime(char* out, size_t out_len)
 
 void showMainMenu()
 {
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "showMainMenu hook");
+#endif
     if (s_runtime.hooks.show_main_menu)
     {
         s_runtime.hooks.show_main_menu();
@@ -93,7 +115,9 @@ void updateWatchFaceTime()
         return;
     }
 
-    struct tm info{};
+    struct tm info
+    {
+    };
     if (!::platform::ui::time::localtime_now(&info))
     {
         watchFaceSetTime(-1, -1, -1, -1, nullptr, battery);
@@ -111,12 +135,18 @@ void hideWatchFaceInternal()
     {
         return;
     }
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "hideWatchFaceInternal");
+#endif
     watchFaceShow(false);
     lv_obj_clear_flag(s_runtime.main_screen, LV_OBJ_FLAG_HIDDEN);
 }
 
 void watchFaceUnlock()
 {
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "watchFaceUnlock");
+#endif
     hideWatchFaceInternal();
     showMainMenu();
 }
@@ -244,18 +274,31 @@ void createTopBar()
     lv_obj_align(menu_status_row, LV_ALIGN_TOP_MID, 0, profile.status_row_offset_y);
     lv_obj_move_foreground(menu_status_row);
 
-    lv_obj_t* menu_route_icon = lv_image_create(menu_status_row);
-    lv_obj_t* menu_tracker_icon = lv_image_create(menu_status_row);
-    lv_obj_t* menu_gps_icon = lv_image_create(menu_status_row);
-    lv_obj_t* menu_team_icon = lv_image_create(menu_status_row);
-    lv_obj_t* menu_msg_icon = lv_image_create(menu_status_row);
-    lv_obj_t* menu_ble_icon = lv_image_create(menu_status_row);
-    lv_obj_add_flag(menu_route_icon, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_add_flag(menu_tracker_icon, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_add_flag(menu_gps_icon, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_add_flag(menu_team_icon, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_add_flag(menu_msg_icon, LV_OBJ_FLAG_HIDDEN);
-    lv_obj_add_flag(menu_ble_icon, LV_OBJ_FLAG_HIDDEN);
+    lv_obj_t* menu_route_icon = nullptr;
+    lv_obj_t* menu_tracker_icon = nullptr;
+    lv_obj_t* menu_gps_icon = nullptr;
+    lv_obj_t* menu_team_icon = nullptr;
+    lv_obj_t* menu_msg_icon = nullptr;
+    lv_obj_t* menu_ble_icon = nullptr;
+    if (use_menu_status_icons())
+    {
+        menu_route_icon = lv_image_create(menu_status_row);
+        menu_tracker_icon = lv_image_create(menu_status_row);
+        menu_gps_icon = lv_image_create(menu_status_row);
+        menu_team_icon = lv_image_create(menu_status_row);
+        menu_msg_icon = lv_image_create(menu_status_row);
+        menu_ble_icon = lv_image_create(menu_status_row);
+        lv_obj_add_flag(menu_route_icon, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_add_flag(menu_tracker_icon, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_add_flag(menu_gps_icon, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_add_flag(menu_team_icon, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_add_flag(menu_msg_icon, LV_OBJ_FLAG_HIDDEN);
+        lv_obj_add_flag(menu_ble_icon, LV_OBJ_FLAG_HIDDEN);
+    }
+    else
+    {
+        lv_obj_add_flag(menu_status_row, LV_OBJ_FLAG_HIDDEN);
+    }
 
     ui::status::register_menu_status_row(
         menu_status_row, menu_route_icon, menu_tracker_icon, menu_gps_icon, menu_team_icon, menu_msg_icon, menu_ble_icon);
@@ -316,6 +359,7 @@ void init(lv_obj_t* screen_root, lv_obj_t* main_screen, lv_obj_t* menu_panel, co
     createTimers();
     refreshTimeLabel();
     refreshBatteryLabel();
+    setScene(Scene::Menu);
 }
 
 void showWatchFace()
@@ -324,16 +368,79 @@ void showWatchFace()
     {
         return;
     }
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "showWatchFace");
+#endif
     showMainMenu();
     lv_obj_clear_flag(s_runtime.main_screen, LV_OBJ_FLAG_HIDDEN);
     watchFaceShow(true);
+    setScene(Scene::WatchFace);
     updateWatchFaceTime();
 }
 
 void onWakeFromSleep()
 {
+#if defined(ESP_PLATFORM)
+    ESP_LOGI(kTag, "onWakeFromSleep");
+#endif
     showWatchFace();
 }
 
+void setMenuActive(bool active)
+{
+    s_runtime.menu_active = active;
+
+    if (s_runtime.time_timer != nullptr)
+    {
+        if (active)
+        {
+            lv_timer_resume(s_runtime.time_timer);
+        }
+        else
+        {
+            lv_timer_pause(s_runtime.time_timer);
+        }
+    }
+
+    if (s_runtime.battery_timer != nullptr)
+    {
+        if (active)
+        {
+            lv_timer_resume(s_runtime.battery_timer);
+        }
+        else
+        {
+            lv_timer_pause(s_runtime.battery_timer);
+        }
+    }
+
+    if (active)
+    {
+        refreshTimeLabel();
+        refreshBatteryLabel();
+    }
+}
+
+void setScene(Scene scene)
+{
+    s_runtime.scene = scene;
+    switch (scene)
+    {
+    case Scene::Menu:
+        setMenuActive(true);
+        break;
+    case Scene::App:
+    case Scene::WatchFace:
+    case Scene::Sleeping:
+        setMenuActive(false);
+        break;
+    }
+}
+
+Scene currentScene()
+{
+    return s_runtime.scene;
+}
+
 } // namespace menu_runtime
 } // namespace ui
diff --git a/modules/ui_shared/src/ui/startup_shell.cpp b/modules/ui_shared/src/ui/startup_shell.cpp
index 5a488a42..efede18e 100644
--- a/modules/ui_shared/src/ui/startup_shell.cpp
+++ b/modules/ui_shared/src/ui/startup_shell.cpp
@@ -2,8 +2,8 @@
 
 #include <ctime>
 
-#include "platform/ui/time_runtime.h"
 #include "platform/ui/screen_runtime.h"
+#include "platform/ui/time_runtime.h"
 #include "ui/app_runtime.h"
 #include "ui/menu/menu_layout.h"
 #include "ui/menu/menu_runtime.h"
@@ -23,7 +23,9 @@ bool format_menu_time(char* out, size_t out_len)
         return false;
     }
 
-    struct tm info{};
+    struct tm info
+    {
+    };
     if (!::platform::ui::time::localtime_now(&info))
     {
         return false;
diff --git a/modules/ui_shared/src/ui/ui_status.cpp b/modules/ui_shared/src/ui/ui_status.cpp
index 4cb2e850..c650cd94 100644
--- a/modules/ui_shared/src/ui/ui_status.cpp
+++ b/modules/ui_shared/src/ui/ui_status.cpp
@@ -66,6 +66,7 @@ lv_obj_t* s_chat_badge = nullptr;
 lv_obj_t* s_chat_badge_label = nullptr;
 TeamSnapshotCache s_team_cache;
 constexpr uint32_t kTeamSnapshotRefreshMs = 5000;
+bool s_menu_active = true;
 
 bool obj_valid(lv_obj_t* obj)
 {
@@ -192,6 +193,11 @@ void apply_menu_badge(const StatusSnapshot& snap)
 
 void status_timer_cb(lv_timer_t* /*timer*/)
 {
+    if (!s_menu_active)
+    {
+        return;
+    }
+
     StatusSnapshot snap = collect_status();
 
     apply_menu_icons(snap);
@@ -244,6 +250,25 @@ void force_update()
     status_timer_cb(nullptr);
 }
 
+void set_menu_active(bool active)
+{
+    s_menu_active = active;
+    if (s_status_timer == nullptr)
+    {
+        return;
+    }
+
+    if (active)
+    {
+        lv_timer_resume(s_status_timer);
+        status_timer_cb(nullptr);
+    }
+    else
+    {
+        lv_timer_pause(s_status_timer);
+    }
+}
+
 int get_total_unread()
 {
     chat::ChatService& chat = app::messagingFacade().getChatService();
diff --git a/platform/esp/README.md b/platform/esp/README.md
index d8cafcaf..e3393fbd 100644
--- a/platform/esp/README.md
+++ b/platform/esp/README.md
@@ -6,5 +6,5 @@ Current packages:
 
 - `arduino_common`: shared Arduino-on-ESP runtime glue
 - `arduino_audio_codec`: ESP Arduino audio codec platform package
-- `boards`: board-specific contracts, runtimes, and drivers
+- `boards`: shared ESP board abstractions, dispatcher glue, and reusable drivers
 - `idf_common`: shared ESP-IDF runtime glue
diff --git a/platform/esp/arduino_common/include/ble/ble_manager.h b/platform/esp/arduino_common/include/ble/ble_manager.h
index 7fbd9e5e..3c045c49 100644
--- a/platform/esp/arduino_common/include/ble/ble_manager.h
+++ b/platform/esp/arduino_common/include/ble/ble_manager.h
@@ -8,6 +8,16 @@
 namespace ble
 {
 
+struct BlePairingStatus
+{
+    bool available = false;
+    bool requires_passkey = false;
+    bool is_fixed_pin = false;
+    bool is_pairing_active = false;
+    bool is_connected = false;
+    uint32_t passkey = 0;
+};
+
 class BleService
 {
   public:
@@ -15,6 +25,11 @@ class BleService
     virtual void start() = 0;
     virtual void stop() = 0;
     virtual void update() = 0;
+    virtual bool getPairingStatus(BlePairingStatus* out) const
+    {
+        (void)out;
+        return false;
+    }
 };
 
 class BleManager
@@ -28,6 +43,7 @@ class BleManager
     bool isEnabled() const { return service_ != nullptr; }
     void update();
     void applyProtocol(chat::MeshProtocol protocol);
+    bool getPairingStatus(BlePairingStatus* out) const;
 
   private:
     app::IAppBleFacade& ctx_;
diff --git a/platform/esp/arduino_common/include/ble/meshtastic_ble.h b/platform/esp/arduino_common/include/ble/meshtastic_ble.h
index 0deb0bb8..46fcdd05 100644
--- a/platform/esp/arduino_common/include/ble/meshtastic_ble.h
+++ b/platform/esp/arduino_common/include/ble/meshtastic_ble.h
@@ -2,8 +2,8 @@
 
 #include "app/app_facades.h"
 #include "ble/ble_manager.h"
-#include "chat/infra/meshtastic/mt_codec_pb.h"
 #include "chat/ble/meshtastic_phone_session.h"
+#include "chat/infra/meshtastic/mt_codec_pb.h"
 #include "chat/ports/i_node_store.h"
 #include "chat/usecase/chat_service.h"
 #include "meshtastic/admin.pb.h"
diff --git a/platform/esp/arduino_common/src/ble/ble_manager.cpp b/platform/esp/arduino_common/src/ble/ble_manager.cpp
index 7e8508e5..0c67fd30 100644
--- a/platform/esp/arduino_common/src/ble/ble_manager.cpp
+++ b/platform/esp/arduino_common/src/ble/ble_manager.cpp
@@ -56,6 +56,16 @@ void BleManager::applyProtocol(chat::MeshProtocol protocol)
     }
 }
 
+bool BleManager::getPairingStatus(BlePairingStatus* out) const
+{
+    if (!out)
+    {
+        return false;
+    }
+    *out = BlePairingStatus{};
+    return service_ ? service_->getPairingStatus(out) : false;
+}
+
 void BleManager::setEnabled(bool enabled)
 {
     if (enabled)
diff --git a/platform/esp/arduino_common/src/ble/meshcore_ble_owner_hooks.cpp b/platform/esp/arduino_common/src/ble/meshcore_ble_owner_hooks.cpp
index adcf3683..c196fdeb 100644
--- a/platform/esp/arduino_common/src/ble/meshcore_ble_owner_hooks.cpp
+++ b/platform/esp/arduino_common/src/ble/meshcore_ble_owner_hooks.cpp
@@ -513,5 +513,4 @@ void MeshCoreBleService::onFactoryReset()
     }
 }
 
-
 } // namespace ble
diff --git a/platform/esp/arduino_common/src/ble/meshtastic_ble.cpp b/platform/esp/arduino_common/src/ble/meshtastic_ble.cpp
index 0da9dd02..8cc1874a 100644
--- a/platform/esp/arduino_common/src/ble/meshtastic_ble.cpp
+++ b/platform/esp/arduino_common/src/ble/meshtastic_ble.cpp
@@ -3,8 +3,8 @@
 #include "app/app_config.h"
 #include "ble/ble_uuids.h"
 #include "board/BoardBase.h"
-#include "chat/domain/contact_types.h"
 #include "chat/ble/meshtastic_phone_core.h"
+#include "chat/domain/contact_types.h"
 #include "chat/infra/meshtastic/mt_codec_pb.h"
 #include "chat/infra/meshtastic/mt_region.h"
 #include "chat/time_utils.h"
diff --git a/platform/esp/arduino_common/src/sstv/sstv_service.cpp b/platform/esp/arduino_common/src/sstv/sstv_service.cpp
index a5bdfeb2..c4164603 100644
--- a/platform/esp/arduino_common/src/sstv/sstv_service.cpp
+++ b/platform/esp/arduino_common/src/sstv/sstv_service.cpp
@@ -21,7 +21,7 @@
 #include "platform/esp/idf_common/tab5_codec_compat.h"
 #include "sys/clock.h"
 #else
-#include "board/TLoRaPagerBoard.h"
+#include "boards/tlora_pager/tlora_pager_board.h"
 #include <SD.h>
 #endif
 
@@ -803,7 +803,7 @@ void render_line_from_buffer(uint8_t line_rgb[320][4], e_mode mode, uint16_t lin
 
 void sstv_task(void*)
 {
-    TLoRaPagerBoard* board = TLoRaPagerBoard::getInstance();
+    boards::tlora_pager::TLoRaPagerBoard* board = boards::tlora_pager::TLoRaPagerBoard::getInstance();
     int prev_volume = -1;
     bool prev_out_mute = false;
     bool restore_amp = false;
diff --git a/platform/esp/arduino_common/src/ui/assets/fonts/lv_font_noto_cjk_16_2bpp.c b/platform/esp/arduino_common/src/ui/assets/fonts/lv_font_noto_cjk_16_2bpp.c
index 0a5df394..111a299d 100644
--- a/platform/esp/arduino_common/src/ui/assets/fonts/lv_font_noto_cjk_16_2bpp.c
+++ b/platform/esp/arduino_common/src/ui/assets/fonts/lv_font_noto_cjk_16_2bpp.c
@@ -23,22869 +23,365814 @@
 
 /*Store the image of the glyphs*/
 static LV_ATTRIBUTE_LARGE_CONST const uint8_t glyph_bitmap[] = {
-    0x34, 0xd3, 0x4c, 0x18, 0x30, 0x60, 0xc0, 0x86, 0x74, 0xd0, 0xb1, 0xcb, 0x1c, 0x71, 0xc7, 0x06,
-    0x04, 0x10, 0x0b, 0x04, 0x86, 0xc1, 0x86, 0x60, 0x61, 0x7f, 0xc8, 0x24, 0x10, 0x69, 0x18, 0x36,
-    0x06, 0x03, 0xff, 0x05, 0x82, 0x43, 0x60, 0xc3, 0xa0, 0x61, 0x98, 0x18, 0x40, 0x0d, 0x87, 0xd8,
-    0x73, 0xf4, 0x07, 0x41, 0xa5, 0x87, 0xac, 0x3e, 0xe0, 0xf3, 0xe4, 0x3d, 0x70, 0x79, 0xe0, 0xf5,
-    0x03, 0xd4, 0x38, 0x0e, 0x83, 0xf4, 0x1d, 0x87, 0xd8, 0x40, 0x07, 0xa0, 0xec, 0x3b, 0x4a, 0x05,
-    0x21, 0x9c, 0x0e, 0x06, 0x0e, 0x70, 0xb0, 0x61, 0xf6, 0x07, 0x18, 0xb8, 0x2d, 0x24, 0xca, 0x14,
-    0x0b, 0xd0, 0xc6, 0x16, 0x1f, 0x60, 0xc2, 0xc3, 0xd2, 0x0c, 0x2c, 0x3d, 0x85, 0x85, 0x87, 0x48,
-    0x54, 0x28, 0x1d, 0x87, 0x5c, 0x00, 0x0a, 0xf2, 0x1e, 0xb1, 0xc3, 0xda, 0x0c, 0x3d, 0xa5, 0x03,
-    0xcf, 0x61, 0xf3, 0xe0, 0xc8, 0x1e, 0xc2, 0x70, 0x71, 0x60, 0xa0, 0xe1, 0x79, 0xc0, 0xe1, 0xbd,
-    0x05, 0xe4, 0x7e, 0x82, 0xbd, 0x23, 0x20, 0xbb, 0x77, 0x10, 0x0f, 0x50, 0x18, 0x18, 0x1a, 0x0c,
-    0x0e, 0x07, 0x03, 0x01, 0x80, 0xe0, 0x70, 0xb0, 0xb4, 0x0c, 0x16, 0x15, 0x03, 0x0e, 0xc2, 0x90,
-    0x38, 0x5a, 0x0a, 0x01, 0x80, 0xe0, 0x70, 0x38, 0x1c, 0x0c, 0x0a, 0x03, 0x03, 0x82, 0x41, 0x87,
-    0x80, 0x04, 0x12, 0x6a, 0x1f, 0xa0, 0x3e, 0x0b, 0x24, 0x3e, 0x0f, 0xfc, 0x61, 0xfb, 0x0f, 0xd8,
-    0x67, 0xfe, 0x42, 0x70, 0xfd, 0x87, 0xec, 0x3f, 0x61, 0x80, 0x0e, 0xb0, 0x5a, 0x09, 0x1c, 0x10,
-    0x78, 0x7f, 0x07, 0x0a, 0xcb, 0x00, 0x0e, 0xc3, 0x98, 0x3b, 0x43, 0xb0, 0xe6, 0x0e, 0x90, 0xec,
-    0x39, 0x83, 0xa4, 0x3b, 0x0e, 0x70, 0xe9, 0x0e, 0xc3, 0xd8, 0x75, 0x03, 0x90, 0xf0, 0x03, 0xe8,
-    0x3b, 0x8b, 0x0a, 0xc2, 0xe0, 0x68, 0x56, 0x0d, 0x09, 0xc1, 0x86, 0x70, 0x61, 0x9c, 0x1a, 0x13,
-    0x83, 0x42, 0xb0, 0x58, 0x5a, 0x17, 0x36, 0x1d, 0xe8, 0x20, 0x1b, 0x42, 0xf9, 0x0e, 0xd0, 0xed,
-    0x0e, 0xd0, 0xed, 0x0e, 0xd0, 0xed, 0x0e, 0xd0, 0xed, 0x0e, 0xe0, 0x5f, 0xe0, 0x05, 0xe8, 0x37,
-    0x2b, 0xc1, 0x21, 0xb4, 0x3e, 0xd0, 0xfb, 0x43, 0xce, 0x1f, 0x70, 0x7a, 0xc3, 0xd6, 0x1e, 0xb0,
-    0xf5, 0xaf, 0x0f, 0xfc, 0x00, 0x05, 0xf2, 0x0e, 0x55, 0x87, 0xdc, 0x1e, 0xd0, 0xeb, 0x0d, 0xf0,
-    0x79, 0xf0, 0x7d, 0xc1, 0xeb, 0x10, 0xd6, 0xf2, 0xad, 0x05, 0xf2, 0x00, 0x0e, 0xf0, 0x7a, 0xf0,
-    0x73, 0xd8, 0x77, 0x4c, 0x33, 0x96, 0x1b, 0x4b, 0x0a, 0xc1, 0x60, 0x70, 0xac, 0x17, 0xfc, 0x87,
-    0x58, 0x7d, 0x61, 0xf5, 0x80, 0x1f, 0xe4, 0x0e, 0x87, 0x9c, 0x3e, 0x70, 0xfa, 0xef, 0x21, 0x32,
-    0x5a, 0x1f, 0x78, 0x3e, 0xb0, 0xfa, 0xc0, 0x86, 0xe1, 0xe5, 0x58, 0x6b, 0xd0, 0x40, 0x0a, 0xf4,
-    0x1a, 0xd5, 0x40, 0x38, 0x7d, 0xc1, 0xf6, 0xaf, 0x41, 0x7a, 0x1e, 0x07, 0x04, 0xe0, 0xd0, 0x9c,
-    0x1c, 0x13, 0x81, 0xc2, 0xb0, 0xb8, 0x74, 0x35, 0xe4, 0x00, 0x3f, 0xe0, 0xfb, 0x83, 0xce, 0x1f,
-    0x68, 0x79, 0xc3, 0xea, 0x07, 0xda, 0x1e, 0x70, 0xf9, 0xc3, 0xeb, 0x0f, 0xac, 0x3e, 0xe0, 0xc0,
-    0x03, 0xf2, 0x13, 0xa3, 0xa0, 0xa0, 0x54, 0x05, 0x02, 0xa0, 0x5a, 0x0d, 0x09, 0xf5, 0x03, 0x6d,
-    0xe0, 0xb4, 0x2f, 0x03, 0x0c, 0xe0, 0xc3, 0x38, 0x2d, 0x1e, 0x0a, 0xf9, 0x00, 0x05, 0xe8, 0x35,
-    0xaa, 0xc2, 0xd0, 0xb4, 0x70, 0xd6, 0x0c, 0x33, 0x83, 0x80, 0xf8, 0x2f, 0xa7, 0x0f, 0xac, 0x3e,
-    0xe0, 0xf3, 0x85, 0xca, 0xe0, 0xd7, 0x90, 0x80, 0xb2, 0xc3, 0xff, 0x06, 0xb2, 0xc0, 0x2c, 0x16,
-    0x1f, 0xf8, 0x3f, 0xd6, 0x0b, 0x41, 0x23, 0x82, 0x0f, 0x0f, 0x90, 0xf5, 0xe0, 0x9b, 0x90, 0x3e,
-    0x43, 0x9f, 0x21, 0xf3, 0x72, 0x1f, 0x5e, 0x0f, 0xc8, 0x7f, 0xe4, 0x3f, 0xf0, 0x7f, 0xe0, 0x9f,
-    0xf9, 0x0f, 0xe0, 0x10, 0xf9, 0xf2, 0x1f, 0x37, 0x21, 0xf3, 0xe0, 0xf3, 0xe0, 0x9b, 0x90, 0x3e,
-    0x43, 0xc8, 0x7c, 0x05, 0xe4, 0x1c, 0xda, 0x1d, 0xc1, 0xdc, 0x19, 0xc3, 0xb4, 0x37, 0x07, 0x68,
-    0x72, 0x1f, 0xf9, 0xd0, 0xed, 0x00, 0x0e, 0x6f, 0xa0, 0xfd, 0xc8, 0x56, 0x87, 0x68, 0x7d, 0x86,
-    0xd0, 0xfc, 0xc0, 0x70, 0x9f, 0x48, 0x30, 0x68, 0x28, 0x0c, 0x2c, 0x18, 0x58, 0x58, 0x58, 0x30,
-    0x30, 0x58, 0x58, 0x30, 0x50, 0x0c, 0x06, 0x06, 0x8e, 0x0f, 0x03, 0x0a, 0x80, 0xb8, 0xb8, 0x3b,
-    0x43, 0xff, 0x03, 0x90, 0x90, 0xfe, 0x6f, 0xa0, 0xe0, 0x0d, 0xe0, 0xf9, 0xf0, 0x7d, 0xbc, 0x1e,
-    0xc7, 0x0e, 0x70, 0x61, 0xdc, 0x0e, 0x0d, 0x85, 0x61, 0x3f, 0xe0, 0xb8, 0x36, 0x83, 0x43, 0x58,
-    0xe1, 0xce, 0x70, 0x7b, 0x40, 0x7f, 0xa0, 0x38, 0x4f, 0x0e, 0x19, 0xc7, 0x0c, 0xe3, 0x84, 0xf0,
-    0xff, 0x80, 0xe1, 0x3e, 0x1c, 0x3b, 0x9c, 0x3a, 0x8e, 0x1d, 0xce, 0x81, 0xf0, 0xff, 0x40, 0x0d,
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+    0xef,
+    0x07,
+    0xa4,
+    0x0c,
+    0x1f,
+    0x37,
+    0x06,
+    0xbc,
+    0x85,
+    0xc8,
+    0x7e,
+    0x68,
+    0x1f,
+    0xf8,
+    0x38,
+    0x0f,
+    0xc8,
+    0x7f,
+    0xe0,
+    0x78,
+    0x3f,
+    0xe6,
+    0xd2,
+    0x88,
+    0x73,
+    0x7d,
+    0x2d,
+    0xfa,
+    0x04,
+    0x81,
+    0x7c,
+    0x06,
+    0x0d,
+    0xff,
+    0xe4,
+    0x3b,
+    0x0f,
+    0xda,
+    0x1d,
+    0xff,
+    0xe4,
+    0x3f,
+    0x41,
+    0x41,
+    0xff,
+    0x61,
+    0x3a,
+    0x1b,
+    0xff,
+    0xf7,
+    0x83,
+    0xda,
+    0x48,
+    0x10,
+    0xfa,
+    0x80,
+    0xab,
+    0x83,
+    0x9e,
+    0x55,
+    0xe4,
+    0x29,
+    0x3c,
+    0x8b,
+    0xbf,
+    0xc1,
+    0xff,
+    0x83,
+    0x80,
+    0x0f,
+    0xfc,
+    0x1f,
+    0x9c,
+    0x3f,
+    0xf0,
+    0x3f,
+    0xe0,
+    0xfd,
+    0x61,
+    0xb8,
+    0x3e,
+    0x70,
+    0xd6,
+    0x1f,
+    0x3c,
+    0x13,
+    0xc1,
+    0xe7,
+    0xff,
+    0xf2,
+    0x13,
+    0xa1,
+    0x68,
+    0x5a,
+    0x1b,
+    0x42,
+    0xd0,
+    0xb4,
+    0x37,
+    0xff,
+    0xc8,
+    0x6d,
+    0x0b,
+    0x42,
+    0xd0,
+    0xda,
+    0x16,
+    0x85,
+    0xa1,
+    0xbf,
+    0xfe,
+    0x0e,
+    0x83,
+    0x68,
+    0x76,
+    0x1f,
+    0xb8,
+    0x33,
+    0x87,
+    0xe7,
+    0xfc,
+    0x80,
+    0x0f,
+    0x98,
+    0x3f,
+    0xf1,
+    0x7a,
+    0x0f,
+    0xf5,
+    0xc0,
+    0xb4,
+    0x39,
+    0xfa,
+    0xbd,
+    0xf4,
+    0x32,
+    0x05,
+    0xf0,
+    0x18,
+    0x2a,
+    0x8a,
+    0x95,
+    0x50,
+    0x6c,
+    0xcc,
+    0x76,
+    0x30,
+    0xdb,
+    0x9a,
+    0xb6,
+    0x70,
+    0xcb,
+    0x0b,
+    0x85,
+    0x83,
+    0x5f,
+    0xfe,
+    0x83,
+    0x69,
+    0x40,
+    0x70,
+    0xe1,
+    0xb0,
+    0x50,
+    0x12,
+    0x38,
+    0x6f,
+    0xff,
+    0xc1,
+    0xb0,
+    0x50,
+    0x12,
+    0x38,
+    0x6c,
+    0x14,
+    0x04,
+    0xdc,
+    0x00,
 };
 
 /*---------------------
diff --git a/platform/esp/arduino_common/src/ui/widgets/map/map_tiles.cpp b/platform/esp/arduino_common/src/ui/widgets/map/map_tiles.cpp
index 2bf51e31..33688c25 100644
--- a/platform/esp/arduino_common/src/ui/widgets/map/map_tiles.cpp
+++ b/platform/esp/arduino_common/src/ui/widgets/map/map_tiles.cpp
@@ -342,6 +342,24 @@ static void clear_tile_decode_cache()
     g_cache_full_until_ms = 0;
 }
 
+static void release_tile_decode_cache_usage()
+{
+    if (!g_tile_cache_initialized)
+    {
+        return;
+    }
+
+    const uint32_t now_ms = sys::millis_now();
+    for (int i = 0; i < TILE_DECODE_CACHE_SIZE; i++)
+    {
+        g_tile_decode_cache[i].in_use = false;
+        if (g_tile_decode_cache[i].img_dsc != NULL)
+        {
+            g_tile_decode_cache[i].last_used_ms = now_ms;
+        }
+    }
+}
+
 /**
  * Find cached decoded tile image
  */
@@ -1863,9 +1881,10 @@ void cleanup_tiles(TileContext& ctx)
         reset_tile_runtime(tile);
     }
     ctx.tiles->clear();
-    ctx.tiles->shrink_to_fit();
-    lv_image_cache_drop(NULL);
-    clear_tile_decode_cache();
+    // Keep vector capacity and decoded tile cache alive across page exits.
+    // Late LVGL draw work can still reference image internals for a short time,
+    // so aggressively freeing image caches here is unsafe.
+    release_tile_decode_cache_usage();
     g_active_map_source = 0xFF;
     g_active_contour_enabled = false;
     g_missing_tile_notice_pending = false;
diff --git a/platform/esp/arduino_common/src/walkie_runtime.cpp b/platform/esp/arduino_common/src/walkie_runtime.cpp
index b088c0c4..66e4d5c9 100644
--- a/platform/esp/arduino_common/src/walkie_runtime.cpp
+++ b/platform/esp/arduino_common/src/walkie_runtime.cpp
@@ -5,7 +5,7 @@
 #include <RadioLib.h>
 #include <cstring>
 
-#include "board/TLoRaPagerBoard.h"
+#include "boards/tlora_pager/tlora_pager_board.h"
 #include "platform/esp/arduino_common/app_tasks.h"
 #include "platform/esp/boards/board_runtime.h"
 
@@ -19,9 +19,9 @@ constexpr float kFskRxBwKHz = 156.2f;
 constexpr uint16_t kFskPreambleLen = 16;
 constexpr uint8_t kFskSyncWord[] = {0x2D, 0x01};
 
-TLoRaPagerBoard* resolveBoard(const Session* session)
+boards::tlora_pager::TLoRaPagerBoard* resolveBoard(const Session* session)
 {
-    return session ? static_cast<TLoRaPagerBoard*>(session->impl) : nullptr;
+    return session ? static_cast<boards::tlora_pager::TLoRaPagerBoard*>(session->impl) : nullptr;
 }
 
 void writeError(char* error_buffer, size_t error_buffer_size, const char* message)
@@ -92,20 +92,20 @@ bool isValid(const Session& session)
 
 bool isRadioReady(const Session& session)
 {
-    TLoRaPagerBoard* board = resolveBoard(&session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(&session);
     return board && board->isRadioOnline();
 }
 
 bool isCodecReady(const Session& session)
 {
-    TLoRaPagerBoard* board = resolveBoard(&session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(&session);
     return board && ((board->getDevicesProbe() & HW_CODEC_ONLINE) != 0);
 }
 
 bool configureFsk(Session* session, float freq_mhz, int8_t tx_power, char* error_buffer,
                   size_t error_buffer_size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (!board || !board->isRadioOnline())
     {
         writeError(error_buffer, error_buffer_size, "Radio offline");
@@ -170,7 +170,7 @@ bool configureFsk(Session* session, float freq_mhz, int8_t tx_power, char* error
 
 bool restoreLora(Session* session, char* error_buffer, size_t error_buffer_size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (!board)
     {
         return false;
@@ -200,7 +200,7 @@ bool restoreLora(Session* session, char* error_buffer, size_t error_buffer_size)
 
 int codecOpen(Session* session, uint8_t bits_per_sample, uint8_t channels, uint32_t sample_rate)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (!board)
     {
         return -1;
@@ -215,7 +215,7 @@ int codecOpen(Session* session, uint8_t bits_per_sample, uint8_t channels, uint3
 
 void codecClose(Session* session)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (!board || !session->codec_open)
     {
         return;
@@ -226,19 +226,19 @@ void codecClose(Session* session)
 
 int codecRead(Session* session, uint8_t* buffer, size_t size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->codec.read(buffer, size) : -1;
 }
 
 int codecWrite(Session* session, uint8_t* buffer, size_t size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->codec.write(buffer, size) : -1;
 }
 
 void codecSetVolume(Session* session, uint8_t level)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (board)
     {
         board->codec.setVolume(level);
@@ -247,7 +247,7 @@ void codecSetVolume(Session* session, uint8_t level)
 
 void codecSetGain(Session* session, float db_value)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (board)
     {
         board->codec.setGain(db_value);
@@ -256,7 +256,7 @@ void codecSetGain(Session* session, float db_value)
 
 void codecSetMute(Session* session, bool enabled)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (board)
     {
         board->codec.setMute(enabled);
@@ -265,7 +265,7 @@ void codecSetMute(Session* session, bool enabled)
 
 void standby(Session* session)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (board)
     {
         board->radio_.standby();
@@ -274,7 +274,7 @@ void standby(Session* session)
 
 int startTransmit(Session* session, const uint8_t* data, size_t size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (!board)
     {
         return -1;
@@ -290,19 +290,19 @@ int startTransmit(Session* session, const uint8_t* data, size_t size)
 
 int startReceive(Session* session)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->startRadioReceive() : -1;
 }
 
 uint32_t getRadioIrqFlags(Session* session)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->getRadioIrqFlags() : 0;
 }
 
 void clearRadioIrqFlags(Session* session, uint32_t flags)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     if (board)
     {
         board->clearRadioIrqFlags(flags);
@@ -311,13 +311,13 @@ void clearRadioIrqFlags(Session* session, uint32_t flags)
 
 int getPacketLength(Session* session, bool update)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->getRadioPacketLength(update) : -1;
 }
 
 int readRadioData(Session* session, uint8_t* buffer, size_t size)
 {
-    TLoRaPagerBoard* board = resolveBoard(session);
+    boards::tlora_pager::TLoRaPagerBoard* board = resolveBoard(session);
     return board ? board->readRadioData(buffer, size) : -1;
 }
 
@@ -506,4 +506,4 @@ void release(Session* session)
 
 } // namespace platform::esp::common::walkie_runtime
 
-#endif
\ No newline at end of file
+#endif
diff --git a/platform/esp/boards/README.md b/platform/esp/boards/README.md
index 402ce10a..aee95150 100644
--- a/platform/esp/boards/README.md
+++ b/platform/esp/boards/README.md
@@ -1,17 +1,17 @@
 # `platform/esp/boards`
 
-Board-specific platform shells and support code for ESP targets.
+Shared ESP board abstractions, dispatcher glue, and reusable support code.
 
 Current responsibilities:
 
 - shared board-facing contracts under `include/board/*`
 - ESP display abstractions and panel drivers under `include/display/*` and `src/display/*`
 - board-local input drivers such as rotary handling under `include/input/*` and `src/input/*`
-- concrete board implementations under `src/board/*` with public headers in `include/board/*`
+- any remaining shared board implementations under `src/board/*` with public headers in `include/board/*`
 - board selection/runtime dispatch under `include/platform/esp/boards/*` and `src/board_runtime.cpp`
-- board-specific glue under `tdeck/`, `tlora_pager/`, `twatchs3/`, and `tab5/`
 
 Boundary note:
 
-- code that directly owns ESP board peripherals, display buses, PMU wiring, LoRa wiring, GPS wiring, touch/keyboard/NFC, display panel setup, or board singleton instances belongs here
+- code that directly owns a specific board's peripherals, display buses, PMU wiring, LoRa wiring, GPS wiring, touch/keyboard/NFC, display panel setup, or board singleton instances belongs under `boards/<name>/*`
+- code that is intentionally shared across multiple ESP boards belongs here
 - these headers intentionally keep canonical `board/...`, `display/...`, and board-local `input/...` include prefixes so callers no longer depend on legacy `src/*` locations
diff --git a/platform/esp/boards/src/board_runtime.cpp b/platform/esp/boards/src/board_runtime.cpp
index adf84133..67cbb954 100644
--- a/platform/esp/boards/src/board_runtime.cpp
+++ b/platform/esp/boards/src/board_runtime.cpp
@@ -1,15 +1,15 @@
 #include "platform/esp/boards/board_runtime.h"
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-#include "../tab5/board_runtime_impl.h"
+#include "boards/tab5/platform_esp_board_runtime.h"
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
-#include "../t_display_p4/board_runtime_impl.h"
+#include "boards/t_display_p4/platform_esp_board_runtime.h"
 #elif defined(ARDUINO_T_DECK)
-#include "../tdeck/board_runtime_impl.h"
+#include "boards/tdeck/platform_esp_board_runtime.h"
 #elif defined(ARDUINO_T_WATCH_S3)
-#include "../twatchs3/board_runtime_impl.h"
+#include "boards/twatchs3/platform_esp_board_runtime.h"
 #else
-#include "../tlora_pager/board_runtime_impl.h"
+#include "boards/tlora_pager/platform_esp_board_runtime.h"
 #endif
 
 namespace platform::esp::boards
@@ -35,4 +35,4 @@ AppContextInitHandles resolveAppContextInitHandles()
     return detail::resolveAppContextInitHandles();
 }
 
-} // namespace platform::esp::boards
\ No newline at end of file
+} // namespace platform::esp::boards
diff --git a/platform/esp/boards/t_display_p4/board_runtime_impl.h b/platform/esp/boards/t_display_p4/board_runtime_impl.h
deleted file mode 100644
index 0b7755ea..00000000
--- a/platform/esp/boards/t_display_p4/board_runtime_impl.h
+++ /dev/null
@@ -1,83 +0,0 @@
-#pragma once
-
-#include <cstdlib>
-
-#include "esp_log.h"
-#include "platform/esp/boards/board_runtime.h"
-#include "platform/esp/boards/t_display_p4_board_profile.h"
-
-namespace platform::esp::boards::detail
-{
-
-namespace
-{
-constexpr const char* kTag = "t-display-p4-board-runtime";
-}
-
-inline void initializeBoard(bool waking_from_sleep)
-{
-    ESP_LOGI(kTag,
-             "T-Display-P4 board runtime bootstrap: caps(display=%d touch=%d audio=%d sd=%d gps=%d lora=%d ioexp_lora=%d) sys_i2c=(%d,%d,%d) ext_i2c=(%d,%d,%d) gps_uart=(%d,%d,%d) sdmmc=(%d,%d,%d,%d,%d,%d) audio_i2s=(%d,%d,%d,%d,%d) lora_spi=(host=%d sck=%d miso=%d mosi=%d) lora_ctrl=(nss=%d rst=%d irq=%d busy=%d pwr_en=%d) boot=%d expander_int=%d backlight=%d wake=%d",
-             t_display_p4::kBoardProfile.has_display ? 1 : 0,
-             t_display_p4::kBoardProfile.has_touch ? 1 : 0,
-             t_display_p4::kBoardProfile.has_audio ? 1 : 0,
-             t_display_p4::kBoardProfile.has_sdcard ? 1 : 0,
-             t_display_p4::kBoardProfile.has_gps_uart ? 1 : 0,
-             t_display_p4::kBoardProfile.has_lora ? 1 : 0,
-             t_display_p4::kBoardProfile.uses_io_expander_for_lora ? 1 : 0,
-             t_display_p4::kBoardProfile.sys_i2c.port,
-             t_display_p4::kBoardProfile.sys_i2c.sda,
-             t_display_p4::kBoardProfile.sys_i2c.scl,
-             t_display_p4::kBoardProfile.ext_i2c.port,
-             t_display_p4::kBoardProfile.ext_i2c.sda,
-             t_display_p4::kBoardProfile.ext_i2c.scl,
-             t_display_p4::kBoardProfile.gps_uart.port,
-             t_display_p4::kBoardProfile.gps_uart.tx,
-             t_display_p4::kBoardProfile.gps_uart.rx,
-             t_display_p4::kBoardProfile.sdmmc.d0,
-             t_display_p4::kBoardProfile.sdmmc.d1,
-             t_display_p4::kBoardProfile.sdmmc.d2,
-             t_display_p4::kBoardProfile.sdmmc.d3,
-             t_display_p4::kBoardProfile.sdmmc.cmd,
-             t_display_p4::kBoardProfile.sdmmc.clk,
-             t_display_p4::kBoardProfile.audio_i2s.bclk,
-             t_display_p4::kBoardProfile.audio_i2s.mclk,
-             t_display_p4::kBoardProfile.audio_i2s.ws,
-             t_display_p4::kBoardProfile.audio_i2s.dout,
-             t_display_p4::kBoardProfile.audio_i2s.din,
-             t_display_p4::kBoardProfile.lora.spi.host,
-             t_display_p4::kBoardProfile.lora.spi.sck,
-             t_display_p4::kBoardProfile.lora.spi.miso,
-             t_display_p4::kBoardProfile.lora.spi.mosi,
-             t_display_p4::kBoardProfile.lora.nss,
-             t_display_p4::kBoardProfile.lora.rst,
-             t_display_p4::kBoardProfile.lora.irq,
-             t_display_p4::kBoardProfile.lora.busy,
-             t_display_p4::kBoardProfile.lora.pwr_en,
-             t_display_p4::kBoardProfile.boot,
-             t_display_p4::kBoardProfile.expander_int,
-             t_display_p4::kBoardProfile.lcd_backlight,
-             waking_from_sleep ? 1 : 0);
-}
-
-inline void initializeDisplay()
-{
-    ESP_LOGI(kTag, "T-Display-P4 display runtime not wired yet; waiting for IDF board/display adapter migration");
-}
-
-inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
-{
-    (void)out_handles;
-    ESP_LOGI(kTag, "T-Display-P4 AppContext handles are not available yet; board adapter still pending");
-    return false;
-}
-
-inline AppContextInitHandles resolveAppContextInitHandles()
-{
-    AppContextInitHandles handles{};
-    (void)handles;
-    ESP_LOGE(kTag, "T-Display-P4 resolveAppContextInitHandles() called before adapter implementation");
-    abort();
-}
-
-} // namespace platform::esp::boards::detail
\ No newline at end of file
diff --git a/platform/esp/boards/tab5/board_runtime_impl.h b/platform/esp/boards/tab5/board_runtime_impl.h
deleted file mode 100644
index 5cc0bf42..00000000
--- a/platform/esp/boards/tab5/board_runtime_impl.h
+++ /dev/null
@@ -1,106 +0,0 @@
-#pragma once
-
-#include <cstdlib>
-
-#include "esp_log.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "platform/esp/boards/board_runtime.h"
-#include "platform/esp/boards/tab5_board_profile.h"
-
-extern "C"
-{
-#include "bsp/trail_mate_tab5_runtime.h"
-
-    void bsp_set_ext_5v_en(bool en);
-}
-
-namespace platform::esp::boards::detail
-{
-
-namespace
-{
-constexpr const char* kTag = "tab5-board-runtime";
-}
-
-inline void initializeBoard(bool waking_from_sleep)
-{
-    ESP_LOGI(kTag,
-             "Tab5 board runtime bootstrap: caps(display=%d touch=%d audio=%d sd=%d gps=%d rs485=%d lora=%d lora_module=%d) sys_i2c=(%d,%d,%d) ext_i2c=(%d,%d,%d) gps_uart=(%d,%d,%d) rs485_uart=(%d,%d,%d,%d) sdmmc=(%d,%d,%d,%d,%d,%d) audio_i2s=(%d,%d,%d,%d,%d) lora_spi=(host=%d sck=%d miso=%d mosi=%d) lora_ctrl=(nss=%d rst=%d irq=%d busy=%d pwr_en=%d) backlight=%d touch_int=%d wake=%d",
-             tab5::kBoardProfile.has_display ? 1 : 0,
-             tab5::kBoardProfile.has_touch ? 1 : 0,
-             tab5::kBoardProfile.has_audio ? 1 : 0,
-             tab5::kBoardProfile.has_sdcard ? 1 : 0,
-             tab5::kBoardProfile.has_gps_uart ? 1 : 0,
-             tab5::kBoardProfile.has_rs485_uart ? 1 : 0,
-             tab5::kBoardProfile.has_lora ? 1 : 0,
-             tab5::kBoardProfile.has_m5bus_lora_module_routing ? 1 : 0,
-             tab5::kBoardProfile.sys_i2c.port,
-             tab5::kBoardProfile.sys_i2c.sda,
-             tab5::kBoardProfile.sys_i2c.scl,
-             tab5::kBoardProfile.ext_i2c.port,
-             tab5::kBoardProfile.ext_i2c.sda,
-             tab5::kBoardProfile.ext_i2c.scl,
-             tab5::kBoardProfile.gps_uart.port,
-             tab5::kBoardProfile.gps_uart.tx,
-             tab5::kBoardProfile.gps_uart.rx,
-             tab5::kBoardProfile.rs485_uart.port,
-             tab5::kBoardProfile.rs485_uart.tx,
-             tab5::kBoardProfile.rs485_uart.rx,
-             tab5::kBoardProfile.rs485_uart.aux,
-             tab5::kBoardProfile.sdmmc.d0,
-             tab5::kBoardProfile.sdmmc.d1,
-             tab5::kBoardProfile.sdmmc.d2,
-             tab5::kBoardProfile.sdmmc.d3,
-             tab5::kBoardProfile.sdmmc.cmd,
-             tab5::kBoardProfile.sdmmc.clk,
-             tab5::kBoardProfile.audio_i2s.bclk,
-             tab5::kBoardProfile.audio_i2s.mclk,
-             tab5::kBoardProfile.audio_i2s.ws,
-             tab5::kBoardProfile.audio_i2s.dout,
-             tab5::kBoardProfile.audio_i2s.din,
-             tab5::kBoardProfile.lora_module.spi.host,
-             tab5::kBoardProfile.lora_module.spi.sck,
-             tab5::kBoardProfile.lora_module.spi.miso,
-             tab5::kBoardProfile.lora_module.spi.mosi,
-             tab5::kBoardProfile.lora_module.nss,
-             tab5::kBoardProfile.lora_module.rst,
-             tab5::kBoardProfile.lora_module.irq,
-             tab5::kBoardProfile.lora_module.busy,
-             tab5::kBoardProfile.lora_module.pwr_en,
-             tab5::kBoardProfile.lcd_backlight,
-             tab5::kBoardProfile.touch_int,
-             waking_from_sleep ? 1 : 0);
-}
-
-inline void initializeDisplay()
-{
-    if (trail_mate_tab5_display_runtime_init())
-    {
-        ESP_LOGI(kTag, "Tab5 display runtime initialized");
-        bsp_set_ext_5v_en(true);
-        vTaskDelay(pdMS_TO_TICKS(300));
-        ESP_LOGI(kTag, "Tab5 M5-Bus Ext5V enabled for GNSS/LoRa modules");
-    }
-    else
-    {
-        ESP_LOGE(kTag, "Tab5 display runtime initialization failed");
-    }
-}
-
-inline bool tryResolveAppContextInitHandles(AppContextInitHandles* out_handles)
-{
-    (void)out_handles;
-    ESP_LOGI(kTag, "Tab5 AppContext handles are not available yet; board adapter still pending");
-    return false;
-}
-
-inline AppContextInitHandles resolveAppContextInitHandles()
-{
-    AppContextInitHandles handles{};
-    (void)handles;
-    ESP_LOGE(kTag, "Tab5 resolveAppContextInitHandles() called before adapter implementation");
-    abort();
-}
-
-} // namespace platform::esp::boards::detail
diff --git a/platform/esp/boards/tdeck/README.md b/platform/esp/boards/tdeck/README.md
deleted file mode 100644
index 25f052d2..00000000
--- a/platform/esp/boards/tdeck/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# `platform/esp/boards/tdeck`
-
-Planned home for T-Deck board support and board-specific adapters.
diff --git a/platform/esp/boards/tlora_pager/README.md b/platform/esp/boards/tlora_pager/README.md
deleted file mode 100644
index 561e5792..00000000
--- a/platform/esp/boards/tlora_pager/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# `platform/esp/boards/tlora_pager`
-
-Planned home for T-LoRa Pager board support and board-specific adapters.
diff --git a/platform/esp/boards/twatchs3/README.md b/platform/esp/boards/twatchs3/README.md
deleted file mode 100644
index 7b2541d2..00000000
--- a/platform/esp/boards/twatchs3/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# `platform/esp/boards/twatchs3`
-
-Planned home for T-Watch S3 board support and board-specific adapters.
diff --git a/platform/esp/idf_common/include/platform/esp/idf_common/tab5_codec_compat.h b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_codec_compat.h
index 90667628..1e60fb2b 100644
--- a/platform/esp/idf_common/include/platform/esp/idf_common/tab5_codec_compat.h
+++ b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_codec_compat.h
@@ -1,52 +1,8 @@
 #pragma once
 
-#include <cstddef>
-#include <cstdint>
+#include "boards/tab5/codec_compat.h"
 
 namespace platform::esp::idf_common
 {
-
-class Tab5CodecCompat
-{
-  public:
-    Tab5CodecCompat() = default;
-    ~Tab5CodecCompat();
-
-    int open(uint8_t bits_per_sample, uint8_t channel, uint32_t sample_rate);
-    void close();
-
-    int write(uint8_t* buffer, size_t size);
-    int read(uint8_t* buffer, size_t size);
-
-    void setMute(bool enable);
-    bool getMute() const;
-
-    void setOutMute(bool enable);
-    bool getOutMute() const;
-
-    void setVolume(uint8_t level);
-    int getVolume() const;
-
-    void setGain(float db_value);
-    float getGain() const;
-
-    bool ready() const;
-
-  private:
-    bool ensure_ready();
-    bool ensure_scratch(size_t size);
-
-    void* scratch_ = nullptr;
-    size_t scratch_size_ = 0;
-    bool ready_ = false;
-    bool mute_ = false;
-    bool out_mute_ = false;
-    int volume_ = 10;
-    float gain_db_ = 0.0f;
-    uint8_t requested_channels_ = 1;
-    uint8_t requested_bits_ = 16;
-    uint32_t requested_sample_rate_ = 8000;
-    uint8_t hardware_capture_channels_ = 1;
-};
-
-} // namespace platform::esp::idf_common
\ No newline at end of file
+using Tab5CodecCompat = ::boards::tab5::CodecCompat;
+}
diff --git a/platform/esp/idf_common/include/platform/esp/idf_common/tab5_heading_runtime.h b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_heading_runtime.h
new file mode 100644
index 00000000..070c1eba
--- /dev/null
+++ b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_heading_runtime.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "boards/tab5/heading_runtime.h"
+
+namespace platform::esp::idf_common::tab5_heading_runtime
+{
+using HeadingState = ::boards::tab5::heading_runtime::HeadingState;
+inline void ensure_started() { ::boards::tab5::heading_runtime::ensure_started(); }
+inline HeadingState get_data() { return ::boards::tab5::heading_runtime::get_data(); }
+} // namespace platform::esp::idf_common::tab5_heading_runtime
diff --git a/platform/esp/idf_common/include/platform/esp/idf_common/tab5_rtc_runtime.h b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_rtc_runtime.h
index 479e1d90..7c506813 100644
--- a/platform/esp/idf_common/include/platform/esp/idf_common/tab5_rtc_runtime.h
+++ b/platform/esp/idf_common/include/platform/esp/idf_common/tab5_rtc_runtime.h
@@ -1,30 +1,8 @@
 #pragma once
 
-#include <cstdint>
-#include <ctime>
+#include "boards/tab5/rtc_runtime.h"
 
 namespace platform::esp::idf_common::tab5_rtc_runtime
 {
-
-constexpr std::time_t kMinValidEpochSeconds = 1577836800; // 2020-01-01 00:00:00 UTC
-
-bool is_valid_epoch(std::time_t epoch_seconds);
-bool validate_datetime_utc(int year,
-                           uint8_t month,
-                           uint8_t day,
-                           uint8_t hour,
-                           uint8_t minute,
-                           uint8_t second);
-std::time_t datetime_to_epoch_utc(int year,
-                                  uint8_t month,
-                                  uint8_t day,
-                                  uint8_t hour,
-                                  uint8_t minute,
-                                  uint8_t second);
-
-bool apply_system_time(std::time_t epoch_seconds, const char* source);
-bool apply_system_time_and_sync_rtc(std::time_t epoch_seconds, const char* source);
-bool sync_system_time_from_hardware_rtc();
-bool sync_hardware_rtc_from_system_time();
-
-} // namespace platform::esp::idf_common::tab5_rtc_runtime
+using namespace ::boards::tab5::rtc_runtime;
+}
diff --git a/platform/esp/idf_common/src/bsp_runtime.cpp b/platform/esp/idf_common/src/bsp_runtime.cpp
index b682e34d..67f79da0 100644
--- a/platform/esp/idf_common/src/bsp_runtime.cpp
+++ b/platform/esp/idf_common/src/bsp_runtime.cpp
@@ -2,11 +2,11 @@
 
 #include <cstddef>
 
+#include "boards/t_display_p4/board_profile.h"
+#include "boards/tab5/tab5_board.h"
 #include "esp_err.h"
 #include "esp_log.h"
 #include "nvs_flash.h"
-#include "platform/esp/boards/t_display_p4_board_profile.h"
-#include "platform/esp/boards/tab5_board_profile.h"
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
 extern "C"
@@ -63,7 +63,7 @@ bool ensure_sdcard_ready()
     {
         return true;
     }
-    if (platform::esp::boards::tab5::kBoardProfile.has_sdcard == false)
+    if (!::boards::tab5::Tab5Board::hasSdCard())
     {
         return false;
     }
@@ -142,7 +142,7 @@ int default_awake_brightness_percent()
 bool gps_capable()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    return platform::esp::boards::tab5::kBoardProfile.has_gps_uart;
+    return ::boards::tab5::Tab5Board::hasGpsUart();
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
     return platform::esp::boards::t_display_p4::kBoardProfile.has_gps_uart;
 #else
@@ -153,7 +153,7 @@ bool gps_capable()
 bool sdcard_capable()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    return platform::esp::boards::tab5::kBoardProfile.has_sdcard;
+    return ::boards::tab5::Tab5Board::hasSdCard();
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
     return platform::esp::boards::t_display_p4::kBoardProfile.has_sdcard;
 #else
diff --git a/platform/esp/idf_common/src/gps_runtime.cpp b/platform/esp/idf_common/src/gps_runtime.cpp
index 3afe7e8c..c7b325a4 100644
--- a/platform/esp/idf_common/src/gps_runtime.cpp
+++ b/platform/esp/idf_common/src/gps_runtime.cpp
@@ -11,17 +11,13 @@
 #include <limits>
 #include <mutex>
 
+#include "boards/t_display_p4/board_profile.h"
+#include "boards/tab5/rtc_runtime.h"
+#include "boards/tab5/tab5_board.h"
 #include "driver/uart.h"
 #include "esp_log.h"
 #include "esp_timer.h"
-#include "platform/esp/boards/t_display_p4_board_profile.h"
-#include "platform/esp/boards/tab5_board_profile.h"
 #include "platform/esp/idf_common/bsp_runtime.h"
-#include "platform/esp/idf_common/tab5_rtc_runtime.h"
-
-#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-extern "C" void bsp_set_ext_5v_en(bool en);
-#endif
 
 namespace platform::esp::idf_common::gps_runtime
 {
@@ -107,9 +103,8 @@ struct GpsUartPins
 GpsUartPins gps_uart_pins()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    return {platform::esp::boards::tab5::kBoardProfile.gps_uart.port,
-            platform::esp::boards::tab5::kBoardProfile.gps_uart.tx,
-            platform::esp::boards::tab5::kBoardProfile.gps_uart.rx};
+    const auto& uart = ::boards::tab5::Tab5Board::gpsUart();
+    return {uart.port, uart.tx, uart.rx};
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
     return {platform::esp::boards::t_display_p4::kBoardProfile.gps_uart.port,
             platform::esp::boards::t_display_p4::kBoardProfile.gps_uart.tx,
@@ -228,7 +223,7 @@ void clear_payload_locked()
     s_runtime.used_sat_count = 0;
     s_runtime.last_time_sync_attempt_ms = 0;
     s_runtime.last_time_sync_epoch = 0;
-    s_runtime.time_sync_committed = platform::esp::idf_common::tab5_rtc_runtime::is_valid_epoch(std::time(nullptr));
+    s_runtime.time_sync_committed = ::boards::tab5::rtc_runtime::is_valid_epoch(std::time(nullptr));
     for (auto& collector : s_runtime.gsv) collector = GsvCollector{};
 }
 
@@ -288,12 +283,12 @@ void maybe_sync_time_from_rmc_locked(const std::array<char*, kMaxFields>& fields
         return;
     }
 
-    if (!platform::esp::idf_common::tab5_rtc_runtime::validate_datetime_utc(year, month, day, hour, minute, second))
+    if (!::boards::tab5::rtc_runtime::validate_datetime_utc(year, month, day, hour, minute, second))
     {
         return;
     }
 
-    const std::time_t gnss_epoch = platform::esp::idf_common::tab5_rtc_runtime::datetime_to_epoch_utc(
+    const std::time_t gnss_epoch = ::boards::tab5::rtc_runtime::datetime_to_epoch_utc(
         year, month, day, hour, minute, second);
     if (gnss_epoch < 0)
     {
@@ -301,7 +296,7 @@ void maybe_sync_time_from_rmc_locked(const std::array<char*, kMaxFields>& fields
     }
 
     const std::time_t now_epoch = std::time(nullptr);
-    const bool system_valid = platform::esp::idf_common::tab5_rtc_runtime::is_valid_epoch(now_epoch);
+    const bool system_valid = ::boards::tab5::rtc_runtime::is_valid_epoch(now_epoch);
     const long long delta_seconds = system_valid
                                         ? std::llabs(static_cast<long long>(now_epoch) - static_cast<long long>(gnss_epoch))
                                         : std::numeric_limits<long long>::max();
@@ -318,7 +313,7 @@ void maybe_sync_time_from_rmc_locked(const std::array<char*, kMaxFields>& fields
     }
 
     s_runtime.last_time_sync_attempt_ms = ts;
-    if (platform::esp::idf_common::tab5_rtc_runtime::apply_system_time_and_sync_rtc(gnss_epoch, "gnss_rmc"))
+    if (::boards::tab5::rtc_runtime::apply_system_time_and_sync_rtc(gnss_epoch, "gnss_rmc"))
     {
         s_runtime.last_time_sync_epoch = gnss_epoch;
         s_runtime.time_sync_committed = true;
@@ -504,13 +499,15 @@ void append_bytes_and_process(const uint8_t* buffer, int length, char* line_buff
 void ensure_ext5v_enabled()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    bsp_set_ext_5v_en(true);
-    ESP_LOGI(kTag, "Tab5 M5-Bus Ext5V enabled for GNSS runtime");
+    (void)::boards::tab5::Tab5Board::instance().acquireExt5vRail("gps_runtime");
 #endif
 }
 
 void configure_uart_hardware()
 {
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+    (void)::boards::tab5::Tab5Board::instance().configureGpsUart();
+#else
     const auto gps_uart = gps_uart_pins();
     uart_config_t config{};
     config.baud_rate = 38400;
@@ -524,15 +521,21 @@ void configure_uart_hardware()
     ESP_ERROR_CHECK(uart_set_pin(static_cast<uart_port_t>(gps_uart.port), gps_uart.tx, gps_uart.rx, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
     ESP_ERROR_CHECK(uart_driver_install(static_cast<uart_port_t>(gps_uart.port), 4096, 0, 0, nullptr, 0));
     ESP_LOGI(kTag, "GNSS UART configured: port=%d tx=%d rx=%d baud=%d", gps_uart.port, gps_uart.tx, gps_uart.rx, config.baud_rate);
+#endif
 }
 
 void teardown_uart_hardware()
 {
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+    ::boards::tab5::Tab5Board::instance().teardownGpsUart();
+    ::boards::tab5::Tab5Board::instance().releaseExt5vRail("gps_runtime");
+#else
     const auto gps_uart = gps_uart_pins();
     if (gps_uart.port >= 0)
     {
         uart_driver_delete(static_cast<uart_port_t>(gps_uart.port));
     }
+#endif
 }
 
 void worker_task(void*)
@@ -556,7 +559,12 @@ void worker_task(void*)
     while (true)
     {
         const auto gps_uart = gps_uart_pins();
-        int read_len = uart_read_bytes(static_cast<uart_port_t>(gps_uart.port), rx_buffer, sizeof(rx_buffer), pdMS_TO_TICKS(200));
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+        const auto port = ::boards::tab5::Tab5Board::instance().gpsUartPort();
+#else
+        const auto port = static_cast<uart_port_t>(gps_uart.port);
+#endif
+        int read_len = uart_read_bytes(port, rx_buffer, sizeof(rx_buffer), pdMS_TO_TICKS(200));
         if (read_len > 0) append_bytes_and_process(rx_buffer, read_len, line_buffer, &line_length);
 
         bool should_exit = false;
@@ -602,7 +610,7 @@ void worker_task(void*)
         s_runtime.last_fix_ms = 0;
         s_runtime.last_time_sync_attempt_ms = 0;
         s_runtime.last_time_sync_epoch = 0;
-        s_runtime.time_sync_committed = platform::esp::idf_common::tab5_rtc_runtime::is_valid_epoch(std::time(nullptr));
+        s_runtime.time_sync_committed = ::boards::tab5::rtc_runtime::is_valid_epoch(std::time(nullptr));
         s_runtime.first_sentence_logged = false;
         s_runtime.last_no_data_log_ms = 0;
     }
@@ -677,7 +685,12 @@ void set_gnss_config(uint8_t mode, uint8_t sat_mask)
     std::lock_guard<std::mutex> lock(s_mutex);
     s_runtime.gnss_mode = mode;
     s_runtime.gnss_sat_mask = sat_mask;
-    s_runtime.enabled = gps_available() && mode != 0;
+    // Shared settings use:
+    //   0 = High Accuracy
+    //   1 = Power Save
+    //   2 = Fix Only
+    // So all current values are active modes, not "off".
+    s_runtime.enabled = gps_available() && sat_mask != 0;
     if (!s_runtime.enabled)
     {
         s_runtime.stop_requested = true;
@@ -687,7 +700,7 @@ void set_gnss_config(uint8_t mode, uint8_t sat_mask)
     }
     s_runtime.probe_requested = false;
     s_runtime.probe_deadline_ms = 0;
-    s_runtime.time_sync_committed = platform::esp::idf_common::tab5_rtc_runtime::is_valid_epoch(std::time(nullptr));
+    s_runtime.time_sync_committed = ::boards::tab5::rtc_runtime::is_valid_epoch(std::time(nullptr));
     ensure_worker_locked();
     ESP_LOGI(kTag, "GNSS runtime enabled: interval_ms=%lu mode=%u sat_mask=0x%02X strategy=%u", static_cast<unsigned long>(s_runtime.collection_interval_ms), s_runtime.gnss_mode, s_runtime.gnss_sat_mask, s_runtime.power_strategy);
 }
diff --git a/platform/esp/idf_common/src/platform_ui_device_runtime.cpp b/platform/esp/idf_common/src/platform_ui_device_runtime.cpp
index ec4e3743..94eadcb9 100644
--- a/platform/esp/idf_common/src/platform_ui_device_runtime.cpp
+++ b/platform/esp/idf_common/src/platform_ui_device_runtime.cpp
@@ -2,11 +2,11 @@
 
 #include <ctime>
 
+#include "boards/tab5/rtc_runtime.h"
 #include "esp_system.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "platform/esp/idf_common/bsp_runtime.h"
-#include "platform/esp/idf_common/tab5_rtc_runtime.h"
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
 #include "bsp/m5stack_tab5.h"
@@ -27,7 +27,7 @@ void restart()
 
 bool rtc_ready()
 {
-    return platform::esp::idf_common::tab5_rtc_runtime::is_valid_epoch(std::time(nullptr));
+    return ::boards::tab5::rtc_runtime::is_valid_epoch(std::time(nullptr));
 }
 
 BatteryInfo battery_info()
diff --git a/platform/esp/idf_common/src/platform_ui_lora_runtime.cpp b/platform/esp/idf_common/src/platform_ui_lora_runtime.cpp
index ca8fac79..15fef3cf 100644
--- a/platform/esp/idf_common/src/platform_ui_lora_runtime.cpp
+++ b/platform/esp/idf_common/src/platform_ui_lora_runtime.cpp
@@ -3,8 +3,8 @@
 #include <cmath>
 #include <limits>
 
-#include "platform/esp/boards/t_display_p4_board_profile.h"
-#include "platform/esp/boards/tab5_board_profile.h"
+#include "boards/t_display_p4/board_profile.h"
+#include "boards/tab5/tab5_board.h"
 #include "platform/esp/idf_common/sx126x_radio.h"
 
 namespace
@@ -13,8 +13,8 @@ namespace
 bool board_has_lora_capability()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    return platform::esp::boards::tab5::kBoardProfile.has_lora ||
-           platform::esp::boards::tab5::kBoardProfile.has_m5bus_lora_module_routing;
+    return ::boards::tab5::Tab5Board::hasLora() ||
+           ::boards::tab5::Tab5Board::hasM5BusLoraRouting();
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
     return platform::esp::boards::t_display_p4::kBoardProfile.has_lora;
 #else
@@ -70,4 +70,4 @@ void release()
     radio().release();
 }
 
-} // namespace platform::ui::lora
\ No newline at end of file
+} // namespace platform::ui::lora
diff --git a/platform/esp/idf_common/src/platform_ui_orientation_runtime.cpp b/platform/esp/idf_common/src/platform_ui_orientation_runtime.cpp
new file mode 100644
index 00000000..a1590109
--- /dev/null
+++ b/platform/esp/idf_common/src/platform_ui_orientation_runtime.cpp
@@ -0,0 +1,26 @@
+#include "platform/ui/orientation_runtime.h"
+
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+#include "boards/tab5/heading_runtime.h"
+#endif
+
+namespace platform::ui::orientation
+{
+
+HeadingState get_heading()
+{
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+    return ::boards::tab5::heading_runtime::get_data();
+#else
+    return {};
+#endif
+}
+
+void ensure_heading_runtime()
+{
+#if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+    ::boards::tab5::heading_runtime::ensure_started();
+#endif
+}
+
+} // namespace platform::ui::orientation
diff --git a/platform/esp/idf_common/src/platform_ui_sstv_runtime.cpp b/platform/esp/idf_common/src/platform_ui_sstv_runtime.cpp
index 65c936aa..f4cc3a2b 100644
--- a/platform/esp/idf_common/src/platform_ui_sstv_runtime.cpp
+++ b/platform/esp/idf_common/src/platform_ui_sstv_runtime.cpp
@@ -1,7 +1,7 @@
 #include "platform/ui/sstv_runtime.h"
 
-#include "platform/esp/boards/t_display_p4_board_profile.h"
-#include "platform/esp/boards/tab5_board_profile.h"
+#include "boards/t_display_p4/board_profile.h"
+#include "boards/tab5/tab5_board.h"
 #include "sstv/sstv_service.h"
 
 namespace
@@ -29,8 +29,8 @@ platform::ui::sstv::State convert_state(::sstv::State state)
 bool board_supports_sstv()
 {
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
-    return platform::esp::boards::tab5::kBoardProfile.has_audio &&
-           platform::esp::boards::tab5::kBoardProfile.has_sdcard;
+    return ::boards::tab5::Tab5Board::hasAudio() &&
+           ::boards::tab5::Tab5Board::hasSdCard();
 #elif defined(TRAIL_MATE_ESP_BOARD_T_DISPLAY_P4)
     return platform::esp::boards::t_display_p4::kBoardProfile.has_audio &&
            platform::esp::boards::t_display_p4::kBoardProfile.has_sdcard;
@@ -106,4 +106,4 @@ uint16_t frame_height()
     return ::sstv::frame_height();
 }
 
-} // namespace platform::ui::sstv
\ No newline at end of file
+} // namespace platform::ui::sstv
diff --git a/platform/esp/idf_common/src/platform_ui_time_runtime.cpp b/platform/esp/idf_common/src/platform_ui_time_runtime.cpp
index ba23941c..db4f7952 100644
--- a/platform/esp/idf_common/src/platform_ui_time_runtime.cpp
+++ b/platform/esp/idf_common/src/platform_ui_time_runtime.cpp
@@ -26,7 +26,7 @@ bool localtime_now(struct tm* out_tm)
     {
         return false;
     }
-    const time_t local = apply_timezone_offset(time(nullptr));
+    const time_t local = apply_timezone_offset(::time(nullptr));
     const tm* tmp = gmtime(&local);
     if (!tmp)
     {
diff --git a/platform/esp/idf_common/src/platform_ui_usb_support_runtime.cpp b/platform/esp/idf_common/src/platform_ui_usb_support_runtime.cpp
index af6f5716..3d915da4 100644
--- a/platform/esp/idf_common/src/platform_ui_usb_support_runtime.cpp
+++ b/platform/esp/idf_common/src/platform_ui_usb_support_runtime.cpp
@@ -13,9 +13,9 @@
 #include <cstdio>
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
+#include "boards/tab5/tab5_board.h"
 #include "driver/sdmmc_host.h"
 #include "esp_err.h"
-#include "platform/esp/boards/tab5_board_profile.h"
 #include "sd_pwr_ctrl_by_on_chip_ldo.h"
 #include "sdmmc_cmd.h"
 #include "tinyusb.h"
@@ -199,12 +199,13 @@ esp_err_t init_sd_host_raw()
 
     sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
     slot_config.width = 4;
-    slot_config.clk = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.clk);
-    slot_config.cmd = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.cmd);
-    slot_config.d0 = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.d0);
-    slot_config.d1 = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.d1);
-    slot_config.d2 = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.d2);
-    slot_config.d3 = static_cast<gpio_num_t>(platform::esp::boards::tab5::kBoardProfile.sdmmc.d3);
+    const auto& pins = ::boards::tab5::Tab5Board::sdmmcPins();
+    slot_config.clk = static_cast<gpio_num_t>(pins.clk);
+    slot_config.cmd = static_cast<gpio_num_t>(pins.cmd);
+    slot_config.d0 = static_cast<gpio_num_t>(pins.d0);
+    slot_config.d1 = static_cast<gpio_num_t>(pins.d1);
+    slot_config.d2 = static_cast<gpio_num_t>(pins.d2);
+    slot_config.d3 = static_cast<gpio_num_t>(pins.d3);
 
     s_card = static_cast<sdmmc_card_t*>(malloc(sizeof(sdmmc_card_t)));
     if (!s_card)
diff --git a/platform/esp/idf_common/src/sx126x_radio.cpp b/platform/esp/idf_common/src/sx126x_radio.cpp
index f2a919bc..2ba4d282 100644
--- a/platform/esp/idf_common/src/sx126x_radio.cpp
+++ b/platform/esp/idf_common/src/sx126x_radio.cpp
@@ -5,6 +5,7 @@
 #include <cstdio>
 #include <cstring>
 
+#include "boards/tab5/tab5_board.h"
 #include "driver/gpio.h"
 #include "driver/spi_master.h"
 #include "esp_err.h"
@@ -13,7 +14,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "freertos/task.h"
-#include "platform/esp/boards/tab5_board_profile.h"
 
 namespace platform::esp::idf_common
 {
@@ -272,7 +272,7 @@ uint8_t ocp_for_60ma()
 
 const auto& lora_pins()
 {
-    return platform::esp::boards::tab5::kBoardProfile.lora_module;
+    return ::boards::tab5::Tab5Board::loraModulePins();
 }
 
 } // namespace
@@ -1121,4 +1121,4 @@ void Sx126xRadio::set_error_locked(const char* error)
     ESP_LOGW(kTag, "%s", last_error_);
 }
 
-} // namespace platform::esp::idf_common
\ No newline at end of file
+} // namespace platform::esp::idf_common
diff --git a/platform/esp/idf_common/src/walkie_runtime.cpp b/platform/esp/idf_common/src/walkie_runtime.cpp
index 911b6c6e..5826aa28 100644
--- a/platform/esp/idf_common/src/walkie_runtime.cpp
+++ b/platform/esp/idf_common/src/walkie_runtime.cpp
@@ -1,11 +1,11 @@
 #include "platform/esp/common/walkie_runtime.h"
+#include "boards/tab5/tab5_board.h"
 
 #include <cstdio>
 #include <cstring>
 
-#include "platform/esp/boards/tab5_board_profile.h"
+#include "boards/tab5/codec_compat.h"
 #include "platform/esp/idf_common/sx126x_radio.h"
-#include "platform/esp/idf_common/tab5_codec_compat.h"
 
 #if defined(TRAIL_MATE_ESP_BOARD_TAB5)
 namespace
@@ -18,16 +18,16 @@ constexpr uint8_t kFskSyncWord[] = {0x2D, 0x01};
 
 struct BackendState
 {
-    platform::esp::idf_common::Tab5CodecCompat codec;
+    ::boards::tab5::CodecCompat codec;
 };
 
 BackendState s_backend_state;
 
 bool board_supports_walkie()
 {
-    return platform::esp::boards::tab5::kBoardProfile.has_audio &&
-           (platform::esp::boards::tab5::kBoardProfile.has_lora ||
-            platform::esp::boards::tab5::kBoardProfile.has_m5bus_lora_module_routing);
+    return ::boards::tab5::Tab5Board::hasAudio() &&
+           (::boards::tab5::Tab5Board::hasLora() ||
+            ::boards::tab5::Tab5Board::hasM5BusLoraRouting());
 }
 
 platform::esp::idf_common::Sx126xRadio& radio()
diff --git a/platform/esp/idf_components/m5stack_tab5/trail_mate_tab5_runtime.cpp b/platform/esp/idf_components/m5stack_tab5/trail_mate_tab5_runtime.cpp
index 883f79fe..029aaa69 100644
--- a/platform/esp/idf_components/m5stack_tab5/trail_mate_tab5_runtime.cpp
+++ b/platform/esp/idf_components/m5stack_tab5/trail_mate_tab5_runtime.cpp
@@ -10,6 +10,7 @@ namespace
 {
 constexpr const char* kTag = "tab5-display-runtime";
 constexpr uint32_t kLvglTimerPeriodMs = 10;
+constexpr int kLvglTaskStackSize = 16384;
 constexpr uint32_t kFrameBufferLines = BSP_LCD_V_RES;
 constexpr bool kUseDoubleBuffer = true;
 constexpr int kStartupBrightnessPercent = 10;
@@ -82,6 +83,7 @@ extern "C" bool trail_mate_tab5_display_runtime_init(void)
 
     lvgl_port_cfg_t lvgl_cfg = ESP_LVGL_PORT_INIT_CONFIG();
     lvgl_cfg.timer_period_ms = kLvglTimerPeriodMs;
+    lvgl_cfg.task_stack = kLvglTaskStackSize;
 
     bsp_display_cfg_t cfg = {
         .lvgl_port_cfg = lvgl_cfg,
@@ -126,10 +128,11 @@ extern "C" bool trail_mate_tab5_display_runtime_init(void)
 
     s_ready = true;
     ESP_LOGI(kTag,
-             "Tab5 display runtime ready: buffer_lines=%lu double_buffer=%d timer_period_ms=%lu brightness=%d",
+             "Tab5 display runtime ready: buffer_lines=%lu double_buffer=%d timer_period_ms=%lu task_stack=%d brightness=%d",
              static_cast<unsigned long>(kFrameBufferLines),
              static_cast<int>(kUseDoubleBuffer),
              static_cast<unsigned long>(kLvglTimerPeriodMs),
+             kLvglTaskStackSize,
              kStartupBrightnessPercent);
     return true;
 }
diff --git a/platform/esp/idf_components/sensor_bmi270/CMakeLists.txt b/platform/esp/idf_components/sensor_bmi270/CMakeLists.txt
new file mode 100644
index 00000000..4aa1bf5e
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/CMakeLists.txt
@@ -0,0 +1,14 @@
+idf_component_register(
+    SRCS
+        "src/bmi2.c"
+        "src/bmi270.c"
+        "src/bmi270_context.c"
+        "src/bmi270_legacy.c"
+        "src/bmi270_maximum_fifo.c"
+        "src/bmi2_ois.c"
+    INCLUDE_DIRS "include"
+    REQUIRES
+        esp_driver_i2c
+        esp_driver_gpio
+)
+
diff --git a/platform/esp/idf_components/sensor_bmi270/include/accel_gyro_bmi270.h b/platform/esp/idf_components/sensor_bmi270/include/accel_gyro_bmi270.h
new file mode 100644
index 00000000..7c1c60f1
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/accel_gyro_bmi270.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "bmi270.h"
+#include "driver/i2c_master.h"
+
+    esp_err_t accel_gyro_bmi270_init(i2c_master_bus_handle_t bus_handle);
+    void accel_gyro_bmi270_enable_sensor(void);
+    void accel_gyro_bmi270_wrist_wear_irq(void);
+    void accel_gyro_bmi270_wrist_wear_irq_without_int(void);
+    void accel_gyro_bmi270_clear_irq_int(void);
+    void accel_gyro_bmi270_get_data(struct bmi2_sens_data* data);
+    bool accel_gyro_bmi270_check_irq(void);
+    void accel_gyro_bmi270_clear_irq_int(void);
+    bool accel_gyro_bmi270_motion_irq(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi2.h b/platform/esp/idf_components/sensor_bmi270/include/bmi2.h
new file mode 100644
index 00000000..0261c906
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi2.h
@@ -0,0 +1,2066 @@
+/**
+ * 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.h
+ * @date       2023-05-03
+ * @version    v2.86.1
+ *
+ */
+
+/*!
+ * @defgroup bmi2xy BMI2XY
+ */
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi2 BMI2
+ * @brief Sensor driver for BMI2 sensor
+ */
+
+#ifndef BMI2_H_
+#define BMI2_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2_defs.h"
+
+    /***************************************************************************/
+
+    /*!     BMI2XY User Interface function prototypes
+     ****************************************************************************/
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiInit Initialization
+     * @brief Initialize the sensor and device structure
+     */
+
+    /*!
+     * \ingroup bmi2ApiInit
+     * \page bmi2_api_bmi2_sec_init bmi2_sec_init
+     * \code
+     * int8_t bmi2_sec_init(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API is the entry point for bmi2 sensor. It selects between
+     * I2C/SPI interface, based on user selection. It also reads the chip-id of
+     * the sensor.
+     *
+     * @param[in,out] dev  : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_sec_init(struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInit
+     * \page bmi2_api_bmi2_set_spi_en bmi2_set_spi_en
+     * \code
+     * int8_t bmi2_set_spi_en(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the status of SPI enable .
+     *
+     * @param[in] enable   : To enable/disable SPI  interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable I2C
+     * BMI2_ENABLE  | Enable SPI
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_spi_en(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInit
+     * \page bmi2_api_bmi2_get_spi_en bmi2_get_spi_en
+     * \code
+     * int8_t bmi2_get_spi_en(uint8_t *enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the status of SPI enable .
+     *
+     * @param[in] enable   : Pointer to get enable/disable SPI  interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable I2C
+     * BMI2_ENABLE  | Enable SPI
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_spi_en(uint8_t* enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInit
+     * \page bmi2_api_bmi2_set_spi3_interface_mode bmi2_set_spi3_interface_mode
+     * \code
+     * int8_t bmi2_set_spi3_interface_mode(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the status of SPI interface.
+     *
+     * @param[in] enable   : To enable/disable SPI 3/4 wire interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable SPI 4 wire mode
+     * BMI2_ENABLE  | Enable SPI 3 wire mode
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_spi3_interface_mode(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInit
+     * \page bmi2_api_bmi2_get_spi3_interface_mode bmi2_get_spi3_interface_mode
+     * \code
+     * int8_t bmi2_get_spi3_interface_mode(uint8_t *enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the status of SPI interface.
+     *
+     * @param[in] enable   : Pointer to get enable/disable SPI 3/4 wire interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable SPI 4 wire mode
+     * BMI2_ENABLE  | Enable SPI 3 wire mode
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_spi3_interface_mode(uint8_t* enable, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiI2C  I2c watchdog init
+     * @brief Initialize the watchdog for i2c
+     */
+
+    /*!
+     * \ingroup bmi2ApiI2C
+     * \page bmi2_api_bmi2_set_i2c_wdt_en bmi2_set_i2c_wdt_en
+     * \code
+     * int8_t bmi2_set_i2c_wdt_en(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables the i2c watchdog timer .
+     *
+     * @param[in] enable   : To enable/disable i2c watchdog timer.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Disable I2C watchdog timer
+     * BMI2_ENABLE  | Enable I2C watchdog timer
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_i2c_wdt_en(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiI2C
+     * \page bmi2_api_bmi2_get_i2c_wdt_en bmi2_get_i2c_wdt_en
+     * \code
+     * int8_t bmi2_get_i2c_wdt_en(uint8_t *enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the  enable/disable status of the i2c watchdog timer .
+     *
+     * @param[in] enable   : Pointer to get status of enable/disable i2c watchdog timer.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Disable I2C watchdog timer
+     * BMI2_ENABLE  | Enable I2C watchdog timer
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_i2c_wdt_en(uint8_t* enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiI2C
+     * \page bmi2_api_bmi2_set_i2c_wdt_sel bmi2_set_i2c_wdt_sel
+     * \code
+     * int8_t bmi2_set_i2c_wdt_sel(uint8_t watchdog_select, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets i2c watchdog timer .
+     *
+     * @param[in] watchdog_select   : To set watchdog timer for i2c.
+     * @param[in] dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Watchdog_select      |  Description
+     * ----------------------|---------------
+     * BMI2_DISABLE          | I2C watchdog timeout after 1.25ms
+     * BMI2_ENABLE           | I2c watchdog timeout after 40ms
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_i2c_wdt_sel(uint8_t watchdog_select, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiI2C
+     * \page bmi2_api_bmi2_get_i2c_wdt_sel bmi2_get_i2c_wdt_sel
+     * \code
+     * int8_t bmi2_get_i2c_wdt_sel(uint8_t *watchdog_select, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets i2c watchdog timer .
+     *
+     * @param[in] watchdog_select   : Pointer to get watchdog timer for i2c.
+     * @param[in] dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Watchdog_select      |  Description
+     * --------------------- |---------------
+     * BMI2_DISABLE          | I2C watchdog timeout after 1.25ms
+     * BMI2_ENABLE           | I2c watchdog timeout after 40ms
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_i2c_wdt_sel(uint8_t* watchdog_select, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiRegs Registers
+     * @brief Set / Get data from the given register address of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiRegs
+     * \page bmi2_api_bmi2_get_regs bmi2_get_regs
+     * \code
+     * int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the data from the given register address of bmi2
+     * sensor.
+     *
+     * @param[in] reg_addr  : Register address from which data is read.
+     * @param[out] data     : Pointer to data buffer where read data is stored.
+     * @param[in] len       : No. of bytes of data to be read.
+     * @param[in] dev       : Structure instance of bmi2_dev.
+     *
+     * @note For most of the registers auto address increment applies, with the
+     * exception of a few special registers, which trap the address. For e.g.,
+     * Register address - 0x26, 0x5E.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiRegs
+     * \page bmi2_api_bmi2_set_regs bmi2_set_regs
+     * \code
+     * int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API writes data to the given register address of bmi2 sensor.
+     *
+     * @param[in] reg_addr  : Register address to which the data is written.
+     * @param[in] data      : Pointer to data buffer in which data to be written
+     *            is stored.
+     * @param[in] len       : No. of bytes of data to be written.
+     * @param[in] dev       : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t* data, uint16_t len, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiSR Soft reset
+     * @brief Set / Get data from the given register address of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiSR
+     * \page bmi2_api_bmi2_soft_reset bmi2_soft_reset
+     * \code
+     * int8_t bmi2_soft_reset(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API resets bmi2 sensor. All registers are overwritten with
+     * their default values.
+     *
+     * @note If selected interface is SPI, an extra dummy byte is read to bring the
+     * interface back to SPI from default, after the soft reset command.
+     *
+     * @param[in] dev : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_soft_reset(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiConfig Configuration
+     * @brief Functions related to configuration of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiConfig
+     * \page bmi2_api_bmi2_get_config_file_version bmi2_get_config_file_version
+     * \code
+     * int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API is used to get the config file major and minor information.
+     *
+     * @param[in] dev   : Structure instance of bmi2_dev.
+     * @param[out] config_major    : pointer to data buffer to store the config major.
+     * @param[out] config_minor    : pointer to data buffer to store the config minor.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_config_file_version(uint8_t* config_major, uint8_t* config_minor, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiPowersave Advanced power save mode
+     * @brief Set / Get Advanced power save mode of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiPowersave
+     * \page bmi2_api_bmi2_set_adv_power_save bmi2_set_adv_power_save
+     * \code
+     * int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables the advance power save mode in the sensor.
+     *
+     * @param[in] enable         : To enable/disable advance power mode.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *    Enable    |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Disables advance power save.
+     * BMI2_ENABLE  | Enables advance power save.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiPowersave
+     * \page bmi2_api_bmi2_get_adv_power_save bmi2_get_adv_power_save
+     * \code
+     * int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the status of advance power save mode in the sensor.
+     *
+     * @param[out] aps_status    : Pointer to get the status of APS mode.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  aps_status  |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Advance power save disabled.
+     * BMI2_ENABLE  | Advance power save enabled.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     *
+     * @retval BMI2_OK - Success.
+     * @retval BMI2_E_NULL_PTR - Error: Null pointer error
+     * @retval BMI2_E_COM_FAIL - Error: Communication fail
+     * @retval BMI2_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
+     */
+    int8_t bmi2_get_adv_power_save(uint8_t* aps_status, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiPowersave
+     * \page bmi2_api_bmi2_set_fast_power_up bmi2_set_fast_power_up
+     * \code
+     * int8_t bmi2_set_fast_power_up(uint8_t fast_power_up, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables the fast power up mode in the sensor.
+     *
+     * @param[in] fast_power_up  : To enable/disable advance power mode.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *    Fast_power_up    |  Description
+     * --------------------|---------------
+     * BMI2_DISABLE        | Disables fast power up.
+     * BMI2_ENABLE         | Enables fast power up.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fast_power_up(uint8_t fast_power_up, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiPowersave
+     * \page bmi2_api_bmi2_get_fast_power_up bmi2_get_fast_power_up
+     * \code
+     * int8_t bmi2_get_fast_power_up(uint8_t *fast_power_up, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the enable/disable status of the fast power up mode in the sensor.
+     *
+     * @param[in] fast_power_up  : Pointer to get the enable/disable advance power mode.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *    Fast power up    |  Description
+     * --------------------|---------------
+     * BMI2_DISABLE        | Disables fast power up.
+     * BMI2_ENABLE         | Enables fast power up.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fast_power_up(uint8_t* fast_power_up, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiConfig
+     * \page bmi2_api_bmi2_write_config_file bmi2_write_config_file
+     * \code
+     * int8_t bmi2_write_config_file(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API loads the configuration file to the bmi2 sensor.
+     *
+     * @param[in] dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_write_config_file(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiInt Interrupt
+     * @brief Interrupt operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiInt
+     * \page bmi2_api_bmi2_set_int_pin_config bmi2_set_int_pin_config
+     * \code
+     * int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets:
+     *        1) The input output configuration of the selected interrupt pin:
+     *           INT1 or INT2.
+     *        2) The interrupt mode: permanently latched or non-latched.
+     *
+     * @param[in] int_cfg       : Structure instance of bmi2_int_pin_config.
+     * @param[in] dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config* int_cfg, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInt
+     * \page bmi2_api_bmi2_get_int_pin_config bmi2_get_int_pin_config
+     * \code
+     * int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets:
+     *        1) The input output configuration of the selected interrupt pin:
+     *           INT1 or INT2.
+     *        2) The interrupt mode: permanently latched or non-latched.
+     *
+     * @param[in,out] int_cfg  : Structure instance of bmi2_int_pin_config.
+     * @param[in]     dev      : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config* int_cfg, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInt
+     * \page bmi2_api_bmi2_get_int_status bmi2_get_int_status
+     * \code
+     * int8_t bmi2_get_int_status(uint16_t *int_status, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the interrupt status of both feature and data
+     * interrupts.
+     *
+     * @param[out] int_status    : Pointer to get the status of the interrupts.
+     * @param[in]  dev           : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * int_status |  Status
+     * -----------|------------
+     * 0x00       |  BIT0
+     * 0x01       |  BIT1
+     * 0x02       |  BIT2
+     * 0x03       |  BIT3
+     * 0x04       |  BIT4
+     * 0x05       |  BIT5
+     * 0x06       |  BIT6
+     * 0x07       |  BIT7
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_int_status(uint16_t* int_status, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiSensorC Sensor Configuration
+     * @brief Enable / Disable feature configuration of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiSensorC
+     * \page bmi2_api_bmi2_set_sensor_config bmi2_set_sensor_config
+     * \code
+     * int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the sensor/feature configuration.
+     *
+     * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+     * @param[in]       n_sens       : Number of sensors selected.
+     * @param[in, out]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be configured
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_GYRO_GAIN_UPDATE       |  9
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiSensorC
+     * \page bmi2_api_bmi2_get_sensor_config bmi2_get_sensor_config
+     * \code
+     * int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the sensor/feature configuration.
+     *
+     * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+     * @param[in]       n_sens       : Number of sensors selected.
+     * @param[in, out]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features whose configurations can be read.
+     *
+     *@verbatim
+     *  sens_list               |  Values
+     * -------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_GYRO_GAIN_UPDATE       |  9
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiSensor Feature Set
+     * @brief Enable / Disable features of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiSensor
+     * \page bmi2_api_bmi2_sensor_enable bmi2_sensor_enable
+     * \code
+     * int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API selects the sensors/features to be enabled.
+     *
+     * @param[in]       sens_list   : Pointer to select the sensor/feature.
+     * @param[in]       n_sens      : Number of sensors selected.
+     * @param[in, out]  dev         : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be enabled.
+     *
+     *@verbatim
+     *    sens_list             |  Values
+     * -------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_TEMP                   |  31
+     *@endverbatim
+     *
+     * @note :
+     * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+     *           uint8_t n_sens        = 2;
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_sensor_enable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiSensor
+     * \page bmi2_api_bmi2_sensor_disable bmi2_sensor_disable
+     * \code
+     * int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API selects the sensors/features to be disabled.
+     *
+     * @param[in]       sens_list   : Pointer to select the sensor/feature.
+     * @param[in]       n_sens      : Number of sensors selected.
+     * @param[in, out]  dev         : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be disabled.
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_TEMP                   |  31
+     *@endverbatim
+     *
+     * @note :
+     * example   uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+     *           uint8_t n_sens        = 2;
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_sensor_disable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiSensorD Sensor Data
+     * @brief Get sensor data
+     */
+
+    /*!
+     * \ingroup bmi2ApiSensorD
+     * \page bmi2_api_bmi2_get_feature_data bmi2_get_feature_data
+     * \code
+     * int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the feature data for gyroscope user-gain update and gyroscope cross sensitivity
+     *
+     * @param[out] feat_sensor_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_GYRO_GAIN_UPDATE|  12
+     * BMI2_GYRO_CROSS_SENSE|  28
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data* feat_sensor_data, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiSensorD
+     * \page bmi2_api_bmi2_get_sensor_data bmi2_get_sensor_data
+     * \code
+     * int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the sensor data for accelerometer, gyroscope and auxiliary sensor
+     *
+     * @param[out] data          : Structure instance of bmi2_sens_data.
+     * @param[in]  dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_sensor_data(struct bmi2_sens_data* data, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiTemperature Temperature
+     * @brief Read temperature of the sensor.
+     */
+
+    /*!
+     * \ingroup bmi2ApiTemperature
+     * \page bmi2_api_bmi2_get_temperature_data bmi2_get_temperature_data
+     * \code
+     * int8_t bmi2_get_temperature_data(uint16_t *temp_data, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the raw temperature data from the register and can be
+     * converted into degree celsius using the below formula.
+     * Formula: temperature_value = (float)(((float)((int16_t)temperature_data)) / 512.0) + 23.0
+     * @note Enable gyro to read temperature
+     *
+     * @param[out] temp_data : Pointer variable which stores the raw temperature value.
+     * @param[in] dev   : Structure instance of bmi2_dev.
+     *
+     *
+     *  @return Result of API execution status
+     *  @retval 0 -> Success
+     *  @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_temperature_data(uint16_t* temp_data, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiSensorD
+     * \page bmi2_api_bmi2_parse_sensor_data bmi2_parse_sensor_data
+     * \code
+     * int8_t bmi2_parse_sensor_data(const uint8_t *sensor_data, struct bmi2_sens_data *data, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API parses the sensor data for accelerometer, gyroscope and auxiliary sensor
+     *
+     * @param[in] sensor_data    : Array of register data (24 bytes from Register 0x03 to 0x1A)
+     * @param[out] data          : Structure instance of bmi2_sens_data.
+     * @param[in]  dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_parse_sensor_data(const uint8_t* sensor_data, struct bmi2_sens_data* data, const struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiFIFO FIFO
+     * @brief FIFO operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_set_fifo_config bmi2_set_fifo_config
+     * \code
+     * int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the FIFO configuration in the sensor.
+     *
+     * @param[in] config        : FIFO configurations to be enabled/disabled.
+     * @param[in] enable        : Enable/Disable FIFO configurations.
+     * @param[in] dev           : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Disables FIFO configuration.
+     * BMI2_ENABLE  | Enables FIFO configuration.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_config bmi2_get_fifo_config
+     * \code
+     * int8_t bmi2_get_fifo_config(uint16_t *fifo_config, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the FIFO configuration from the sensor.
+     *
+     * @param[out] fifo_config   : Pointer variable to get FIFO configuration value.
+     * @param[in]  dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_config(uint16_t* fifo_config, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_read_fifo_data bmi2_read_fifo_data
+     * \code
+     * int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads FIFO data.
+     *
+     * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
+     * @param[in]      dev      : Structure instance of bmi2_dev.
+     *
+     * @note APS has to be disabled before calling this function.
+     * @note Dummy byte (for SPI Interface) required for FIFO data read
+     * must be given as part of data pointer in struct bmi2_fifo_frame
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame* fifo, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_extract_accel bmi2_extract_accel
+     * \code
+     * int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
+     *                          uint16_t *accel_length,
+     *                          struct bmi2_fifo_frame *fifo,
+     *                          const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API parses and extracts the accelerometer frames from FIFO data read by
+     * the "bmi2_read_fifo_data" API and stores it in the "accel_data" structure
+     * instance.
+     *
+     * @param[out]    accel_data   : Structure instance of bmi2_sens_axes_data
+     *                               where the parsed data bytes are stored.
+     * @param[in,out] accel_length : Number of accelerometer frames.
+     * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+     * @param[in]     dev          : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_extract_accel(struct bmi2_sens_axes_data* accel_data, uint16_t* accel_length, struct bmi2_fifo_frame* fifo,
+                              const struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_extract_aux bmi2_extract_aux
+     * \code
+     * int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
+     *                       uint16_t *aux_length,
+     *                       struct bmi2_fifo_frame *fifo,
+     *                       const struct bmi2_dev *dev);
+     *
+     * \endcode
+     * @details This API parses and extracts the auxiliary frames from FIFO data
+     * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
+     *
+     * @param[out]    aux          : Pointer to structure where the parsed auxiliary
+     *                              data bytes are stored.
+     * @param[in,out] aux_length   : Number of auxiliary frames.
+     * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+     * @param[in]     dev          : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data* aux, uint16_t* aux_length, struct bmi2_fifo_frame* fifo,
+                            const struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_extract_gyro bmi2_extract_gyro
+     * \code
+     * int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
+     *                        uint16_t *gyro_length,
+     *                        struct bmi2_fifo_frame *fifo,
+     *                        const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API parses and extracts the gyroscope frames from FIFO data read by the
+     * "bmi2_read_fifo_data" API and stores it in the "gyro_data"
+     * structure instance.
+     *
+     * @param[out]    gyro_data    : Structure instance of bmi2_sens_axes_data
+     *                               where the parsed data bytes are stored.
+     * @param[in,out] gyro_length  : Number of gyroscope frames.
+     * @param[in,out] fifo         : Structure instance of bmi2_fifo_frame.
+     * @param[in]     dev          : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data* gyro_data, uint16_t* gyro_length, struct bmi2_fifo_frame* fifo,
+                             const struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiCmd Command Register
+     * @brief Write commands to the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiCmd
+     * \page bmi2_api_bmi2_set_command_register bmi2_set_command_register
+     * \code
+     * int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API writes the available sensor specific commands to the sensor.
+     *
+     * @param[in] command     : Commands to be given to the sensor.
+     * @param[in] dev         : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * Commands             |  Values
+     * ---------------------|---------------------
+     * BMI2_SOFT_RESET_CMD  |  0xB6
+     * BMI2_FIFO_FLUSH_CMD  |  0xB0
+     * BMI2_USR_GAIN_CMD    |  0x03
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_set_fifo_self_wake_up bmi2_set_fifo_self_wake_up
+     * \code
+     * int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the FIFO self wake up functionality in the sensor.
+     *
+     * @param[in] fifo_self_wake_up : Variable to set FIFO self wake-up.
+     * @param[in] dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  fifo_self_wake_up |  Description
+     * -------------------|---------------
+     * BMI2_DISABLE       | Disables self wake-up.
+     * BMI2_ENABLE        | Enables self wake-up.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_self_wake_up bmi2_get_fifo_self_wake_up
+     * \code
+     * int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the FIFO self wake up functionality from the sensor.
+     *
+     * @param[out] fifo_self_wake_up : Pointer variable to get the status of FIFO
+     *                                 self wake-up.
+     * @param[in]  dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  fifo_self_wake_up |  Description
+     * -------------------|---------------
+     * BMI2_DISABLE       | Self wake-up disabled
+     * BMI2_ENABLE        | Self wake-up enabled.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_self_wake_up(uint8_t* fifo_self_wake_up, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_set_fifo_wm bmi2_set_fifo_wm
+     * \code
+     * int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the FIFO water mark level which is set in the sensor.
+     *
+     * @param[in] fifo_wm          : Variable to set FIFO water-mark level.
+     * @param[in] dev              : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_wm bmi2_get_fifo_wm
+     * \code
+     * int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the FIFO water mark level which is set in the sensor.
+     *
+     * @param[out] fifo_wm        : Pointer variable to store FIFO water-mark level.
+     * @param[in]  dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_wm(uint16_t* fifo_wm, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_set_fifo_filter_data bmi2_set_fifo_filter_data
+     * \code
+     * int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets either filtered or un-filtered FIFO accelerometer or
+     * gyroscope data.
+     *
+     * @param[in] sens_sel          : Selects either accelerometer or
+     *                                gyroscope sensor.
+     * @param[in] fifo_filter_data  : Variable to set the filter data.
+     * @param[in] dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  sens_sel        |  values
+     * -----------------|----------
+     * BMI2_ACCEL       |  0x01
+     * BMI2_GYRO        |  0x02
+     *@endverbatim
+     *
+     *@verbatim
+     * Value    |  fifo_filter_data
+     * ---------|---------------------
+     * 0x00     |  Un-filtered data
+     * 0x01     |  Filtered data
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_filter_data bmi2_get_fifo_filter_data
+     * \code
+     * int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the FIFO accelerometer or gyroscope filter data.
+     *
+     * @param[in] sens_sel           : Selects either accelerometer or
+     *                                 gyroscope sensor.
+     * @param[out] fifo_filter_data  : Pointer variable to get the filter data.
+     * @param[in]  dev               : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  sens_sel        |  values
+     * -----------------|----------
+     * BMI2_ACCEL       |  0x01
+     * BMI2_GYRO        |  0x02
+     *@endverbatim
+     *
+     *@verbatim
+     * Value    |  fifo_filter_data
+     * ---------|---------------------
+     * 0x00     |  Un-filtered data
+     * 0x01     |  Filtered data
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t* fifo_filter_data, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_set_fifo_down_sample bmi2_set_fifo_down_sample
+     * \code
+     * int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the down sampling rate for FIFO accelerometer or
+     * gyroscope FIFO data.
+     *
+     * @param[in] sens_sel       : Selects either either accelerometer or
+     *                             gyroscope sensor.
+     * @param[in] fifo_down_samp : Variable to set the down sampling rate.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *     sens_sel    |  values
+     * ----------------|----------
+     * BMI2_ACCEL      |  0x01
+     * BMI2_GYRO       |  0x02
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_down_sample bmi2_get_fifo_down_sample
+     * \code
+     * int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the down sampling rate, configured for FIFO
+     * accelerometer or gyroscope data.
+     *
+     * @param[in] sens_sel        : Selects either either accelerometer or
+     *                              gyroscope sensor.
+     * @param[out] fifo_down_samp : Pointer variable to store the down sampling rate
+     * @param[in]  dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  sens_sel       |  values
+     * ----------------|----------
+     * BMI2_ACCEL      |  0x01
+     * BMI2_GYRO       |  0x02
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t* fifo_down_samp, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_fifo_length bmi2_get_fifo_length
+     * \code
+     * int8_t bmi2_get_fifo_length(uint16_t *fifo_length, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the length of FIFO data available in the sensor in
+     * bytes.
+     *
+     * @param[out] fifo_length  : Pointer variable to store the value of FIFO byte
+     *                            counter.
+     * @param[in]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note The byte counter is updated each time a complete frame is read or
+     * written.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_fifo_length(uint16_t* fifo_length, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFIFO
+     * \page bmi2_api_bmi2_get_saturation_status bmi2_get_saturation_status
+     * \code
+     * int8_t bmi2_get_saturation_status(uint8_t *status, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the saturation status of the sensor.
+     *
+     * @param[in] status   : Pointer to read the status of saturation.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Macro                       |  Status
+     * -----------------------------|---------------
+     * BMI2_SATURATION_ACC_X_MASK   | 0X01
+     * BMI2_SATURATION_ACC_Y_MASK   | 0X02
+     * BMI2_SATURATION_ACC_Z_MASK   | 0X04
+     * BMI2_SATURATION_GYR_X_MASK   | 0X08
+     * BMI2_SATURATION_GYR_Y_MASK   | 0X10
+     * BMI2_SATURATION_GYR_Z_MASK   | 0X20
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_saturation_status(uint8_t* status, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiOIS OIS
+     * @brief OIS operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiOIS
+     * \page bmi2_api_bmi2_set_ois_interface bmi2_set_ois_interface
+     * \code
+     * int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables OIS interface.
+     *
+     * @param[in] enable   : To enable/disable OIS interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Disables OIS interface.
+     * BMI2_ENABLE  | Enables OIS interface.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiOIS
+     * \page bmi2_api_bmi2_get_spi3_ois_mode bmi2_get_spi3_ois_mode
+     * \code
+     * int8_t bmi2_get_spi3_ois_mode(uint8_t *enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the status of SPI OIS interface.
+     *
+     * @param[in] enable   : Pointer to read SPI OIS 3/4 wire interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable SPI OIS 4 wire mode
+     * BMI2_ENABLE  | Enable SPI OIS 3 wire mode
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_spi3_ois_mode(uint8_t* enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApisensorC
+     * \page bmi2_api_bmi2_set_drv_reg bmi2_set_drv_reg
+     * \code
+     * int8_t bmi2_set_drv_reg(uint8_t drv_reg, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the drive strength of the sensor
+     *
+     * @param[in] drv_reg  : To set the drive strength of the sensor.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_drv_reg(uint8_t drv_reg, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApisensorC
+     * \page bmi2_api_bmi2_get_drv_reg bmi2_get_drv_reg
+     * \code
+     * int8_t bmi2_get_drv_reg(uint8_t *drv_reg, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the drive strength of the sensor
+     *
+     * @param[in] drv_reg  : Pointer to get the drive strength of the sensor.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_drv_reg(uint8_t* drv_reg, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiOIS
+     * \page bmi2_api_bmi2_set_spi3_ois_mode bmi2_set_spi3_ois_mode
+     * \code
+     * int8_t bmi2_set_spi3_ois_mode(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the status of SPI OIS interface.
+     *
+     * @param[in] enable   : To enable/disable SPI OIS 3/4 wire interface.
+     * @param[in] dev      : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  Enable      |  Description
+     * -------------|---------------
+     * BMI2_DISABLE | Enable SPI OIS 4 wire mode
+     * BMI2_ENABLE  | Enable SPI OIS 3 wire mode
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_spi3_ois_mode(uint8_t enable, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiAux Auxiliary sensor
+     * @brief Auxiliary sensor operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiAux
+     * \page bmi2_api_bmi2_read_aux_man_mode bmi2_read_aux_man_mode
+     * \code
+     * int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the user-defined bytes of data from the given register
+     * address of auxiliary sensor in manual mode.
+     *
+     * @param[in]  reg_addr     : Address from where data is read.
+     * @param[out] aux_data     : Pointer to the stored buffer.
+     * @param[in]  len          : Total length of data to be read.
+     * @param[in]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t* aux_data, uint16_t len, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiAux
+     * \page bmi2_api_bmi2_write_aux_man_mode bmi2_write_aux_man_mode
+     * \code
+     * int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API writes the user-defined bytes of data and the address of
+     * auxiliary sensor where data is to be written in manual mode.
+     *
+     * @param[in]  reg_addr     : AUX address where data is to be written.
+     * @param[in] aux_data      : Pointer to data to be written.
+     * @param[in]  len          : Total length of data to be written.
+     * @param[in]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t* aux_data, uint16_t len, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiStatus Sensor Status
+     * @brief Get sensor status
+     */
+
+    /*!
+     * \ingroup bmi2ApiStatus
+     * \page bmi2_api_bmi2_get_status bmi2_get_status
+     * \code
+     * int8_t bmi2_get_status(uint8_t *status, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the data ready status of accelerometer, gyroscope,
+     * auxiliary, ready status of command decoder and busy status of auxiliary.
+     *
+     * @param[out] status     : Pointer variable to the status.
+     * @param[in]  dev        : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * Value    |  Status
+     * ---------|---------------------
+     * 0x80     |  DRDY_ACC
+     * 0x40     |  DRDY_GYR
+     * 0x20     |  DRDY_AUX
+     * 0x10     |  CMD_RDY
+     * 0x04     |  AUX_BUSY
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_status(uint8_t* status, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiWSync Sync commands
+     * @brief Write sync commands
+     */
+
+    /*!
+     * \ingroup bmi2ApiWSync
+     * \page bmi2_api_bmi2_write_sync_commands bmi2_write_sync_commands
+     * \code
+     * int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API can be used to write sync commands like ODR, sync period,
+     * frequency and phase, resolution ratio, sync time and delay time.
+     *
+     * @param[in] command     : Sync command to be written.
+     * @param[in]  n_comm     : Length of the command.
+     * @param[in]  dev        : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_write_sync_commands(const uint8_t* command, uint8_t n_comm, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiASelftest Accel self test
+     * @brief Perform accel self test
+     */
+
+    /*!
+     * \ingroup bmi2ApiASelftest
+     * \page bmi2_api_bmi2_perform_accel_self_test bmi2_perform_accel_self_test
+     * \code
+     * int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API performs self-test to check the proper functionality of the
+     * accelerometer sensor.
+     *
+     * @param[in]  dev       : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_perform_accel_self_test(struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInt
+     * \page bmi2_api_bmi2_map_feat_int bmi2_map_feat_int
+     * \code
+     * int8_t bmi2_map_feat_int(const struct bmi2_sens_int_config *sens_int, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+     *
+     * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+     * @param[in] dev          : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInt
+     * \page bmi2_api_bmi2_map_data_int bmi2_map_data_int
+     * \code
+     * int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API maps/un-maps data interrupts to that of interrupt pins.
+     *
+     * @param[in] int_pin      : Interrupt pin selected.
+     * @param[in] data_int     : Type of data interrupt to be mapped.
+     * @param[in] dev          : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * data_int             |  Mask values
+     * ---------------------|---------------------
+     * BMI2_FFULL_INT       |  0x01
+     * BMI2_FWM_INT         |  0x02
+     * BMI2_DRDY_INT        |  0x04
+     * BMI2_ERR_INT         |  0x08
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiRemap Remap Axes
+     * @brief Set / Get remap axes values from the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiRemap
+     * \page bmi2_api_bmi2_get_remap_axes bmi2_get_remap_axes
+     * \code
+     * int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the re-mapped x, y and z axes from the sensor and
+     * updates the values in the device structure.
+     *
+     * @param[out] remapped_axis : Structure that stores re-mapped axes.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_remap_axes(struct bmi2_remap* remapped_axis, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiRemap
+     * \page bmi2_api_bmi2_set_remap_axes bmi2_set_remap_axes
+     * \code
+     * int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the re-mapped x, y and z axes to the sensor and
+     * updates them in the device structure.
+     *
+     * @param[in] remapped_axis  : Structure that stores re-mapped axes.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_remap_axes(const struct bmi2_remap* remapped_axis, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiGyroOC Gyro Offset Compensation
+     * @brief Gyro Offset Compensation operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_offset_comp
+     * \code
+     * int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables gyroscope offset compensation. It adds the
+     * offsets defined in the offset register with gyroscope data.
+     *
+     * @param[in] enable          : Enables/Disables gyroscope offset compensation.
+     * @param[in]  dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  enable      |  Description
+     * -------------|---------------
+     * BMI2_ENABLE  | Enables gyroscope offset compensation.
+     * BMI2_DISABLE | Disables gyroscope offset compensation.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_get_gyro_offset_comp
+     * \code
+     * int8_t bmi2_get_gyro_offset_comp(uint8_t *offset, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the gyroscope offset compensation.
+     *
+     * @param[in, out] offset         : The value of the offset compensation.
+     * @param[in]      dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  enable      |  Description
+     * -------------|---------------
+     * BMI2_ENABLE  | Enables gyroscope offset compensation.
+     * BMI2_DISABLE | Disables gyroscope offset compensation.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_gyro_offset_comp(uint8_t* offset, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_gain
+     * \code
+     * int8_t bmi2_set_gyro_gain(uint8_t gyro_gain, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API enables/disables gyroscope gain for Sensitivity Error Compensation.
+     *
+     * @param[in] gyro_gain      : Enables/Disables gyroscope gain.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     *  enable      |  Description
+     * -------------|---------------
+     * BMI2_ENABLE  | Enables gyroscope gain.
+     * BMI2_DISABLE | Disables gyroscope gain.
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_gyro_gain(uint8_t gyro_gain, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_get_gyro_gain
+     * \code
+     * int8_t bmi2_get_gyro_gain(uint8_t *gyro_gain, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the Gyro gain.
+     *
+     * @param[in, out] gyro_gain      : The value of the Gyro gain.
+     * @param[in]      dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_gyro_gain(uint8_t* gyro_gain, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_read_gyro_offset_comp_axes bmi2_read_gyro_offset_comp_axes
+     * \code
+     * int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the gyroscope bias values for each axis which is used
+     * for gyroscope offset compensation.
+     *
+     * @param[out] gyr_off_comp_axes: Structure to store gyroscope offset
+     *                                compensated values.
+     * @param[in]  dev              : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data* gyr_off_comp_axes, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiGyroOC
+     * \page bmi2_api_bmi2_write_gyro_offset_comp_axes bmi2_write_gyro_offset_comp_axes
+     * \code
+     * int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API writes the gyroscope bias values for each axis which is used
+     * for gyroscope offset compensation.
+     *
+     * @param[in] gyr_off_comp_axes : Structure to store gyroscope offset
+     *                              compensated values.
+     * @param[in]  dev              : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data* gyr_off_comp_axes, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiGyroCS Gyro cross sensitivity
+     * @brief Gyro Cross sensitivity operation
+     */
+
+    /*!
+     * \ingroup bmi2ApiGyroCS
+     * \page bmi2_api_bmi2_get_gyro_cross_sense bmi2_get_gyro_cross_sense
+     * \code
+     * int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API updates the cross sensitivity coefficient between gyroscope's
+     * X and Z axes.
+     *
+     * @param[in, out]  dev     : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiInts Internal Status
+     * @brief Get Internal Status of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiInts
+     * \page bmi2_api_bmi2_get_internal_status bmi2_get_internal_status
+     * \code
+     * int8_t bmi2_get_internal_status(uint8_t *int_stat, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets error bits and message indicating internal status.
+     *
+     * @param[in]  dev          : Structure instance of bmi2_dev.
+     * @param[out] int_stat     : Pointer variable to store error bits and
+     *                          message.
+     *
+     *@verbatim
+     * Internal status      |  *int_stat
+     * ---------------------|---------------------
+     * BMI2_NOT_INIT        |  0x00
+     * BMI2_INIT_OK         |  0x01
+     * BMI2_INIT_ERR        |  0x02
+     * BMI2_DRV_ERR         |  0x03
+     * BMI2_SNS_STOP        |  0x04
+     * BMI2_NVM_ERROR       |  0x05
+     * BMI2_START_UP_ERROR  |  0x06
+     * BMI2_COMPAT_ERROR    |  0x07
+     * BMI2_VFM_SKIPPED     |  0x10
+     * BMI2_AXES_MAP_ERROR  |  0x20
+     * BMI2_ODR_50_HZ_ERROR |  0x40
+     * BMI2_ODR_HIGH_ERROR  |  0x80
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_internal_status(uint8_t* int_stat, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInts
+     * \page bmi2_api_bmi2_get_internal_error_status bmi2_get_internal_error_status
+     * \code
+     * int8_t bmi2_get_internal_error_status(uint8_t *status, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets Interanl error status.
+     *
+     * @param[in]  status       : Pointer variable to store the status of the error
+     * @param[out] int_stat     : Pointer variable to store error bits and
+     *                           message.
+     *
+     *@verbatim
+     * Internal status            |  status
+     * ---------------------------|---------------------
+     * BMI2_INTERNAL_ERROR_1_MASK |  0X02
+     * BMI2_INTERNAL_ERROR_2_MASK |  0X04
+     * BMI2_FEAT_ENG_DIS_MASK     |  0X10
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_internal_error_status(uint8_t* status, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInts
+     * \page bmi2_api_bmi2_get_err_reg_mask bmi2_get_err_reg_mask
+     * \code
+     * int8_t bmi2_get_err_reg_mask(uint8_t *err_reg, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets error status of interrupt.
+     *
+     * @param[in]  err_reg       : Pointer variable to store the status of the error
+     * @param[out] dev           : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * Internal status            |  err_reg
+     * ---------------------------|---------------------
+     * BMI2_FATAL_ERR_MASK        |  0X01
+     * BMI2_INTERNAL_ERR_MASK     |  0X1E
+     * BMI2_FIFO_ERR_MASK         |  0X40
+     * BMI2_AUX_ERR_MASK          |  0x80
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_err_reg_mask(uint8_t* err_reg, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiInts
+     * \page bmi2_api_bmi2_set_err_reg_mask bmi2_set_err_reg_mask
+     * \code
+     * int8_t bmi2_set_err_reg_mask(uint8_t err_reg, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets error interrupt.
+     *
+     * @param[in]  err_reg       : Variable to store the status of the error
+     * @param[out] dev           : Structure instance of bmi2_dev.
+     *
+     *@verbatim
+     * Internal status            |  err_reg
+     * ---------------------------|---------------------
+     * BMI2_FATAL_ERR_MASK        |  0X01
+     * BMI2_INTERNAL_ERR_MASK     |  0X1E
+     * BMI2_FIFO_ERR_MASK         |  0X40
+     * BMI2_AUX_ERR_MASK          |  0x80
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_err_reg_mask(uint8_t err_reg, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiFOC FOC
+     * @brief FOC operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiFOC
+     * \page bmi2_api_bmi2_perform_accel_foc bmi2_perform_accel_foc
+     * \code
+     * int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API performs Fast Offset Compensation for accelerometer.
+     *
+     * @param[in] accel_g_value : This parameter selects the accel foc
+     * axis to be performed
+     *
+     * input format is {x, y, z, sign}. '1' to enable. '0' to disable
+     *
+     * eg to choose x axis  {1, 0, 0, 0}
+     * eg to choose -x axis {1, 0, 0, 1}
+     *
+     *
+     * @param[in]  dev              : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value* accel_g_value, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiFOC
+     * \page bmi2_api_bmi2_perform_gyro_foc bmi2_perform_gyro_foc
+     * \code
+     * int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API performs Fast Offset Compensation for gyroscope.
+     *
+     * @param[in]  dev              : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_perform_gyro_foc(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiCRT CRT
+     * @brief CRT operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiCRT
+     * \page bmi2_api_bmi2_do_crt bmi2_do_crt
+     * \code
+     * int8_t bmi2_do_crt(struct bmi2_dev *dev);
+     * \endcode
+     * @details API performs Component Re-Trim calibration (CRT).
+     *
+     *
+     * @param[in]  dev  : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     *
+     * @note CRT calibration takes approximately 500ms & maximum time out configured as 2 seconds
+     */
+    int8_t bmi2_do_crt(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiCRTSt CRT and self test
+     * @brief Enable / Abort CRT and self test operations of gyroscope
+     */
+
+    /*!
+     * \ingroup bmi2ApiCRTSt
+     * \page bmi2_api_bmi2_abort_crt_gyro_st bmi2_abort_crt_gyro_st
+     * \code
+     * int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
+     * \endcode
+     * @details This api is used to abort ongoing crt or gyro self test.
+     *
+     * @param[in] dev        : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2ApiASelftest
+     * \page bmi2_api_bmi2_do_gyro_st bmi2_do_gyro_st
+     * \code
+     * int8_t bmi2_do_gyro_st
+     * \endcode
+     * @details this api is used to perform gyroscope self test.
+     *
+     * @param[in] dev   :   Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_do_gyro_st(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2ApiNVM NVM
+     * @brief NVM operations of the sensor
+     */
+
+    /*!
+     * \ingroup bmi2ApiNVM
+     * \page bmi2_api_bmi2_nvm_prog bmi2_nvm_prog
+     * \code
+     * int8_t bmi2_nvm_prog
+     * \endcode
+     * @details This api is used for programming the non volatile memory(nvm)
+     *
+     * @param[in] dev   :   Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_nvm_prog(struct bmi2_dev* dev);
+
+    /*!
+     * @brief This API extracts the input feature configuration
+     * details like page and start address from the look-up table.
+     *
+     * @param[out] feat_config  : Structure that stores feature configurations.
+     * @param[in] type          : Type of feature or sensor.
+     * @param[in] dev           : Structure instance of bmi2_dev.
+     *
+     * @return Returns the feature found flag.
+     *
+     * @retval  BMI2_FALSE : Feature not found
+     *          BMI2_TRUE  : Feature found
+     */
+    uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config* feat_config, uint8_t type,
+                                           const struct bmi2_dev* dev);
+
+    /*!
+     * @brief This API is used to get the feature configuration from the
+     * selected page.
+     *
+     * @param[in]  sw_page       : Switches to the desired page.
+     * @param[out] feat_config   : Pointer to the feature configuration.
+     * @param[in]  dev           : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t* feat_config, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi2
+     * \defgroup bmi2AccelOffset Accelerometer Offset Compensation
+     * @brief Enable / Disable Accelerometer Offset Compensation
+     */
+
+    /*!
+     * \ingroup bmi2AccelOffset
+     * \page bmi2_api_bmi2_set_accel_offset_comp bmi2_set_accel_offset_comp
+     * \code
+     * int8_t bmi2_set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
+     * \endcode
+     * @brief This internal API enables/disables the offset compensation for
+     * filtered and un-filtered accelerometer data.
+     *
+     * @param[in] offset_en     : enables/disables offset compensation.
+     * @param[in] dev           : Structure instance of bmi2_dev
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi2AccelOffset
+     * \page bmi2_api_bmi2_get_accel_offset_comp bmi2_get_accel_offset_comp
+     * \code
+     * int8_t bmi2_get_accel_offset_comp(uint8_t *accel_offset, struct bmi2_dev *dev);
+     * \endcode
+     * @brief This internal API reads the accelerometer offset compensation value.
+     *
+     * @param[in] accel_offset  : Pointer to an array of size 3 to hold Accel Axis X, Y, Z,
+     *                            Offset Compensation.
+     * @param[in] dev           : Structure instance of bmi2_dev
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi2_get_accel_offset_comp(uint8_t* accel_offset, struct bmi2_dev* dev);
+
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI2_H_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi270.h b/platform/esp/idf_components/sensor_bmi270/include/bmi270.h
new file mode 100644
index 00000000..808eb104
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi270.h
@@ -0,0 +1,421 @@
+/**
+ * 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.h
+ * @date       2023-05-03
+ * @version    v2.86.1
+ *
+ */
+
+/**
+ * \ingroup bmi2xy
+ * \defgroup bmi270 BMI270
+ * @brief Sensor driver for BMI270 sensor
+ */
+
+#ifndef BMI270_H_
+#define BMI270_H_
+
+/*! CPP guard */
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!               Macro definitions
+ ****************************************************************************/
+
+/*! @name BMI270 Chip identifier */
+#define BMI270_CHIP_ID UINT8_C(0x24)
+
+/*! @name BMI270 feature input start addresses */
+#define BMI270_CONFIG_ID_STRT_ADDR UINT8_C(0x00)
+#define BMI270_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02)
+#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x03)
+#define BMI270_ABORT_STRT_ADDR UINT8_C(0x03)
+#define BMI270_AXIS_MAP_STRT_ADDR UINT8_C(0x04)
+#define BMI270_GYRO_SELF_OFF_STRT_ADDR UINT8_C(0x05)
+#define BMI270_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05)
+#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06)
+#define BMI270_ANY_MOT_STRT_ADDR UINT8_C(0x0C)
+#define BMI270_NO_MOT_STRT_ADDR UINT8_C(0x00)
+#define BMI270_SIG_MOT_STRT_ADDR UINT8_C(0x04)
+#define BMI270_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
+#define BMI270_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
+#define BMI270_WRIST_GEST_STRT_ADDR UINT8_C(0x06)
+#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x00)
+
+/*! @name BMI270 feature output start addresses */
+#define BMI270_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
+#define BMI270_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04)
+#define BMI270_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06)
+#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08)
+#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
+#define BMI270_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
+
+/*! @name Defines maximum number of pages */
+#define BMI270_MAX_PAGE_NUM UINT8_C(8)
+
+/*! @name Defines maximum number of feature input configurations */
+#define BMI270_MAX_FEAT_IN UINT8_C(17)
+
+/*! @name Defines maximum number of feature outputs */
+#define BMI270_MAX_FEAT_OUT UINT8_C(7)
+
+/*! @name Mask definitions for feature interrupt status bits */
+#define BMI270_SIG_MOT_STATUS_MASK UINT8_C(0x01)
+#define BMI270_STEP_CNT_STATUS_MASK UINT8_C(0x02)
+#define BMI270_STEP_ACT_STATUS_MASK UINT8_C(0x04)
+#define BMI270_WRIST_WAKE_UP_STATUS_MASK UINT8_C(0x08)
+#define BMI270_WRIST_GEST_STATUS_MASK UINT8_C(0x10)
+#define BMI270_NO_MOT_STATUS_MASK UINT8_C(0x20)
+#define BMI270_ANY_MOT_STATUS_MASK UINT8_C(0x40)
+
+/*! @name Mask definitions for feature interrupt mapping bits */
+#define BMI270_INT_SIG_MOT_MASK UINT8_C(0x01)
+#define BMI270_INT_STEP_COUNTER_MASK UINT8_C(0x02)
+#define BMI270_INT_STEP_DETECTOR_MASK UINT8_C(0x02)
+#define BMI270_INT_STEP_ACT_MASK UINT8_C(0x04)
+#define BMI270_INT_WRIST_WEAR_WAKEUP_MASK UINT8_C(0x08)
+#define BMI270_INT_WRIST_GEST_MASK UINT8_C(0x10)
+#define BMI270_INT_NO_MOT_MASK UINT8_C(0x20)
+#define BMI270_INT_ANY_MOT_MASK UINT8_C(0x40)
+
+/*! @name Defines maximum number of feature interrupts */
+#define BMI270_MAX_INT_MAP UINT8_C(8)
+
+    /***************************************************************************/
+
+    /*!     BMI270 User Interface function prototypes
+     ****************************************************************************/
+
+    /**
+     * \ingroup bmi270
+     * \defgroup bmi270ApiInit Initialization
+     * @brief Initialize the sensor and device structure
+     */
+
+    /*!
+     * \ingroup bmi270ApiInit
+     * \page bmi270_api_bmi270_init bmi270_init
+     * \code
+     * int8_t bmi270_init(struct bmi2_dev *dev);
+     * \endcode
+     * @details This API:
+     *  1) updates the device structure with address of the configuration file.
+     *  2) Initializes BMI270 sensor.
+     *  3) Writes the configuration file.
+     *  4) Updates the feature offset parameters in the device structure.
+     *  5) Updates the maximum number of pages, in the device structure.
+     *
+     * @param[in, out] dev      : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_init(struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi270
+     * \defgroup bmi270ApiSensor Feature Set
+     * @brief Enable / Disable features of the sensor
+     */
+
+    /*!
+     * \ingroup bmi270ApiSensor
+     * \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable
+     * \code
+     * int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API selects the sensors/features to be enabled.
+     *
+     * @param[in]       sens_list   : Pointer to select the sensor/feature.
+     * @param[in]       n_sens      : Number of sensors selected.
+     * @param[in, out]  dev         : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be enabled.
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_SIG_MOTION             |  3
+     * BMI2_ANY_MOTION             |  4
+     * BMI2_NO_MOTION              |  5
+     * BMI2_STEP_DETECTOR          |  6
+     * BMI2_STEP_COUNTER           |  7
+     * BMI2_STEP_ACTIVITY          |  8
+     * BMI2_GYRO_GAIN_UPDATE       |  9
+     * BMI2_WRIST_GESTURE          |  19
+     * BMI2_WRIST_WEAR_WAKE_UP     |  20
+     * BMI2_GYRO_SELF_OFF          |  33
+     *@endverbatim
+     *
+     * @note :
+     * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+     *           uint8_t n_sens        = 2;
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_sensor_enable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi270ApiSensor
+     * \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable
+     * \code
+     * int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API selects the sensors/features to be disabled.
+     *
+     * @param[in]       sens_list   : Pointer to select the sensor/feature.
+     * @param[in]       n_sens      : Number of sensors selected.
+     * @param[in, out]  dev         : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be disabled.
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_ACCEL                  |  0
+     * BMI2_GYRO                   |  1
+     * BMI2_AUX                    |  2
+     * BMI2_SIG_MOTION             |  3
+     * BMI2_ANY_MOTION             |  4
+     * BMI2_NO_MOTION              |  5
+     * BMI2_STEP_DETECTOR          |  6
+     * BMI2_STEP_COUNTER           |  7
+     * BMI2_STEP_ACTIVITY          |  8
+     * BMI2_GYRO_GAIN_UPDATE       |  9
+     * BMI2_WRIST_GESTURE          |  19
+     * BMI2_WRIST_WEAR_WAKE_UP     |  20
+     * BMI2_GYRO_SELF_OFF          |  33
+     *@endverbatim
+     *
+     * @note :
+     * example  uint8_t sens_list[2]  = {BMI2_ACCEL, BMI2_GYRO};
+     *           uint8_t n_sens        = 2;
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_sensor_disable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi270
+     * \defgroup bmi270ApiSensorC Sensor Configuration
+     * @brief Enable / Disable feature configuration of the sensor
+     */
+
+    /*!
+     * \ingroup bmi270ApiSensorC
+     * \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config
+     * \code
+     * int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API sets the sensor/feature configuration.
+     *
+     * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+     * @param[in]       n_sens       : Number of sensors selected.
+     * @param[in, out]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features that can be configured
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_SIG_MOTION             |  3
+     * BMI2_ANY_MOTION             |  4
+     * BMI2_NO_MOTION              |  5
+     * BMI2_STEP_DETECTOR          |  6
+     * BMI2_STEP_COUNTER           |  7
+     * BMI2_STEP_ACTIVITY          |  8
+     * BMI2_WRIST_GESTURE          |  19
+     * BMI2_WRIST_WEAR_WAKE_UP     |  20
+     * BMI2_STEP_COUNTER_PARAMS    |  28
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_set_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi270ApiSensorC
+     * \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config
+     * \code
+     * int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API gets the sensor/feature configuration.
+     *
+     * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+     * @param[in]       n_sens       : Number of sensors selected.
+     * @param[in, out]  dev          : Structure instance of bmi2_dev.
+     *
+     * @note Sensors/features whose configurations can be read.
+     *
+     *@verbatim
+     *    sens_list                |  Values
+     * ----------------------------|-----------
+     * BMI2_SIG_MOTION             |  3
+     * BMI2_ANY_MOTION             |  4
+     * BMI2_NO_MOTION              |  5
+     * BMI2_STEP_DETECTOR          |  6
+     * BMI2_STEP_COUNTER           |  7
+     * BMI2_STEP_ACTIVITY          |  8
+     * BMI2_WRIST_GESTURE          |  19
+     * BMI2_WRIST_WEAR_WAKE_UP     |  20
+     * BMI2_STEP_COUNTER_PARAMS    |  28
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_get_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi270
+     * \defgroup bmi270ApiSensorD Feature Sensor Data
+     * @brief Get feature sensor data
+     */
+
+    /*!
+     * \ingroup bmi270ApiSensorD
+     * \page bmi270_api_bmi270_get_feature_data bmi270_get_feature_data
+     * \code
+     * int8_t bmi270_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_WRIST_GESTURE          |  19
+     * BMI2_NVM_STATUS             |  38
+     * BMI2_VFRM_STATUS            |  39
+     *@endverbatim
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_get_feature_data(struct bmi2_feat_sensor_data* feature_data, uint8_t n_sens, struct bmi2_dev* dev);
+
+    /**
+     * \ingroup bmi270
+     * \defgroup bmi270ApiGyroUG Gyro User Gain
+     * @brief Set / Get Gyro User Gain of the sensor
+     */
+
+    /*!
+     * \ingroup bmi270ApiGyroUG
+     * \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain
+     * \code
+     * int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
+     * \endcode
+     * @details This API updates the gyroscope user-gain.
+     *
+     * @param[in] user_gain      : Structure that stores user-gain configurations.
+     * @param[in] dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config* user_gain, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi270ApiGyroUG
+     * \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain
+     * \code
+     * int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
+     * \endcode
+     * @details This API reads the compensated gyroscope user-gain values.
+     *
+     * @param[out] gyr_usr_gain   : Structure that stores gain values.
+     * @param[in]  dev            : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data* gyr_usr_gain, struct bmi2_dev* dev);
+
+    /*!
+     * \ingroup bmi270ApiInt
+     * \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int
+     * \code
+     * int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
+     * \endcode
+     * @details This API maps/unmaps feature interrupts to that of interrupt pins.
+     *
+     * @param[in] sens_int     : Structure instance of bmi2_sens_int_config.
+     * @param[in] n_sens       : Number of interrupts to be mapped.
+     * @param[in] dev          : Structure instance of bmi2_dev.
+     *
+     * @return Result of API execution status
+     * @retval 0 -> Success
+     * @retval < 0 -> Fail
+     */
+    int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config* sens_int, uint8_t n_sens, struct bmi2_dev* dev);
+
+/******************************************************************************/
+/*! @name       C++ Guard Macros                                      */
+/******************************************************************************/
+#ifdef __cplusplus
+}
+#endif /* End of CPP guard */
+
+#endif /* BMI270_H_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi270_context.h b/platform/esp/idf_components/sensor_bmi270/include/bmi270_context.h
new file mode 100644
index 00000000..0cc63db3
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi270_context.h
@@ -0,0 +1,451 @@
+/**
+ * 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_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi270_legacy.h b/platform/esp/idf_components/sensor_bmi270/include/bmi270_legacy.h
new file mode 100644
index 00000000..5c9cde2f
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi270_legacy.h
@@ -0,0 +1,461 @@
+/**
+ * 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_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi270_maximum_fifo.h b/platform/esp/idf_components/sensor_bmi270/include/bmi270_maximum_fifo.h
new file mode 100644
index 00000000..bce3b45e
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi270_maximum_fifo.h
@@ -0,0 +1,118 @@
+/**
+ * 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_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi2_defs.h b/platform/esp/idf_components/sensor_bmi270/include/bmi2_defs.h
new file mode 100644
index 00000000..92204194
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi2_defs.h
@@ -0,0 +1,2813 @@
+/**
+ * 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/kernel.h>
+#include <linux/types.h>
+#else
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.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_ */
diff --git a/platform/esp/idf_components/sensor_bmi270/include/bmi2_ois.h b/platform/esp/idf_components/sensor_bmi270/include/bmi2_ois.h
new file mode 100644
index 00000000..23ac14c8
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/include/bmi2_ois.h
@@ -0,0 +1,373 @@
+/**
+ * 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/kernel.h>
+#include <linux/types.h>
+#else
+#include <stddef.h>
+#include <stdint.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 */
diff --git a/platform/esp/idf_components/sensor_bmi270/src/accel_gyro_bmi270.c b/platform/esp/idf_components/sensor_bmi270/src/accel_gyro_bmi270.c
new file mode 100644
index 00000000..3ff01c80
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/accel_gyro_bmi270.c
@@ -0,0 +1,778 @@
+/***************************************************
+
+
+
+
+***************************************************/
+#include "accel_gyro_bmi270.h"
+#include "driver/gpio.h"
+#include "driver/i2c_master.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+#include "freertos/task.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+// Conditionally include BSP header for I2C bus lock support
+#ifdef __has_include
+#if __has_include("bsp/m5stack_tab5.h")
+#include "bsp/m5stack_tab5.h"
+#define BSP_I2C_LOCK_AVAILABLE 1
+#else
+#define BSP_I2C_LOCK_AVAILABLE 0
+#endif
+#else
+// Fallback: try to include and define based on compilation result
+#ifdef CONFIG_BSP_ENABLE_I2C_LOCK
+#include "bsp/m5stack_tab5.h"
+#define BSP_I2C_LOCK_AVAILABLE 1
+#else
+#define BSP_I2C_LOCK_AVAILABLE 0
+#endif
+#endif
+
+static const char* TAG = "bmi270";
+
+#define I2C_MASTER_TIMEOUT_MS 100
+#define I2C_DEV_ADDR_BMI270 0x68
+
+void bmi2_error_codes_print_result(int8_t rslt);
+static int8_t bmi270_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t len, void* intf_ptr);
+static int8_t bmi270_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t len, void* intf_ptr);
+static void bmi270_delay_us(uint32_t period, void* intf_ptr);
+
+// BMI270
+#define ACCEL UINT8_C(0x00)
+#define GYRO UINT8_C(0x01)
+#define AUX UINT8_C(0x02)
+static i2c_master_dev_handle_t i2c_dev_handle_bmi270 = NULL;
+static struct bmi2_dev bmi270;
+static bool bmi270_initialized = false;
+static bool bmi270_device_valid = false; // Track if device handle is still valid after I2C errors
+
+esp_err_t accel_gyro_bmi270_init(i2c_master_bus_handle_t bus_handle)
+{
+    // CRITICAL: Check if bus handle is valid
+    if (bus_handle == NULL)
+    {
+        ESP_LOGE(TAG, "I2C bus handle is NULL - bus not initialized");
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    // CRITICAL: Prevent multiple initialization
+    // Multiple calls to this function can cause device handle conflicts and crashes
+    if (bmi270_initialized && i2c_dev_handle_bmi270 != NULL)
+    {
+        ESP_LOGW(TAG, "BMI270 already initialized, skipping");
+        return ESP_OK;
+    }
+
+    int8_t rslt;
+
+    // CRITICAL: Remove existing device if it exists (shouldn't happen, but be safe)
+    if (i2c_dev_handle_bmi270 != NULL)
+    {
+        ESP_LOGW(TAG, "BMI270 device handle exists, removing before reinitialization");
+        i2c_master_bus_rm_device(i2c_dev_handle_bmi270);
+        i2c_dev_handle_bmi270 = NULL;
+        bmi270_device_valid = false; // Reset device validity flag
+    }
+
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = I2C_DEV_ADDR_BMI270,
+        .scl_speed_hz = 400000,
+    };
+    esp_err_t ret = i2c_master_bus_add_device(bus_handle, &dev_cfg, &i2c_dev_handle_bmi270);
+    if (ret != ESP_OK || i2c_dev_handle_bmi270 == NULL)
+    {
+        ESP_LOGE(TAG, "Failed to add BMI270 device: %s", esp_err_to_name(ret));
+        return ESP_FAIL;
+    }
+
+    /* To enable the i2c interface settings for bmi270. */
+    bmi270.intf = BMI2_I2C_INTF; // 使用 I2C 接口驱动
+    bmi270.read = bmi270_i2c_read;
+    bmi270.write = bmi270_i2c_write;
+    bmi270.delay_us = bmi270_delay_us;
+    bmi270.read_write_len = 30;
+    bmi270.config_file_ptr = NULL;
+
+    // rslt = bmi2_interface_init(&bmi270, BMI2_I2C_INTF);
+    // bmi2_error_codes_print_result(rslt);
+
+    /* Initialize bmi270. */
+    rslt = bmi270_init(&bmi270);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        bmi270_initialized = true;
+        bmi270_device_valid = true; // Mark device as valid after successful initialization
+    }
+    else
+    {
+        // Clean up on failure
+        i2c_master_bus_rm_device(i2c_dev_handle_bmi270);
+        i2c_dev_handle_bmi270 = NULL;
+        bmi270_device_valid = false;
+        return ESP_FAIL;
+    }
+
+    return ESP_OK;
+}
+
+#define ACCEL UINT8_C(0x00)
+#define GYRO UINT8_C(0x01)
+void accel_gyro_bmi270_enable_sensor(void)
+{
+    int8_t rslt;
+
+    /* List the sensors which are required to enable */
+    uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
+
+    /* Structure to define the type of the sensor and its configurations */
+    struct bmi2_sens_config config[2];
+    config[ACCEL].type = BMI2_ACCEL;
+    config[GYRO].type = BMI2_GYRO;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi2_get_sensor_config(config, 2, &bmi270);
+    bmi2_error_codes_print_result(rslt);
+
+    if (rslt == BMI2_OK)
+    {
+        ESP_LOGI(TAG, "Set sensors odr and range");
+        config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;   // 加速度数据输出速率 200Hz
+        config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_4G;  // 加速度量程 +- 4g --> 2^16/(8*9.8) --> (1/835.92)LSB m/s^2
+        config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;    // 角速度速度数据输出速率 200Hz
+        config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_1000; // 角速度量程 +- 1000dps --> 2^16/2000 --> (1/32.768)LSB °/S
+        rslt = bmi270_set_sensor_config(config, 2, &bmi270);
+        bmi2_error_codes_print_result(rslt);
+        if (rslt == BMI2_OK)
+        {
+            ESP_LOGI(TAG, "Enable the selected sensors");
+            rslt = bmi270_sensor_enable(sens_list, 2, &bmi270);
+            bmi2_error_codes_print_result(rslt);
+        }
+    }
+}
+
+void accel_gyro_bmi270_wrist_wear_irq(void)
+{
+    if (i2c_dev_handle_bmi270 == NULL)
+    {
+        ESP_LOGE(TAG, "i2c_dev_handle_bmi270 is NULL");
+        return;
+    }
+
+    struct bmi2_remap remapped_axis = {0};
+    remapped_axis.x = BMI2_X;
+    remapped_axis.y = BMI2_Y;
+    remapped_axis.z = BMI2_Z;
+
+    if (bmi2_set_remap_axes(&remapped_axis, &bmi270) == BMI2_OK)
+    {
+        struct bmi2_sens_int_config sens_int = {.type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT1};
+        if (bmi270_map_feat_int(&sens_int, 1, &bmi270) != BMI2_OK)
+        {
+            ESP_LOGE(TAG, "Wrist gesture mapping failed\n");
+        }
+        struct bmi2_int_pin_config int_pin_cfg;
+        int_pin_cfg.pin_type = BMI2_INT1;
+        int_pin_cfg.int_latch = BMI2_INT_LATCH;
+        int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_HIGH; // Active high
+        int_pin_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
+        int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
+        int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
+
+        if (bmi2_set_int_pin_config(&int_pin_cfg, &bmi270) != BMI2_OK)
+        {
+            ESP_LOGE(TAG, "Wrist gesture pin config failed");
+        }
+    }
+    else
+    {
+        ESP_LOGE(TAG, "Wrist gesture remap failed");
+    }
+}
+
+void accel_gyro_bmi270_wrist_wear_irq_without_int(void)
+{
+    if (i2c_dev_handle_bmi270 == NULL)
+    {
+        ESP_LOGE(TAG, "i2c_dev_handle_bmi270 is NULL");
+        return;
+    }
+
+    struct bmi2_remap remapped_axis = {0};
+    remapped_axis.x = BMI2_X;
+    remapped_axis.y = BMI2_Y;
+    remapped_axis.z = BMI2_Z;
+
+    if (bmi2_set_remap_axes(&remapped_axis, &bmi270) == BMI2_OK)
+    {
+        struct bmi2_sens_int_config sens_int = {.type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT_BOTH};
+        if (bmi270_map_feat_int(&sens_int, 1, &bmi270) != BMI2_OK)
+        {
+            ESP_LOGE(TAG, "Wrist gesture mapping failed\n");
+        }
+        struct bmi2_int_pin_config int_pin_cfg;
+        int_pin_cfg.pin_type = BMI2_INT_BOTH;
+        int_pin_cfg.int_latch = BMI2_INT_LATCH;
+        int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_LOW; // Active low
+        int_pin_cfg.pin_cfg[0].od = BMI2_INT_OPEN_DRAIN;
+        int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_DISABLE;
+        int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
+
+        if (bmi2_set_int_pin_config(&int_pin_cfg, &bmi270) != BMI2_OK)
+        {
+            ESP_LOGE(TAG, "Wrist gesture pin int disable config failed");
+        }
+    }
+    else
+    {
+        ESP_LOGE(TAG, "Wrist gesture remap failed");
+    }
+}
+
+bool accel_gyro_bmi270_motion_irq(void)
+{
+    /* Status of api are returned to this variable. */
+    int8_t rslt;
+
+    /* Accel sensor and any-motion feature are listed in array. */
+    uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_ANY_MOTION};
+    /* Enable the selected sensors. */
+    rslt = bmi270_sensor_enable(sens_list, 2, &bmi270);
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK)
+    {
+        return false;
+    }
+
+    /* Structure to define the type of sensor and its configurations. */
+    struct bmi2_sens_config config;
+
+    /* Interrupt pin configuration */
+    struct bmi2_int_pin_config pin_config = {0};
+
+    /* Configure the type of feature. */
+    config.type = BMI2_ANY_MOTION;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = bmi270_get_sensor_config(&config, 1, &bmi270);
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return false;
+
+    rslt = bmi2_get_int_pin_config(&pin_config, &bmi270);
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return false;
+
+    // /* NOTE: The user can change the following configuration parameters according to their requirement. */
+    // /* 1LSB equals 20ms. Default is 100ms, settin68g to 80ms. */
+    // // config.cfg.any_motion.duration = 0x04;
+    // config.cfg.any_motion.duration = 0x08;
+
+    // /* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
+    // config.cfg.any_motion.threshold = 0x68;
+
+    config.cfg.any_motion.duration = 0x32;
+    config.cfg.any_motion.threshold = 0xFF;
+
+    /* Set new configurations. */
+    rslt = bmi270_set_sensor_config(&config, 1, &bmi270);
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return false;
+
+    /* Interrupt pin configuration */
+    pin_config.pin_type = BMI2_INT1;
+    pin_config.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
+
+    // pin_config.pin_cfg[0].lvl       = BMI2_INT_ACTIVE_LOW;
+    pin_config.pin_cfg[0].lvl = BMI2_INT_ACTIVE_HIGH;
+
+    pin_config.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
+    // pin_config.pin_cfg[0].od        = BMI2_INT_OPEN_DRAIN;
+
+    pin_config.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
+
+    // pin_config.int_latch            = BMI2_INT_NON_LATCH;
+    pin_config.int_latch = BMI2_INT_LATCH;
+
+    rslt = bmi2_set_int_pin_config(&pin_config, &bmi270);
+
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return false;
+
+    /* Map the feature interrupt for no-motion. */
+    /* Select features and their pins to be mapped to. */
+    struct bmi2_sens_int_config sens_int = {.type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1};
+    rslt = bmi270_map_feat_int(&sens_int, 1, &bmi270);
+    // bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return false;
+
+    return true;
+}
+
+void accel_gyro_bmi270_get_data(struct bmi2_sens_data* data)
+{
+    if (i2c_dev_handle_bmi270 == NULL || !bmi270_device_valid)
+    {
+        // Device not available - zero out data to prevent using invalid values
+        if (data != NULL)
+        {
+            memset(data, 0, sizeof(struct bmi2_sens_data));
+        }
+        return;
+    }
+    bmi2_get_sensor_data(data, &bmi270);
+}
+
+bool accel_gyro_bmi270_check_irq(void)
+{
+    if (i2c_dev_handle_bmi270 == NULL)
+    {
+        ESP_LOGE(TAG, "i2c_dev_handle_bmi270 is NULL");
+        return false;
+    }
+
+    uint16_t int_status = 0;
+    /* To get the interrupt status of the wrist wear wakeup */
+    int8_t rslt = bmi2_get_int_status(&int_status, &bmi270);
+
+    /* To check the interrupt status of the wrist gesture */
+    if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_WAKE_UP_STATUS_MASK))
+    {
+        ESP_LOGW(TAG, "Wrist detected");
+        return true;
+    }
+
+    if ((rslt == BMI2_OK) && (int_status & BMI270_ANY_MOT_STATUS_MASK))
+    {
+        ESP_LOGW(TAG, "Any motion detected");
+    }
+
+    return false;
+}
+
+void accel_gyro_bmi270_clear_irq_int(void)
+{
+    if (i2c_dev_handle_bmi270 == NULL)
+    {
+        ESP_LOGE(TAG, "i2c_dev_handle_bmi270 is NULL");
+        return;
+    }
+
+    struct bmi2_int_pin_config int_pin_cfg;
+    int_pin_cfg.pin_type = BMI2_INT_BOTH;
+    int_pin_cfg.int_latch = BMI2_INT_LATCH;
+    int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_LOW; // Active low
+    int_pin_cfg.pin_cfg[0].od = BMI2_INT_OPEN_DRAIN;
+    int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
+    int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
+
+    if (bmi2_set_int_pin_config(&int_pin_cfg, &bmi270) != BMI2_OK)
+    {
+        ESP_LOGE(TAG, "Wrist gesture pin int disable config failed");
+    }
+}
+
+static int8_t bmi270_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t len, void* intf_ptr)
+{
+    if ((reg_data == NULL) || (len == 0) || (len > 32))
+    {
+        return -1;
+    }
+
+    // CRITICAL: Check if device handle is valid before accessing I2C
+    // This prevents crashes when I2C device is not initialized or has been destroyed
+    if (i2c_dev_handle_bmi270 == NULL || !bmi270_device_valid)
+    {
+        // Don't log error here - device may be temporarily unavailable
+        return -1;
+    }
+
+#if BSP_I2C_LOCK_AVAILABLE
+    // Lock SYS I2C bus before accessing BMI270
+    // Use a reasonable timeout (100ms) - if lock fails, return error without blocking
+    if (!bsp_i2c_lock(I2C_MASTER_TIMEOUT_MS))
+    {
+        // Don't log error here - lock failure is expected when I2C bus is busy
+        // Logging would spam the console during normal operation
+        return -1;
+    }
+#endif
+
+    uint8_t write_buffer[1] = {reg_addr};
+    esp_err_t ret =
+        i2c_master_transmit_receive(i2c_dev_handle_bmi270, write_buffer, 1, reg_data, len, I2C_MASTER_TIMEOUT_MS);
+
+#if BSP_I2C_LOCK_AVAILABLE
+    bsp_i2c_unlock();
+#endif
+
+    if (ret != ESP_OK)
+    {
+        // CRITICAL: Check for serious I2C errors that indicate device handle corruption
+        // ESP_ERR_INVALID_STATE means the I2C driver internal state is corrupted
+        // This can happen after bus errors, and continuing to use the handle will cause crashes
+        if (ret == ESP_ERR_INVALID_STATE)
+        {
+            // Mark device as invalid to prevent further operations that could crash
+            bmi270_device_valid = false;
+            ESP_LOGE(TAG, "I2C device handle corrupted (INVALID_STATE) - marking device invalid to prevent crash");
+            return -1;
+        }
+
+        // For other errors (NACK, timeout, etc.), these are usually transient
+        // Only log errors for critical operations, not for normal sensor reads
+        // I2C read failures can occur when bus is busy, which is normal
+        // Use ESP_LOGW (WARN level) so it's visible at INFO log level, but less noisy than ERROR
+        // Throttle logging to avoid spam - only log once per second
+        static uint32_t last_log_time = 0;
+        uint32_t now = esp_timer_get_time() / 1000; // Convert to milliseconds
+        if (now - last_log_time > 1000)
+        { // Log at most once per second
+            ESP_LOGW(TAG, "I2C read failed: %s (reg=0x%02x) - may be normal if bus is busy", esp_err_to_name(ret), reg_addr);
+            last_log_time = now;
+        }
+        return -1;
+    }
+
+    return 0;
+}
+
+static int8_t bmi270_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t len, void* intf_ptr)
+{
+    if ((reg_data == NULL) || (len == 0) || (len > 32))
+    {
+        return -1;
+    }
+
+    // CRITICAL: Check if device handle is valid before accessing I2C
+    // This prevents crashes when I2C device is not initialized or has been destroyed
+    if (i2c_dev_handle_bmi270 == NULL || !bmi270_device_valid)
+    {
+        // Don't log error here - device may be temporarily unavailable
+        return -1;
+    }
+
+    esp_err_t ret;
+
+    // Prepare write buffer: first byte is the register address, followed by the data bytes
+    uint8_t* write_buffer = malloc(len + 1);
+    if (write_buffer == NULL)
+    {
+        ESP_LOGE("BMI270", "Memory allocation failed for write buffer");
+        return -1;
+    }
+
+    // First byte is register address
+    write_buffer[0] = reg_addr;
+    // Copy the data to be written into the buffer
+    memcpy(&write_buffer[1], reg_data, len);
+
+#if BSP_I2C_LOCK_AVAILABLE
+    // Lock SYS I2C bus before accessing BMI270
+    // Use a reasonable timeout (100ms) - if lock fails, return error without blocking
+    if (!bsp_i2c_lock(I2C_MASTER_TIMEOUT_MS))
+    {
+        // Don't log error here - lock failure is expected when I2C bus is busy
+        // Logging would spam the console during normal operation
+        free(write_buffer);
+        return -1;
+    }
+#endif
+
+    // Perform I2C write operation
+    ret = i2c_master_transmit(i2c_dev_handle_bmi270, write_buffer, len + 1, I2C_MASTER_TIMEOUT_MS);
+
+#if BSP_I2C_LOCK_AVAILABLE
+    bsp_i2c_unlock();
+#endif
+
+    if (ret != ESP_OK)
+    {
+        // CRITICAL: Check for serious I2C errors that indicate device handle corruption
+        // ESP_ERR_INVALID_STATE means the I2C driver internal state is corrupted
+        // This can happen after bus errors, and continuing to use the handle will cause crashes
+        if (ret == ESP_ERR_INVALID_STATE)
+        {
+            // Mark device as invalid to prevent further operations that could crash
+            bmi270_device_valid = false;
+            ESP_LOGE(TAG, "I2C device handle corrupted (INVALID_STATE) - marking device invalid to prevent crash");
+            free(write_buffer);
+            return -1;
+        }
+
+        // Only log errors for critical operations, not for normal sensor writes
+        // I2C write failures can occur when bus is busy, which is normal
+        // Use ESP_LOGW (WARN level) so it's visible at INFO log level, but less noisy than ERROR
+        // Throttle logging to avoid spam - only log once per second
+        static uint32_t last_log_time = 0;
+        uint32_t now = esp_timer_get_time() / 1000; // Convert to milliseconds
+        if (now - last_log_time > 1000)
+        { // Log at most once per second
+            ESP_LOGW(TAG, "I2C write failed: %s (reg=0x%02x) - may be normal if bus is busy", esp_err_to_name(ret), reg_addr);
+            last_log_time = now;
+        }
+        free(write_buffer);
+        return -1;
+    }
+
+    free(write_buffer); // Clean up allocated memory
+
+    return 0;
+}
+
+static void bmi270_delay_us(uint32_t period, void* intf_ptr)
+{
+    uint64_t m = (uint64_t)esp_timer_get_time();
+    if (period)
+    {
+        uint64_t e = (m + period);
+        if (m > e)
+        { // overflow
+            while ((uint64_t)esp_timer_get_time() > e)
+            {
+                asm volatile("nop");
+            }
+        }
+        while ((uint64_t)esp_timer_get_time() < e)
+        {
+            asm volatile("nop");
+        }
+    }
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bmi2_error_codes_print_result(int8_t rslt)
+{
+    switch (rslt)
+    {
+    case BMI2_OK:
+
+        /* Do nothing */
+        break;
+
+    case BMI2_W_FIFO_EMPTY:
+        printf("Warning [%d] : FIFO empty\r\n", rslt);
+        break;
+    case BMI2_W_PARTIAL_READ:
+        printf("Warning [%d] : FIFO partial read\r\n", rslt);
+        break;
+    case BMI2_E_NULL_PTR:
+        printf(
+            "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a "
+            "pointer,"
+            " which has been initialized to NULL.\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_COM_FAIL:
+        printf(
+            "Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due "
+            "to power failure during communication\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_DEV_NOT_FOUND:
+        printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
+               rslt);
+        break;
+
+    case BMI2_E_INVALID_SENSOR:
+        printf(
+            "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with "
+            "the "
+            "available one\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_SELF_TEST_FAIL:
+        printf(
+            "Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is "
+            "not satisfied\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_INVALID_INT_PIN:
+        printf(
+            "Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins "
+            "apart from INT1 and INT2\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_OUT_OF_RANGE:
+        printf(
+            "Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data "
+            "from "
+            "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_ACC_INVALID_CFG:
+        printf(
+            "Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel "
+            "configuration"
+            " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_GYRO_INVALID_CFG:
+        printf(
+            "Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration"
+            "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_ACC_GYR_INVALID_CFG:
+        printf(
+            "Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro"
+            " configuration registers which could be one among range, BW or filter performance in reg address 0x40 "
+            "and 0x42\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_CONFIG_LOAD:
+        printf(
+            "Error [%d] : Configuration load error. It occurs when failure observed while loading the "
+            "configuration "
+            "into the sensor\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_INVALID_PAGE:
+        printf(
+            "Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature "
+            "configuration "
+            "from selected page\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_SET_APS_FAIL:
+        printf(
+            "Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration "
+            "register\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_AUX_INVALID_CFG:
+        printf(
+            "Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not "
+            "enabled properly\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_AUX_BUSY:
+        printf(
+            "Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while "
+            "configuring"
+            " the AUX\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_REMAP_ERROR:
+        printf(
+            "Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes "
+            "after change in axis position\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
+        printf(
+            "Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status "
+            "fails\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_SELF_TEST_NOT_DONE:
+        printf(
+            "Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not "
+            "completed\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_INVALID_INPUT:
+        printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
+        break;
+
+    case BMI2_E_INVALID_STATUS:
+        printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
+        break;
+
+    case BMI2_E_CRT_ERROR:
+        printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
+        break;
+
+    case BMI2_E_ST_ALREADY_RUNNING:
+        printf(
+            "Error [%d] : Self-test already running error. It occurs when the self-test is already running and "
+            "another has been initiated\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
+        printf(
+            "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to "
+            "wrong "
+            "address location\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_DL_ERROR:
+        printf(
+            "Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_PRECON_ERROR:
+        printf(
+            "Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not "
+            "completed\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_ABORT_ERROR:
+        printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
+        break;
+
+    case BMI2_E_WRITE_CYCLE_ONGOING:
+        printf(
+            "Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another "
+            "has been initiated\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_ST_NOT_RUNING:
+        printf(
+            "Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's "
+            "running\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_DATA_RDY_INT_FAILED:
+        printf(
+            "Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit "
+            "and data ready status is not updated\r\n",
+            rslt);
+        break;
+
+    case BMI2_E_INVALID_FOC_POSITION:
+        printf(
+            "Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong"
+            " axes\r\n",
+            rslt);
+        break;
+
+    default:
+        printf("Error [%d] : Unknown error code\r\n", rslt);
+        break;
+    }
+}
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi2.c b/platform/esp/idf_components/sensor_bmi270/src/bmi2.c
new file mode 100644
index 00000000..1016317b
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi2.c
@@ -0,0 +1,11562 @@
+/**
+ * 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.c
+ * @date       2023-05-03
+ * @version    v2.86.1
+ *
+ */
+
+/******************************************************************************/
+
+/*!  @name          Header Files                                  */
+/******************************************************************************/
+#include "bmi2.h"
+
+/***************************************************************************/
+
+/*!         Local structures
+ ****************************************************************************/
+
+/*! @name Structure to define the difference in accelerometer values  */
+struct bmi2_selftest_delta_limit
+{
+    /*! X  data */
+    int32_t x;
+
+    /*! Y  data */
+    int32_t y;
+
+    /*! Z  data */
+    int32_t z;
+};
+
+/*! @name Structure to store temporary accelerometer/gyroscope values */
+struct bmi2_foc_temp_value
+{
+    /*! X data */
+    int32_t x;
+
+    /*! Y data */
+    int32_t y;
+
+    /*! Z data */
+    int32_t z;
+};
+
+/*! @name Structure to store accelerometer data deviation from ideal value */
+struct bmi2_offset_delta
+{
+    /*! X axis */
+    int16_t x;
+
+    /*! Y axis */
+    int16_t y;
+
+    /*! Z axis */
+    int16_t z;
+};
+
+/*! @name Structure to store accelerometer offset values */
+struct bmi2_accel_offset
+{
+    /*! offset X  data */
+    uint8_t x;
+
+    /*! offset Y  data */
+    uint8_t y;
+
+    /*! offset Z  data */
+    uint8_t z;
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API writes the configuration file.
+ *
+ * @param[in]  dev     : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_config_file(struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables/disables the loading of the configuration
+ * file.
+ *
+ * @param[in] enable   : To enable/disable configuration load.
+ * @param[in] dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_config_load(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API loads the configuration file.
+ *
+ * @param[in] config_data   : Pointer to the configuration file.
+ * @param[in] index         : Variable to define array index.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t upload_file(const uint8_t* config_data, uint16_t index, uint16_t write_len, struct bmi2_dev* dev);
+
+/*!
+ * @brief  This internal API sets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ *
+ * @param[in,out] config    : Structure instance of bmi2_accel_config.
+ * @param[in,out] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_config(struct bmi2_accel_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates bandwidth and performance mode of the
+ * accelerometer set by the user.
+ *
+ * @param[in, out] bandwidth : Pointer to bandwidth value set by the user.
+ * @param[in, out] perf_mode : Pointer to performance mode set by the user.
+ * @param[in, out] dev       : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_bw_perf_mode(uint8_t* bandwidth, uint8_t* perf_mode, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates ODR and range of the accelerometer set by
+ * the user.
+ *
+ * @param[in, out] odr    : Pointer to ODR value set by the user.
+ * @param[in, out] range  : Pointer to range value set by the user.
+ * @param[in, out] dev    : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_odr_range(uint8_t* odr, uint8_t* range, struct bmi2_dev* dev);
+
+/*!
+ * @brief  This internal API sets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range.
+ *
+ * @param[in,out] config    : Structure instance of bmi2_gyro_config.
+ * @param[in,out] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates bandwidth, performance mode, low power/
+ * high performance mode, ODR, and range set by the user.
+ *
+ * @param[in] config   : Structure instance of bmi2_gyro_config.
+ * @param[in] dev      : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API shows the error status when illegal sensor
+ * configuration is set.
+ *
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t cfg_error_status(struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API:
+ * 1) Enables/Disables auxiliary interface.
+ * 2) Sets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
+ *
+ * @param[in] config            : Structure instance of bmi2_aux_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ *
+ * @param[in] config      : Structure instance of bmi2_gyro_user_gain_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ * bmi2_gyro_user_gain_config|
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *      ratio_x             | Gain update value for x-axis
+ * -------------------------|---------------------------------------------------
+ *      ratio_y             | Gain update value for y-axis
+ * -------------------------|---------------------------------------------------
+ *      ratio_z             | Gain update value for z-axis
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables/disables auxiliary interface.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_aux_interface(const struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
+ * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t config_aux_interface(const struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API triggers read out offset and sets ODR of the
+ * auxiliary sensor.
+ *
+ * @param[in] config    : Structure instance of bmi2_aux_config.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t config_aux(const struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates auxiliary configuration set by the user.
+ *
+ * @param[in, out] config : Structure instance of bmi2_aux_config.
+ * @param[in, out] dev    : Structure instance of bmi2_dev.
+ *
+ * @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ *
+ * @param[out] config    : Structure instance of bmi2_accel_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_accel_config(struct bmi2_accel_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief  This internal API gets gyroscope configurations like ODR, bandwidth,
+ * low power/ high performance mode, performance mode and range.
+ *
+ * @param[out] config    : Structure instance of bmi2_gyro_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API:
+ * 1) Gets the status of auxiliary interface enable.
+ * 2) Gets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3) Gets ODR and offset.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ *
+ * @param[out] config      : Structure instance of bmi2_gyro_user_gain_config.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ * bmi2_gyro_user_gain_config|
+ *  Structure parameters   |                   Description
+ *-------------------------|--------------------------------------------------
+ *      ratio_x            | Gain update value for x-axis
+ * ------------------------|---------------------------------------------------
+ *      ratio_y            | Gain update value for y-axis
+ * ------------------------|---------------------------------------------------
+ *      ratio_z            | Gain update value for z-axis
+ *
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the enable status of auxiliary interface.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_interface(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @param[out] config   : Structure instance of bmi2_aux_config.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_interface_config(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets read out offset and ODR of the auxiliary
+ * sensor.
+ *
+ * @param[out] config    : Structure instance of bmi2_aux_config.
+ * @param[in]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_aux_cfg(struct bmi2_aux_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the saturation status for the gyroscope user
+ * gain update.
+ *
+ * @param[out] user_gain_stat   : Stores the saturation status of the axes.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status* user_gain, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the cross sensitivity coefficient between
+ * gyroscope's X and Z axes.
+ *
+ * @param[out] cross_sense  : Pointer to the stored cross sensitivity
+ *              coefficient.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_gyro_cross_sense(int16_t* cross_sense, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API parses the accelerometer/gyroscope data.
+ *
+ * @param[out] data         : Structure instance of bmi2_sens_axes_data.
+ * @param[in]  reg_data     : Data stored in the register.
+ *
+ * @return None
+ *
+ * @retval None
+ */
+static void get_acc_gyr_data(struct bmi2_sens_axes_data* data, const uint8_t* reg_data);
+
+/*!
+ * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
+ *
+ * @param[out] data         : Structure instance of bmi2_sens_axes_data.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return None
+ *
+ * @retval None
+ */
+static void get_remapped_data(struct bmi2_sens_axes_data* data, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in manual mode.
+ *
+ * @param[in]  reg_addr     : AUX address from where data is read.
+ * @param[out] aux_data     : Pointer to the stored auxiliary data.
+ * @param[in]   len         : Total bytes to be read.
+ * @param[in]   burst_len   : Bytes of data to be read in bursts.
+ * @param[in]   dev         : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_aux_data(uint8_t reg_addr, uint8_t* aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API checks the busy status of auxiliary sensor and sets
+ * the auxiliary register addresses when not busy.
+ *
+ * @param[in]  reg_addr     : Address in which AUX register address is
+ *                              set.
+ * @param[in]  reg_data     : Auxiliary register address to be set when AUX is
+ *                              not busy.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev* dev);
+
+/*!
+ * @brief his internal API maps the actual burst read length with that of the
+ * register value set by user.
+ *
+ * @param[out] len      : Actual burst length.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t map_read_len(uint8_t* len, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API writes AUX write address and the user-defined bytes
+ * of data to the AUX sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @param[in]  reg_addr   : AUX address in which data is to be written.
+ * @param[in]  reg_data   : Data to be written
+ * @param[in]  dev        : Structure instance of bmi2_dev.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API maps/unmaps feature interrupts to that of interrupt
+ * pins.
+ *
+ * @param[in] int_pin      : Interrupt pin selected.
+ * @param[in] feat_int     : Type of feature interrupt to be mapped.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t map_feat_int(uint8_t* reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask);
+
+/*!
+ * @brief This internal API computes the number of bytes of accelerometer FIFO
+ * data which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[out] skip_length : Number of bytes to skip if dummy frame is obtained
+ * @param[in]  acc_count   : Number of accelerometer frames to be read.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_accel_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* acc_count,
+                                   const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the FIFO
+ * data in header mode.
+ *
+ * @param[out] acc          : Structure instance of bmi2_sens_axes_data where
+ *                            the parsed accelerometer data bytes are stored.
+ * @param[in] accel_length  : Number of accelerometer frames (x,y,z data).
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data* acc, uint16_t* accel_length,
+                                        struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the FIFO
+ * data in headerless mode.
+ *
+ * @param[out] acc          : Structure instance of bmi2_sens_axes_data where
+ *                            the parsed accelerometer data bytes are stored.
+ * @param[in] accel_length  : Number of accelerometer frames (x,y,z data).
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_accel_headerless_mode(struct bmi2_sens_axes_data* acc, uint16_t* accel_length,
+                                            struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to skip dummy frames in FIFO headerless mode
+ *
+ * @param[in] dummy_frame_header   : Dummy frame header byte value in FIFO headerless mode
+ *
+ * ----------------------------------|--------------------
+ *        dummy_frame_header         |    Applicable to
+ * ----------------------------------|--------------------
+ *   BMI2_FIFO_HEADERLESS_DUMMY_ACC  |     ACCEL
+ *   BMI2_FIFO_HEADERLESS_DUMMY_GYR  |     GYRO
+ *   BMI2_FIFO_HEADERLESS_DUMMY_AUX  |     AUX
+ * ----------------------------------|--------------------
+ *
+ * @param[in] data_index    : Index value of number of bytes parsed.
+ * @param[in] skip_length   : Number of bytes to skip if dummy frame is obtained
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t check_dummy_frame(uint8_t dummy_frame_header, uint16_t* data_index, uint8_t skip_length,
+                                const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in header mode. It updates the current data
+ * byte to be parsed.
+ *
+ * @param[in,out] acc       : Structure instance of bmi2_sens_axes_data where
+ *                            where the parsed data bytes are stored.
+ * @param[in,out] idx       : Index value of number of bytes parsed.
+ * @param[in,out] acc_idx   : Index value of accelerometer data (x,y,z axes)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_accel_header_frame(struct bmi2_sens_axes_data* acc, uint16_t* idx, uint16_t* acc_idx,
+                                        uint8_t frame, const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in header-less mode. It updates the current data
+ * byte to be parsed.
+ *
+ * @param[in,out] acc       : Structure instance of bmi2_sens_axes_data where
+ *                            where the parsed data bytes are stored.
+ * @param[in,out] idx       : Index value of number of bytes parsed.
+ * @param[in,out] acc_idx   : Index value of accelerometer data (x,y,z axes)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_accel_headerless_frame(struct bmi2_sens_axes_data* acc, uint16_t* idx, uint16_t* acc_idx,
+                                            uint8_t frame, const struct bmi2_fifo_frame* fifo,
+                                            const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the FIFO
+ * data.
+ *
+ * @param[out] acc              : Structure instance of bmi2_sens_axes_data
+ *                                where the parsed data bytes are stored.
+ * @param[in]  data_start_index : Index value of the accelerometer data bytes
+ *                                which is to be parsed from the FIFO data.
+ * @param[in]  fifo             : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_accel_data(struct bmi2_sens_axes_data* acc, uint16_t data_start_index,
+                              const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API computes the number of bytes of gyroscope FIFO data
+ * which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[out] skip_length : Number of bytes to skip if dummy frame is obtained
+ * @param[in]  gyr_count   : Number of gyroscope frames to be read.
+ * @param[in]  frame       : Either data enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_gyro_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* gyr_count,
+                                  const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in header mode It updates the current data byte to
+ * be parsed.
+ *
+ * @param[in,out] gyr       : Structure instance of bmi2_sens_axes_data.
+ * @param[in,out] idx       : Index value of number of bytes parsed
+ * @param[in,out] gyr_idx   : Index value of gyroscope data (x,y,z axes)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_gyro_header_frame(struct bmi2_sens_axes_data* gyr, uint16_t* idx, uint16_t* gyr_idx, uint8_t frame,
+                                       const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in header-less mode It updates the current data byte to
+ * be parsed.
+ *
+ * @param[in,out] gyr       : Structure instance of bmi2_sens_axes_data.
+ * @param[in,out] idx       : Index value of number of bytes parsed
+ * @param[in,out] gyr_idx   : Index value of gyroscope data (x,y,z axes)
+ *                            frame to be parsed.
+ * @param[in]     frame     : Either data is enabled by user in header-less
+ *                            mode or header frame value in header mode.
+ * @param[in]     fifo      : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_gyro_headerless_frame(struct bmi2_sens_axes_data* gyr, uint16_t* idx, uint16_t* gyr_idx,
+                                           uint8_t frame, const struct bmi2_fifo_frame* fifo,
+                                           const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse gyroscope data from the FIFO data.
+ *
+ * @param[out] gyr             : Structure instance of bmi2_sens_axes_data where
+ *                               the parsed gyroscope data bytes are stored.
+ * @param[in] data_start_index : Index value of the gyroscope data bytes
+ *                               which is to be parsed from the FIFO data.
+ * @param[in] fifo             : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev             : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_gyro_data(struct bmi2_sens_axes_data* gyr, uint16_t data_start_index,
+                             const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the
+ * FIFO data in header mode.
+ *
+ * @param[out] gyr            : Structure instance of bmi2_sens_axes_data where
+ *                              the parsed gyroscope data bytes are stored.
+ * @param[in] gyro_length     : Number of gyroscope frames (x,y,z data).
+ * @param[in] fifo            : Structure instance of bmi2_fifo_frame.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data* gyr, uint16_t* gyro_length,
+                                       struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse gyroscope data from the FIFO
+ * data in headerless mode.
+ *
+ * @param[out] gyr          : Structure instance of bmi2_sens_axes_data where
+ *                            the parsed gyroscope data bytes are stored.
+ * @param[in] gyro_length   : Number of gyroscope frames (x,y,z data).
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_gyro_headerless_mode(struct bmi2_sens_axes_data* gyr, uint16_t* gyro_length,
+                                           struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This API computes the number of bytes of auxiliary FIFO data
+ * which is to be parsed in header-less mode.
+ *
+ * @param[out] start_idx   : The start index for parsing data.
+ * @param[out] len         : Number of bytes to be parsed.
+ * @param[out] skip_length : Number of bytes to skip if dummy frame is obtained
+ * @param[in]  aux_count   : Number of accelerometer frames to be read.
+ * @param[in]  fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t parse_fifo_aux_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* aux_count,
+                                 const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This API is used to parse auxiliary data from the FIFO data.
+ *
+ * @param[out] aux         : Pointer to buffer where the parsed auxiliary data
+ *                           bytes are stored.
+ * @param[in] aux_length   : Number of auxiliary frames (x,y,z data).
+ * @param[in] fifo         : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data* aux, uint16_t* aux_length,
+                                      struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to parse auxiliary data from the FIFO
+ * data in headerless mode.
+ *
+ * @param[out] aux          : Structure instance of bmi2_sens_axes_data where
+ *                            the parsed auxiliary data bytes are stored.
+ * @param[in] aux_length    : Number of auxiliary frames (x,y,z data).
+ * @param[in] fifo          : Structure instance of bmi2_fifo_frame.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_aux_headerless_mode(struct bmi2_aux_fifo_data* aux, uint16_t* aux_length,
+                                          struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This API is used to parse the auxiliary data from the FIFO data in
+ * both header and header-less mode. It updates the current data byte to be
+ * parsed.
+ *
+ * @param[out]    aux     : Pointer to structure where the parsed auxiliary data
+ *                          bytes are stored.
+ * @param[in,out] idx     : Index value of number of bytes parsed
+ * @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
+ *                          frame to be parsed
+ * @param[in]     frame   : Either data is enabled by user in header-less
+ *                          mode or header frame value in header mode.
+ * @param[in]     fifo    : Structure instance of bmi2_fifo_frame.
+ * @param[in]     dev     : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data* aux, uint16_t* idx, uint16_t* aux_idx, uint8_t frame,
+                               const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This API is used to parse auxiliary data from the FIFO data.
+ *
+ * @param[out] aux              : Pointer to structure where the parsed
+ *                              auxiliary data bytes are stored.
+ * @param[in] data_start_index  : Index value of the auxiliary data bytes which
+ *                              is to be parsed from the FIFO data.
+ * @param[in] fifo              : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_aux_data(struct bmi2_aux_fifo_data* aux, uint16_t data_start_index,
+                            const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to reset the FIFO related configurations
+ * in the FIFO frame structure for the next FIFO read.
+ *
+ * @param[in, out] fifo     : Structure instance of bmi2_fifo_frame.
+ * @param[in]      dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t reset_fifo_frame_structure(struct bmi2_fifo_frame* fifo, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API checks whether the FIFO data read is an empty frame.
+ * If empty frame, index is moved to the last byte.
+ *
+ * @param[in,out] data_index   : The index of the current data to be parsed from
+ *                               FIFO data.
+ * @param[in]     fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ *
+ * @retval BMI2_OK - Success.
+ * @retval BMI2_W_FIFO_EMPTY - Warning : FIFO is empty
+ * @retval BMI2_W_PARTIAL_READ - Warning : There are more frames to be read
+ */
+static int8_t check_empty_fifo(uint16_t* data_index, const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to move the data index ahead of the
+ * current frame length parameter when unnecessary FIFO data appears while
+ * extracting the user specified data.
+ *
+ * @param[in,out] data_index           : Index of the FIFO data which is to be
+ *                                       moved ahead of the current frame length
+ * @param[in]     current_frame_length : Number of bytes in the current frame.
+ * @param[in]     fifo                 : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t move_next_frame(uint16_t* data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to parse and store the sensor time from the
+ * FIFO data.
+ *
+ * @param[in,out] data_index : Index of the FIFO data which has the sensor time.
+ * @param[in]     fifo       : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_sensortime_frame(uint16_t* data_index, struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API is used to parse and store the skipped frame count
+ * from the FIFO data.
+ *
+ * @param[in,out] data_index : Index of the FIFO data which contains skipped
+ *                             frame count.
+ * @param[in] fifo           : Structure instance of bmi2_fifo_frame.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t unpack_skipped_frame(uint16_t* data_index, struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API enables and configures the accelerometer which is
+ * needed for self-test operation. It also sets the amplitude for the self-test.
+ *
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t pre_self_test_config(struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API performs the steps needed for self-test operation
+ * before reading the accelerometer self-test data.
+ *
+ * @param[in] sign      : Selects sign of self-test excitation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | positive excitation
+ * BMI2_DISABLE | negative excitation
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t self_test_config(uint8_t sign, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables or disables the accelerometer self-test
+ * feature in the sensor.
+ *
+ * @param[in] enable            : Enables/ Disables self-test.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enables self-test
+ * BMI2_DISABLE | Disables self-test
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API selects the sign for accelerometer self-test
+ * excitation.
+ *
+ * @param[in] sign      : Selects sign of self-test excitation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * sign         |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | positive excitation
+ * BMI2_DISABLE | negative excitation
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets the amplitude of the accelerometer self-test
+ * deflection in the sensor.
+ *
+ * @param[in] amp       : Select amplitude of the self-test deflection.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * amp          |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | self-test amplitude is high
+ * BMI2_DISABLE | self-test amplitude is low
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API reads the accelerometer data for x,y and z axis from
+ * the sensor. The data units is in LSB format.
+ *
+ * @param[out] accel        : Buffer to store the acceleration value.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_accel_xyz(struct bmi2_sens_axes_data* accel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API converts LSB value of accelerometer axes to form
+ * 'g' to 'mg' for self-test.
+ *
+ * @param[in] acc_data_diff    : Stores the acceleration value difference in g.
+ * @param[out]acc_data_diff_mg : Stores the acceleration value difference in mg.
+ * @param[in]  dev             : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void convert_lsb_g(const struct bmi2_selftest_delta_limit* acc_data_diff,
+                          struct bmi2_selftest_delta_limit* acc_data_diff_mg, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to calculate the power of a value.
+ *
+ * @param[in] base          : base for power calculation.
+ * @param[in] resolution    : exponent for power calculation.
+ *
+ * @return the calculated power
+ * @retval the power value
+ */
+static int32_t power(int16_t base, uint8_t resolution);
+
+/*!
+ * @brief This internal API validates the accelerometer self-test data and
+ * decides the result of self-test operation.
+ *
+ * @param[in] accel_data_diff   : Stores the acceleration value difference.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t validate_self_test(const struct bmi2_selftest_delta_limit* accel_data_diff);
+
+/*!
+ * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
+ *
+ * @param[out] remap    : Structure that stores local copy of re-mapped axes.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_remap_axes(struct bmi2_axes_remap* remap, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
+ *
+ * @param[in] remap     : Structure that stores local copy of re-mapped axes.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_remap_axes(const struct bmi2_axes_remap* remap, struct bmi2_dev* dev);
+
+/*!
+ * @brief Interface to get max burst length
+ *
+ * @param[in] max_burst_len : Pointer to store max burst length
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_maxburst_len(uint8_t* max_burst_len, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets the max burst length.
+ *
+ * @param[in] write_len_byte    : read & write length
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API parses virtual frame header from the FIFO data.
+ *
+ * @param[in, out] frame_header : FIFO frame header.
+ * @param[in, out] data_index   : Index value of the FIFO data bytes
+ *                                from which sensor frame header is to be parsed
+ * @param[in]      fifo         : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void parse_if_virtual_header(uint8_t* frame_header, uint16_t* data_index, const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API gets sensor time from the accelerometer and
+ * gyroscope virtual frames and updates in the data structure.
+ *
+ * @param[out] sens       : Sensor data structure
+ * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
+ * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_virt_sensor_time(struct bmi2_sens_axes_data* sens, uint16_t* idx,
+                                    const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API gets sensor time from the auxiliary virtual
+ * frames and updates in the data structure.
+ *
+ * @param[out] aux        : Auxiliary sensor data structure
+ * @param[in, out] idx    : Index of FIFO from where the data is to retrieved.
+ * @param[in] fifo        : Structure instance of bmi2_fifo_frame.
+ *
+ * @return None
+ * @retval None
+ */
+static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data* aux, uint16_t* idx,
+                                        const struct bmi2_fifo_frame* fifo);
+
+/*!
+ * @brief This internal API clips the gyroscope cross-axis sensitivity within signed 16-bit limit
+ *
+ * @param[in]  value              : Gyro cross-axis sensitivity value to be saturated.
+ * @param[out] saturation_val     : Saturation value to be clipped.
+ *
+ * @return Result of API execution status
+ *
+ * @return Result of API execution status
+ * @retval Saturated gyro cross-axis sensitivity value
+ */
+static int16_t saturate(int32_t value, uint16_t saturation_val);
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ *
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ * @param[out] gyr_data         : Structure instance of gyroscope data
+ *
+ * @return Result of API execution status
+ *
+ * @return None
+ * @retval None
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data* gyr_data, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API saves the configurations before performing FOC.
+ *
+ * @param[out] acc_cfg      : Accelerometer configuration value
+ * @param[out] aps          : Advance power mode value
+ * @param[out] acc_en       : Accelerometer enable value
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t save_accel_foc_config(struct bmi2_accel_config* acc_cfg, uint8_t* aps, uint8_t* acc_en,
+                                    struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API performs Fast Offset Compensation for accelerometer.
+ *
+ * @param[in] accel_g_value : This parameter selects the accel foc
+ * axis to be performed
+ *
+ * input format is {x, y, z, sign}. '1' to enable. '0' to disable
+ *
+ * eg to choose x axis  {1, 0, 0, 0}
+ * eg to choose -x axis {1, 0, 0, 1}
+ *
+ * @param[in] acc_cfg       : Accelerometer configuration value
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value* accel_g_value,
+                                const struct bmi2_accel_config* acc_cfg, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal sets configurations for performing accelerometer FOC.
+ *
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_accel_foc_config(struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API converts the range value into accelerometer
+ * corresponding integer value.
+ *
+ * @param[in] range_in      : Input range value.
+ * @param[out] range_out    : Stores the integer value of range.
+ *
+ * @return None
+ * @retval None
+ */
+static void map_accel_range(uint8_t range_in, uint8_t* range_out);
+
+/*!
+ * @brief This internal API compensate the accelerometer data against gravity.
+ *
+ * @param[in] lsb_per_g     : LSB value pre 1g.
+ * @param[in] g_val         : G reference value of all axis.
+ * @param[in] data          : Accelerometer data
+ * @param[out] comp_data    : Stores the data that is compensated by taking the
+ *                            difference in accelerometer data and lsb_per_g
+ *                            value.
+ *
+ * @return None
+ * @retval None
+ */
+static void comp_for_gravity(uint16_t lsb_per_g, const struct bmi2_accel_foc_g_value* g_val,
+                             const struct bmi2_sens_axes_data* data, struct bmi2_offset_delta* comp_data);
+
+/*!
+ * @brief This internal API scales the compensated accelerometer data according
+ * to the offset register resolution.
+ *
+ * @param[in] range         : G-range of the accelerometer.
+ * @param[out] comp_data    : Data that is compensated by taking the
+ *                            difference in accelerometer data and lsb_per_g
+ *                            value.
+ * @param[out] data         : Stores offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta* comp_data,
+                               struct bmi2_accel_offset* data);
+
+/*!
+ * @brief This internal API finds the bit position of 3.9mg according to given
+ * range and resolution.
+ *
+ * @param[in] range     : G-range of the accelerometer.
+ *
+ * @return Result of API execution status
+ * @retval Bit position of 3.9mg
+ */
+static int8_t get_bit_pos_3_9mg(uint8_t range);
+
+/*!
+ * @brief This internal API inverts the accelerometer offset data.
+ *
+ * @param[out] offset_data  : Stores the inverted offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void invert_accel_offset(struct bmi2_accel_offset* offset_data);
+
+/*!
+ * @brief This internal API writes the offset data in the offset compensation
+ * register.
+ *
+ * @param[in] offset        : offset data
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_accel_offset(const struct bmi2_accel_offset* offset, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API restores the configurations saved before performing
+ * accelerometer FOC.
+ *
+ * @param[in] acc_cfg       : Accelerometer configuration value
+ * @param[in] acc_en        : Accelerometer enable value
+ * @param[in] aps           : Advance power mode value
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t restore_accel_foc_config(struct bmi2_accel_config* acc_cfg, uint8_t aps, uint8_t acc_en,
+                                       struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API saves the configurations before performing gyroscope
+ * FOC.
+ *
+ * @param[out] gyr_cfg  : Gyroscope configuration value
+ * @param[out] gyr_en   : Gyroscope enable value
+ * @param[out] aps      : Advance power mode value
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t save_gyro_config(struct bmi2_gyro_config* gyr_cfg, uint8_t* aps, uint8_t* gyr_en, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal sets configurations for performing gyroscope FOC.
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_foc_config(struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API inverts the gyroscope offset data.
+ *
+ * @param[out] offset_data  : Stores the inverted offset data
+ *
+ * @return None
+ * @retval None
+ */
+static void invert_gyro_offset(struct bmi2_sens_axes_data* offset_data);
+
+/*!
+ * @brief This internal API restores the gyroscope configurations saved
+ * before performing FOC.
+ *
+ * @param[in] gyr_cfg   : Gyroscope configuration value
+ * @param[in] gyr_en    : Gyroscope enable value
+ * @param[in] aps       : Advance power mode value
+ * @param[in] dev       : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t restore_gyro_config(struct bmi2_gyro_config* gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API saturates the gyroscope data value before writing to
+ * to 10 bit offset register.
+ *
+ * @param[in, out] gyr_off  : Gyroscope data to be stored in offset register
+ *
+ * @return None
+ * @retval None
+ */
+static void saturate_gyro_data(struct bmi2_sens_axes_data* gyr_off);
+
+/*!
+ * @brief This internal API reads the gyroscope data for x, y and z axis from
+ * the sensor.
+ *
+ * @param[out] gyro         : Buffer to store the gyroscope value.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t read_gyro_xyz(struct bmi2_sens_axes_data* gyro, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to check the boundary conditions.
+ *
+ * @param[in]     dev    : Structure instance of bmi2_dev.
+ * @param[in,out] val    : Pointer to the value to be validated.
+ * @param[in]     min    : minimum value.
+ * @param[in]     max    : maximum value.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t check_boundary_val(uint8_t* val, uint8_t min, uint8_t max, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev* dev);
+
+/*!
+ * @brief This updates the result for CRT or gyro self-test.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t crt_gyro_st_update_result(struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to get the st_status status.
+ *
+ * @param[in] *st_status: gets the crt running status
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_st_running(uint8_t* st_status, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to set crt bit to running.
+ *
+ * @param[in] enable
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_st_running(uint8_t st_status, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to make the initial changes for CRT.
+ * Disable the gyro, OIS, aps
+ * Note: For the purpose of preparing CRT Gyro, OIS and APS are disabled
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t crt_prepare_setup(struct bmi2_dev* dev);
+
+/*!
+ * @brief This API is to run the crt process for both max burst length 0 and non zero condition.
+ *
+ * @param[in] gyro_st_crt   : Update the gyro self-test crt enable bit
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to get the rdy for dl bit status
+ * this will toggle from 0 to 1 and visevers according to the
+ * dowload status
+ *
+ * @param[in] *rdy_for_dl: gets the rdy_for_dl status
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_rdy_for_dl(uint8_t* rdy_for_dl, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to write the config file in the given location for crt.
+ * which inter checks the status of the rdy_for_dl bit and also the crt running, and
+ * wirtes the given size.
+ *
+ * @param[in] write_len: length of the words to be written
+ * @param[in] config_file_size: length of the words to be written
+ * @param[in] start_index: provide the start index from where config file has to written
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t write_crt_config_file(uint16_t write_len, uint16_t config_file_size, uint16_t start_index,
+                                    struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to check for rdy_for_dl bit to toggle for CRT process
+ *
+ * @param[in] retry_complete: wait for given time to toggle
+ * @param[in] download_ready:  get the status for rdy_for_dl
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to wait till the CRT or gyro self-test process is completed
+ *
+ * @param[in] retry_complete: wait for given time to complete the crt process
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev* dev);
+
+/*!
+ * @brief This function is to complete the crt process if max burst length is not zero
+ * this checks for the crt status and rdy_for_dl bit to toggle
+ *
+ * @param[in] last_byte_flag: to provide the last toggled state
+ * @param[in] dev   : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev* dev);
+
+/*!
+ * @brief This api is used to enable the gyro self-test or crt.
+ *
+ * @param[in] gyro_st_crt   : Update the gyro self-test crt enable bit
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev* dev);
+
+/*!
+ * @brief This api is used to enable/disable abort.
+ *
+ * @param[in] abort_enable  : Variable to enable the abort feature.
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
+ * self-test.
+ *
+ * @param[in] dev   : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status* gyro_st_result, struct bmi2_dev* dev);
+
+/*!
+ * @brief This api is used to trigger the preparation for system for NVM programming.
+ *
+ * @param[out] nvm_prep : Pointer to variable to store the status of nvm_prep_prog.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal api gets major and minor version for config file
+ *
+ * @param[out] config_major     :   Pointer to store the major version
+ * @param[out] config_minor     :   Pointer to store the minor version
+ * @param[in]  dev              :   Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t extract_config_file(uint8_t* config_major, uint8_t* config_minor, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to map the interrupts to the sensor.
+ *
+ * @param[in] map_int        : Structure instance of bmi2_map_int.
+ * @param[in] type           : Type of feature or sensor.
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ *
+ * @return None
+ * @retval None
+ */
+static void extract_feat_int_map(struct bmi2_map_int* map_int, uint8_t type, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t* sens_list, uint8_t n_sens, uint64_t* sensor_sel);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to test gyro CRT.
+ *
+ * @param[in]  max_burst_length  : Variable to store maximum burst length.
+ * @param[in]  gyro_st_crt       : Update the gyro self-test crt enable bit.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t gyro_crt_test(uint8_t max_burst_length, uint8_t gyro_st_crt, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to unpack virtual auxillary sensortime data.
+ *
+ * @param[out]    aux     : Pointer to structure where the parsed auxiliary data
+ *                          bytes are stored.
+ * @param[in,out] idx     : Index value of number of bytes parsed
+ * @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
+ *                          frame to be parsed
+ * @param[in]     fifo    : Structure instance of bmi2_fifo_frame.
+ * @param[in, out]  dev   : Structure instance of bmi2_dev.
+ *
+ * @return None
+ *
+ * @retval None
+ */
+static void unpack_virtual_aux_data(struct bmi2_aux_fifo_data* aux, uint16_t* idx, const uint16_t* aux_idx,
+                                    const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to verify the right position of the sensor before doing accel FOC.
+ *
+ * @param[in] sens_list     : Sensor type
+ * @param[in] accel_g_axis  : Accel Foc axis and sign input
+ * @param[in] dev           : Structure instance of bmi2_dev
+ *
+ * @return Result of API execution status
+ *
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+static int8_t verify_foc_position(uint8_t sens_list, const struct bmi2_accel_foc_g_value* accel_g_axis,
+                                  struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API reads and provides average for 128 samples of sensor data for accel FOC.
+ *
+ * @param[in] sens_list     : Sensor type.
+ * @param[in] temp_foc_data : To store data samples
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ *
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+static int8_t get_average_of_sensor_data(uint8_t sens_list, struct bmi2_foc_temp_value* temp_foc_data,
+                                         struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates accel FOC position as per the range
+ *
+ * @param[in] sens_list     : Sensor type
+ * @param[in] accel_g_axis  : Accel axis to FOC.
+ * @param[in] avg_foc_data  : Average value of sensor sample datas
+ * @param[in] dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ *
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+static int8_t validate_foc_position(uint8_t sens_list, const struct bmi2_accel_foc_g_value* accel_g_axis,
+                                    struct bmi2_sens_axes_data avg_foc_data, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API validates accel FOC axis given as input
+ *
+ * @param[in] avg_foc_data : Average value of sensor sample datas
+ * @param[in] dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ *
+ * @return 0 -> Success
+ * @return < 0 -> Fail
+ */
+static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev* dev);
+
+/******************************************************************************/
+/*!  @name      User Interface Definitions                            */
+/******************************************************************************/
+
+/*!
+ * @brief This API is the entry point for bmi2 sensor. It selects between
+ * I2C/SPI interface, based on user selection. It reads and validates the
+ * chip-id of the sensor.
+ */
+int8_t bmi2_sec_init(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to assign chip id */
+    uint8_t chip_id = 0;
+
+    /* Structure to define the default values for axes re-mapping */
+    struct bmi2_axes_remap axes_remap = {.x_axis = BMI2_MAP_X_AXIS,
+                                         .x_axis_sign = BMI2_POS_SIGN,
+                                         .y_axis = BMI2_MAP_Y_AXIS,
+                                         .y_axis_sign = BMI2_POS_SIGN,
+                                         .z_axis = BMI2_MAP_Z_AXIS,
+                                         .z_axis_sign = BMI2_POS_SIGN};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Set APS flag as after reset, the sensor is on advance power save mode */
+        dev->aps_status = BMI2_ENABLE;
+
+        /* Performing a dummy read to bring interface back to SPI from I2C interface */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Read chip-id of the BMI2 sensor */
+            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Validate chip-id */
+                if (chip_id == dev->chip_id)
+                {
+                    /* Assign resolution to the structure */
+                    dev->resolution = 16;
+
+                    /* Set manual enable flag */
+                    dev->aux_man_en = 1;
+
+                    /* Set the default values for axis
+                     *  re-mapping in the device structure
+                     */
+                    dev->remap = axes_remap;
+
+                    /* Perform soft-reset to bring all register values to their
+                     * default values
+                     */
+                    rslt = bmi2_soft_reset(dev);
+                }
+                else
+                {
+                    /* Storing the chip-id value read from
+                     * the register to identify the sensor
+                     */
+                    dev->chip_id = chip_id;
+                    rslt = BMI2_E_DEV_NOT_FOUND;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the data from the given register address of bmi2
+ * sensor.
+ *
+ * @note For most of the registers auto address increment applies, with the
+ * exception of a few special registers, which trap the address. For e.g.,
+ * Register address - 0x26, 0x5E.
+ */
+int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint16_t index = 0;
+
+    /* Variable to define temporary buffer */
+    uint8_t temp_buf[BMI2_MAX_LEN];
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (data != NULL))
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            reg_addr = (reg_addr | BMI2_SPI_RD_MASK);
+        }
+
+        dev->intf_rslt = dev->read(reg_addr, temp_buf, (len + dev->dummy_byte), dev->intf_ptr);
+
+        if (dev->aps_status == BMI2_ENABLE)
+        {
+            dev->delay_us(450, dev->intf_ptr);
+        }
+        else
+        {
+            dev->delay_us(2, dev->intf_ptr);
+        }
+
+        if (dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
+        {
+            /* Read the data from the position next to dummy byte */
+            while (index < len)
+            {
+                data[index] = temp_buf[index + dev->dummy_byte];
+                index++;
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes data to the given register address of bmi2 sensor.
+ */
+int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t* data, uint16_t len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    uint16_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (data != NULL))
+    {
+        /* Configuring reg_addr for SPI Interface */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            reg_addr = (reg_addr & BMI2_SPI_WR_MASK);
+        }
+
+        /* Writing Byte by byte and delay for Low power mode of the sensor is 450 us */
+        if (dev->aps_status == BMI2_ENABLE)
+        {
+            for (loop = 0; loop < len; loop++)
+            {
+                dev->intf_rslt = dev->write((uint8_t)((uint16_t)reg_addr + loop), &data[loop], 1, dev->intf_ptr);
+                dev->delay_us(BMI2_POWER_SAVE_MODE_DELAY_IN_US, dev->intf_ptr);
+                if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
+                {
+                    break;
+                }
+            }
+        }
+        /* Burst write and delay for Normal mode of the sensor is 2 us */
+        else
+        {
+            dev->intf_rslt = dev->write(reg_addr, data, len, dev->intf_ptr);
+            dev->delay_us(BMI2_NORMAL_MODE_DELAY_IN_US, dev->intf_ptr);
+        }
+
+        /* Updating the advance power saver flag */
+        if (reg_addr == BMI2_PWR_CONF_ADDR)
+        {
+            if (*data & BMI2_ADV_POW_EN_MASK)
+            {
+                dev->aps_status = BMI2_ENABLE;
+            }
+            else
+            {
+                dev->aps_status = BMI2_DISABLE;
+            }
+        }
+
+        if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
+        {
+            rslt = BMI2_E_COM_FAIL;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API resets bmi2 sensor. All registers are overwritten with
+ * their default values.
+ */
+int8_t bmi2_soft_reset(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define soft reset value */
+    uint8_t data = BMI2_SOFT_RESET_CMD;
+
+    /* Variable to read the dummy byte */
+    uint8_t dummy_read = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Reset bmi2 device */
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev);
+        dev->delay_us(2000, dev->intf_ptr);
+
+        /* Set APS flag as after soft reset the sensor is on advance power save mode */
+        dev->aps_status = BMI2_ENABLE;
+
+        /* Performing a dummy read to bring interface back to SPI from
+         * I2C after a soft-reset
+         */
+        if ((rslt == BMI2_OK) && (dev->intf == BMI2_SPI_INTF))
+        {
+            rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &dummy_read, 1, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Write the configuration file */
+            rslt = bmi2_write_config_file(dev);
+        }
+
+        /* Reset the sensor status flag in the device structure */
+        if (rslt == BMI2_OK)
+        {
+            dev->sens_en_stat = 0;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to get the config file major and minor version information.
+ */
+int8_t bmi2_get_config_file_version(uint8_t* config_major, uint8_t* config_minor, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* NULL pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config_major != NULL) && (config_minor != NULL))
+    {
+        /* Extract the config file identification from the dmr page and get the major and minor version */
+        rslt = extract_config_file(config_major, config_minor, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables the advance power save mode in the sensor.
+ */
+int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ADV_POW_EN, enable);
+            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+
+            if (rslt != BMI2_OK)
+            {
+                /* Return error if enable/disable APS fails */
+                rslt = BMI2_E_SET_APS_FAIL;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                dev->aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of advance power save mode in the sensor.
+ */
+int8_t bmi2_get_adv_power_save(uint8_t* aps_status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aps_status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            *aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
+            dev->aps_status = *aps_status;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API loads the configuration file into the bmi2 sensor.
+ */
+int8_t bmi2_write_config_file(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to know the load status */
+    uint8_t load_status = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (dev->config_size != 0))
+    {
+        /* Bytes written are multiples of 2 */
+        if ((dev->read_write_len % 2) != 0)
+        {
+            dev->read_write_len = dev->read_write_len - 1;
+        }
+
+        if (dev->read_write_len < 2)
+        {
+            dev->read_write_len = 2;
+        }
+
+        /* Write the configuration file */
+        rslt = write_config_file(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Check the configuration load status */
+            rslt = bmi2_get_internal_status(&load_status, dev);
+
+            load_status &= BMI2_CONFIG_LOAD_STATUS_MASK;
+
+            dev->load_status = load_status;
+
+            /* Return error if loading not successful */
+            if ((rslt == BMI2_OK) && (load_status != BMI2_CONFIG_LOAD_SUCCESS))
+            {
+                rslt = BMI2_E_CONFIG_LOAD;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ */
+int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config* int_cfg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data array */
+    uint8_t data_array[3] = {0};
+
+    /* Variable to store register data */
+    uint8_t reg_data = 0;
+
+    /* Variable to define type of interrupt pin  */
+    uint8_t int_pin = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_cfg != NULL))
+    {
+        /* Copy the pin type to a local variable */
+        int_pin = int_cfg->pin_type;
+        if ((int_pin > BMI2_INT_NONE) && (int_pin < BMI2_INT_PIN_MAX))
+        {
+            /* Get the previous configuration data */
+            rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Set interrupt pin 1 configuration */
+                if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
+                {
+                    /* Configure active low or high */
+                    reg_data = BMI2_SET_BITS(data_array[0], BMI2_INT_LEVEL, int_cfg->pin_cfg[0].lvl);
+
+                    /* Configure push-pull or open drain */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[0].od);
+
+                    /* Configure output enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[0].output_en);
+
+                    /* Configure input enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[0].input_en);
+
+                    /* Copy the data to be written in the respective array */
+                    data_array[0] = reg_data;
+                }
+
+                /* Set interrupt pin 2 configuration */
+                if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
+                {
+                    /* Configure active low or high */
+                    reg_data = BMI2_SET_BITS(data_array[1], BMI2_INT_LEVEL, int_cfg->pin_cfg[1].lvl);
+
+                    /* Configure push-pull or open drain */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[1].od);
+
+                    /* Configure output enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[1].output_en);
+
+                    /* Configure input enable */
+                    reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[1].input_en);
+
+                    /* Copy the data to be written in the respective array */
+                    data_array[1] = reg_data;
+                }
+
+                /* Configure the interrupt mode */
+                data_array[2] = BMI2_SET_BIT_POS0(data_array[2], BMI2_INT_LATCH, int_cfg->int_latch);
+
+                /* Set the configurations simultaneously as
+                 * INT1_IO_CTRL, INT2_IO_CTRL, and INT_LATCH lie
+                 * in consecutive addresses
+                 */
+                rslt = bmi2_set_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets:
+ *        1) The input output configuration of the selected interrupt pin:
+ *           INT1 or INT2.
+ *        2) The interrupt mode: permanently latched or non-latched.
+ */
+int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config* int_cfg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data array */
+    uint8_t data_array[3] = {0};
+
+    /* Variable to define type of interrupt pin  */
+    uint8_t int_pin = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_cfg != NULL))
+    {
+        /* Copy the pin type to a local variable */
+        int_pin = int_cfg->pin_type;
+
+        /* Get the previous configuration data */
+        rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get interrupt pin 1 configuration */
+            if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
+            {
+                /* Get active low or high */
+                int_cfg->pin_cfg[0].lvl = BMI2_GET_BITS(data_array[0], BMI2_INT_LEVEL);
+
+                /* Get push-pull or open drain */
+                int_cfg->pin_cfg[0].od = BMI2_GET_BITS(data_array[0], BMI2_INT_OPEN_DRAIN);
+
+                /* Get output enable */
+                int_cfg->pin_cfg[0].output_en = BMI2_GET_BITS(data_array[0], BMI2_INT_OUTPUT_EN);
+
+                /* Get input enable */
+                int_cfg->pin_cfg[0].input_en = BMI2_GET_BITS(data_array[0], BMI2_INT_INPUT_EN);
+            }
+
+            /* Get interrupt pin 2 configuration */
+            if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
+            {
+                /* Get active low or high */
+                int_cfg->pin_cfg[1].lvl = BMI2_GET_BITS(data_array[1], BMI2_INT_LEVEL);
+
+                /* Get push-pull or open drain */
+                int_cfg->pin_cfg[1].od = BMI2_GET_BITS(data_array[1], BMI2_INT_OPEN_DRAIN);
+
+                /* Get output enable */
+                int_cfg->pin_cfg[1].output_en = BMI2_GET_BITS(data_array[1], BMI2_INT_OUTPUT_EN);
+
+                /* Get input enable */
+                int_cfg->pin_cfg[1].input_en = BMI2_GET_BITS(data_array[1], BMI2_INT_INPUT_EN);
+            }
+
+            /* Get interrupt mode */
+            int_cfg->int_latch = BMI2_GET_BIT_POS0(data_array[2], BMI2_INT_LATCH);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the interrupt status of both feature and data
+ * interrupts
+ */
+int8_t bmi2_get_int_status(uint16_t* int_status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_status != NULL))
+    {
+        /* Get the interrupt status */
+        rslt = bmi2_get_regs(BMI2_INT_STATUS_0_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            *int_status = (uint16_t)data_array[0] | ((uint16_t)data_array[1] << 8);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi2_sensor_enable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi2_sensor_disable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi2_set_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for auxiliary
+             * and feature configurations
+             */
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if
+                 * enabled
+                 */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (sens_cfg[loop].type)
+                {
+                /* Set accelerometer configuration */
+                case BMI2_ACCEL:
+                    rslt = set_accel_config(&sens_cfg[loop].cfg.acc, dev);
+                    break;
+
+                /* Set gyroscope configuration */
+                case BMI2_GYRO:
+                    rslt = set_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
+                    break;
+
+                /* Set auxiliary configuration */
+                case BMI2_AUX:
+                    rslt = set_aux_config(&sens_cfg[loop].cfg.aux, dev);
+                    break;
+
+                /* Set gyroscope user gain configuration */
+                case BMI2_GYRO_GAIN_UPDATE:
+                    rslt = set_gyro_user_gain_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
+                    break;
+
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+                }
+            }
+
+            /* Return error if any of the set configurations fail */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi2_get_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for auxiliary
+             * and feature configurations
+             */
+            if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+            {
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (sens_cfg[loop].type)
+                {
+                /* Get accelerometer configuration */
+                case BMI2_ACCEL:
+                    rslt = get_accel_config(&sens_cfg[loop].cfg.acc, dev);
+                    break;
+
+                /* Get gyroscope configuration */
+                case BMI2_GYRO:
+                    rslt = get_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
+                    break;
+
+                /* Get auxiliary configuration */
+                case BMI2_AUX:
+                    rslt = get_aux_config(&sens_cfg[loop].cfg.aux, dev);
+                    break;
+
+                /* Get gyroscope user gain configuration */
+                case BMI2_GYRO_GAIN_UPDATE:
+                    rslt = get_gyro_gain_update_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
+                    break;
+
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+                }
+            }
+
+            /* Return error if any of the get configurations fail */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the feature data gyroscope user-gain update and gyroscope cross sensitivity.
+ */
+int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data* feat_sensor_data, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (feat_sensor_data != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            /* Disable Advance power save if enabled for feature
+             * configurations
+             */
+            if (feat_sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
+            {
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                switch (feat_sensor_data[loop].type)
+                {
+                case BMI2_GYRO_CROSS_SENSE:
+
+                    /* Get Gyroscope cross sense value of z axis */
+                    rslt = get_gyro_cross_sense(&feat_sensor_data[loop].sens_data.correction_factor_zx, dev);
+                    break;
+
+                case BMI2_GYRO_GAIN_UPDATE:
+
+                    /* Get saturation status of gyroscope user gain update  */
+                    rslt =
+                        get_gyro_gain_update_status(&feat_sensor_data[loop].sens_data.gyro_user_gain_status, dev);
+                    break;
+                default:
+                    rslt = BMI2_E_INVALID_SENSOR;
+                    break;
+                }
+
+                /* Return error if any of the get sensor data fails */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor data for accelerometer, gyroscope,
+ * auxiliary sensor with sensortime
+ */
+int8_t bmi2_get_sensor_data(struct bmi2_sens_data* data, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to hold register sensor data */
+    uint8_t sensor_data[BMI2_ACC_GYR_AUX_SENSORTIME_NUM_BYTES];
+
+    /* Null-pointer check */
+    if (data != NULL)
+    {
+        rslt = bmi2_get_regs(BMI2_STATUS_ADDR, sensor_data, BMI2_ACC_GYR_AUX_SENSORTIME_NUM_BYTES, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_parse_sensor_data(sensor_data, data, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the raw temperature data from the register and can be
+ * converted into degree celsius.
+ */
+int8_t bmi2_get_temperature_data(uint16_t* temp_data, struct bmi2_dev* dev)
+{
+    /* Variable to store result of API */
+    int8_t rslt;
+
+    /* Array to define data stored in register */
+    uint8_t reg_data[2] = {0};
+
+    if (temp_data != NULL)
+    {
+        /* Read the sensor data */
+        rslt = bmi2_get_regs(BMI2_TEMPERATURE_0_ADDR, reg_data, 2, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            *temp_data = (uint16_t)(reg_data[0] | ((uint16_t)reg_data[1] << 8));
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses the sensor data for accelerometer, gyroscope,
+ * auxiliary sensor with sensortime
+ */
+int8_t bmi2_parse_sensor_data(const uint8_t* sensor_data, struct bmi2_sens_data* data, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variables to define loop */
+    uint8_t count = 0;
+
+    uint8_t index = 0;
+
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    rslt = null_ptr_check(dev);
+
+    if ((rslt == BMI2_OK) && (data != NULL))
+    {
+        /* Update auxiliary sensor data length */
+        index = BMI2_AUX_START_INDEX;
+
+        /* Get the 8 bytes of auxiliary data */
+        do
+        {
+            *(data->aux_data + count++) = (sensor_data[index++]);
+        } while (count < BMI2_AUX_NUM_BYTES);
+
+        /* Update accelerometer sensor data length */
+        index = BMI2_ACC_START_INDEX;
+
+        /* Get accelerometer data from the register */
+        get_acc_gyr_data(&data->acc, &sensor_data[index]);
+
+        /* Get the re-mapped accelerometer data */
+        get_remapped_data(&data->acc, dev);
+
+        /* Update gyroscope sensor data length */
+        index = BMI2_GYR_START_INDEX;
+
+        /* Get gyroscope data from the register */
+        get_acc_gyr_data(&data->gyr, &sensor_data[index]);
+
+        /* Get the compensated gyroscope data */
+        comp_gyro_cross_axis_sensitivity(&data->gyr, dev);
+
+        /* Get the re-mapped gyroscope data */
+        get_remapped_data(&data->gyr, dev);
+
+        sensor_time_byte3 = sensor_data[BMI2_PARSE_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = sensor_data[BMI2_PARSE_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = sensor_data[BMI2_PARSE_SENSOR_TIME_LSB_BYTE];
+
+        data->sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+        /* Store status register value in structure */
+        data->status = sensor_data[BMI2_STATUS_INDEX];
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
+ */
+int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = {0};
+    uint8_t max_burst_len = 0;
+
+    /* Variable to store data of FIFO configuration register 0 */
+    uint8_t fifo_config_0 = (uint8_t)(config & BMI2_FIFO_CONFIG_0_MASK);
+
+    /* Variable to store data of FIFO configuration register 1 */
+    uint8_t fifo_config_1 = (uint8_t)((config & BMI2_FIFO_CONFIG_1_MASK) >> 8);
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get data to set FIFO configuration register 0 */
+            if (fifo_config_0 > 0)
+            {
+                if (enable == BMI2_ENABLE)
+                {
+                    data[0] = data[0] | fifo_config_0;
+                }
+                else
+                {
+                    data[0] = data[0] & (~fifo_config_0);
+                }
+            }
+
+            /* Get data to set FIFO configuration register 1 */
+            if (enable == BMI2_ENABLE)
+            {
+                data[1] = data[1] | fifo_config_1;
+                if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
+                {
+                    /* Burst length is needed for CRT
+                     *  FIFO enable will reset the default values
+                     *  So configure the max burst length again.
+                     */
+                    rslt = get_maxburst_len(&max_burst_len, dev);
+                    if (rslt == BMI2_OK && max_burst_len == 0)
+                    {
+                        rslt = set_maxburst_len(BMI2_CRT_MIN_BURST_WORD_LENGTH, dev);
+                    }
+                }
+            }
+            else
+            {
+                data[1] = data[1] & (~fifo_config_1);
+            }
+
+            /* Set the FIFO configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_regs(BMI2_FIFO_CONFIG_0_ADDR, data, 2, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO configuration from the sensor.
+ */
+int8_t bmi2_get_fifo_config(uint16_t* fifo_config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_config != NULL))
+    {
+        /* Get the FIFO configuration value */
+        rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_config) = (uint16_t)((uint16_t)data[0] & BMI2_FIFO_CONFIG_0_MASK);
+            (*fifo_config) |= (uint16_t)(((uint16_t)data[1] << 8) & BMI2_FIFO_CONFIG_1_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO data.
+ * NOTE : Dummy byte (for SPI Interface) required for FIFO data read
+ * must be given as part of data pointer in struct bmi2_fifo_frame
+ */
+int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame* fifo, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store FIFO configuration data */
+    uint8_t config_data[2] = {0};
+
+    /* Variable to define FIFO address */
+    uint8_t addr = BMI2_FIFO_DATA_ADDR;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo != NULL))
+    {
+        /* Clear the FIFO data structure */
+        rslt = reset_fifo_frame_structure(fifo, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Configuring reg_addr for SPI Interface */
+            if (dev->intf == BMI2_SPI_INTF)
+            {
+                addr = (addr | BMI2_SPI_RD_MASK);
+            }
+
+            /* Read FIFO data */
+            dev->intf_rslt = dev->read(addr, fifo->data, (uint32_t)fifo->length, dev->intf_ptr);
+
+            /* Provide delay based on advanced power saving mode status */
+            if (dev->aps_status == BMI2_ENABLE)
+            {
+                dev->delay_us(450, dev->intf_ptr);
+            }
+            else
+            {
+                dev->delay_us(2, dev->intf_ptr);
+            }
+
+            /* If interface read fails, update rslt variable with communication failure */
+            if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
+            {
+                rslt = BMI2_E_COM_FAIL;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Get the set FIFO frame configurations */
+                rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Get FIFO header status */
+                    fifo->header_enable = (uint8_t)((config_data[1]) & (BMI2_FIFO_HEADER_EN >> 8));
+
+                    /* Get sensor enable status, of which the data is to be read */
+                    fifo->data_enable =
+                        (uint16_t)(((config_data[0]) | ((uint16_t)config_data[1] << 8)) & BMI2_FIFO_ALL_EN);
+                }
+            }
+            else
+            {
+                rslt = BMI2_E_COM_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the accelerometer frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in the "accel_data"
+ * structure instance.
+ */
+int8_t bmi2_extract_accel(struct bmi2_sens_axes_data* accel_data, uint16_t* accel_length, struct bmi2_fifo_frame* fifo,
+                          const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+
+    if ((rslt == BMI2_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL))
+    {
+        /* Check if this is the first iteration of data unpacking
+         * if yes, then consider dummy byte on SPI
+         */
+        if (fifo->acc_byte_start_idx == 0)
+        {
+            /* Dummy byte included */
+            fifo->acc_byte_start_idx = dev->dummy_byte;
+        }
+
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+            /* Parsing the FIFO data in headerless mode */
+            rslt = extract_accel_headerless_mode(accel_data, accel_length, fifo, dev);
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_accel_header_mode(accel_data, accel_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the gyroscope frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in the "gyro_data"
+ * structure instance.
+ */
+int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data* gyro_data, uint16_t* gyro_length, struct bmi2_fifo_frame* fifo,
+                         const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyro_data != NULL) && (gyro_length != NULL) && (fifo != NULL))
+    {
+        /* Check if this is the first iteration of data unpacking
+         * if yes, then consider dummy byte on SPI
+         */
+        if (fifo->gyr_byte_start_idx == 0)
+        {
+            /* Dummy byte included */
+            fifo->gyr_byte_start_idx = dev->dummy_byte;
+        }
+
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+            /* Parsing the FIFO data in headerless mode */
+            rslt = extract_gyro_headerless_mode(gyro_data, gyro_length, fifo, dev);
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_gyro_header_mode(gyro_data, gyro_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API parses and extracts the auxiliary frames from FIFO data
+ * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
+ */
+int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data* aux, uint16_t* aux_length, struct bmi2_fifo_frame* fifo,
+                        const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux != NULL) && (aux_length != NULL) && (fifo != NULL))
+    {
+        /* Check if this is the first iteration of data unpacking
+         * if yes, then consider dummy byte on SPI
+         */
+        if (fifo->aux_byte_start_idx == 0)
+        {
+            /* Dummy byte included */
+            fifo->aux_byte_start_idx = dev->dummy_byte;
+        }
+
+        /* Parsing the FIFO data in header-less mode */
+        if (fifo->header_enable == 0)
+        {
+            /* Parsing the FIFO data in headerless mode */
+            rslt = extract_aux_headerless_mode(aux, aux_length, fifo, dev);
+        }
+        else
+        {
+            /* Parsing the FIFO data in header mode */
+            rslt = extract_aux_header_mode(aux, aux_length, fifo, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the available sensor specific commands to the sensor.
+ */
+int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set the command in the command register */
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &command, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the FIFO self wake up functionality in the sensor.
+ */
+int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set FIFO self wake-up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            data = BMI2_SET_BITS(data, BMI2_FIFO_SELF_WAKE_UP, fifo_self_wake_up);
+            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of FIFO self wake up functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_fifo_self_wake_up(uint8_t* fifo_self_wake_up, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_self_wake_up != NULL))
+    {
+        /* Get the status of FIFO self wake-up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_self_wake_up) = BMI2_GET_BITS(data, BMI2_FIFO_SELF_WAKE_UP);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets which error flag will trigger the error interrupt once enabled.
+ */
+int8_t bmi2_set_err_reg_mask(uint8_t err_reg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get Error interrupt mask */
+        rslt = bmi2_get_regs(BMI2_ERR_REG_MSK_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set Error interrupt mask */
+            data = BMI2_SET_BIT_POS0(data, BMI2_ERR_REG_READ, err_reg);
+            rslt = bmi2_set_regs(BMI2_ERR_REG_MSK_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API gets which error flag will trigger the error interrupt once enabled.
+ */
+int8_t bmi2_get_err_reg_mask(uint8_t* err_reg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check mask */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (err_reg != NULL))
+    {
+        /* Get Error interrupt mask */
+        rslt = bmi2_get_regs(BMI2_ERR_REG_MSK_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*err_reg) = BMI2_GET_BIT_POS0(data, BMI2_ERR_REG_READ);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the Fast power up functionality in the sensor.
+ */
+int8_t bmi2_set_fast_power_up(uint8_t fast_power_up, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get fast power up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set fast power up */
+            data = BMI2_SET_BITS(data, BMI2_FUP_EN, fast_power_up);
+            rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of Fast power up functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_fast_power_up(uint8_t* fast_power_up, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fast_power_up != NULL))
+    {
+        /* Get the status of Fast power up */
+        rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fast_power_up) = BMI2_GET_BITS(data, BMI2_FUP_EN);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the SPI enable in the sensor.
+ */
+int8_t bmi2_set_spi_en(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get spi enable */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set spi enable */
+            data = BMI2_SET_BIT_POS0(data, BMI2_NV_SPI_EN, enable);
+            rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of SPI enable functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_spi_en(uint8_t* enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (enable != NULL))
+    {
+        /* Get the status of spi enable */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*enable) = BMI2_GET_BIT_POS0(data, BMI2_NV_SPI_EN);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the i2c watchdog enable in the sensor.
+ */
+int8_t bmi2_set_i2c_wdt_en(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get i2c watchdog enable */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set i2c watchdog enable */
+            data = BMI2_SET_BITS(data, BMI2_NV_I2C_WD_EN, enable);
+            rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of i2c watchdog enable functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_i2c_wdt_en(uint8_t* enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (enable != NULL))
+    {
+        /* Get the status of i2c watchdog enable */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*enable) = BMI2_GET_BITS(data, BMI2_NV_I2C_WD_EN);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the i2c watchdog select in the sensor.
+ */
+int8_t bmi2_set_i2c_wdt_sel(uint8_t watchdog_select, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get i2c watchdog select */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set i2c watchdog select */
+            data = BMI2_SET_BITS(data, BMI2_NV_I2C_WD_SEL, watchdog_select);
+            rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of i2c watchdog select functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_i2c_wdt_sel(uint8_t* watchdog_select, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (watchdog_select != NULL))
+    {
+        /* Get the status of i2c watchdog select */
+        rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*watchdog_select) = BMI2_GET_BITS(data, BMI2_NV_I2C_WD_SEL);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*
+ * @brief This API sets the drive strength in the sensor.
+ */
+int8_t bmi2_set_drv_reg(uint8_t drv_reg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get drive strength */
+        rslt = bmi2_get_regs(BMI2_DRV_STR_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set drive strength */
+            data = BMI2_SET_BIT_POS0(data, BMI2_DRV_STR, drv_reg);
+            rslt = bmi2_set_regs(BMI2_DRV_STR_ADDR, &data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of drive strength functionality from
+ * the sensor.
+ */
+int8_t bmi2_get_drv_reg(uint8_t* drv_reg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (drv_reg != NULL))
+    {
+        /* Get the status of drive strength */
+        rslt = bmi2_get_regs(BMI2_DRV_STR_ADDR, &data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*drv_reg) = BMI2_GET_BIT_POS0(data, BMI2_DRV_STR);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the FIFO water-mark level in the sensor.
+ */
+int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get LSB value of FIFO water-mark */
+        data[0] = BMI2_GET_LSB(fifo_wm);
+
+        /* Get MSB value of FIFO water-mark */
+        data[1] = BMI2_GET_MSB(fifo_wm);
+
+        /* Set the FIFO water-mark level */
+        rslt = bmi2_set_regs(BMI2_FIFO_WTM_0_ADDR, data, 2, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the FIFO water mark level set in the sensor.
+ */
+int8_t bmi2_get_fifo_wm(uint16_t* fifo_wm, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to to store data */
+    uint8_t data[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_wm != NULL))
+    {
+        /* Read the FIFO water mark level */
+        rslt = bmi2_get_regs(BMI2_FIFO_WTM_0_ADDR, data, BMI2_FIFO_WM_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*fifo_wm) = (uint16_t)((uint16_t)data[1] << 8) | (data[0]);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets either filtered or un-filtered FIFO accelerometer or
+ * gyroscope data.
+ */
+int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        switch (sens_sel)
+        {
+        case BMI2_ACCEL:
+
+            /* Validate filter mode */
+            if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
+            {
+                /* Set the accelerometer FIFO filter data */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_FILT_DATA, fifo_filter_data);
+                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                }
+            }
+            else
+            {
+                rslt = BMI2_E_OUT_OF_RANGE;
+            }
+
+            break;
+        case BMI2_GYRO:
+
+            /* Validate filter mode */
+            if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
+            {
+                /* Set the gyroscope FIFO filter data */
+                rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    data = BMI2_SET_BITS(data, BMI2_GYR_FIFO_FILT_DATA, fifo_filter_data);
+                    rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+                }
+            }
+            else
+            {
+                rslt = BMI2_E_OUT_OF_RANGE;
+            }
+
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the FIFO accelerometer or gyroscope filter data.
+ */
+int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t* fifo_filter_data, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store FIFO filter mode */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_filter_data != NULL))
+    {
+        switch (sens_sel)
+        {
+        case BMI2_ACCEL:
+
+            /* Read the accelerometer FIFO filter data */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_FILT_DATA);
+            }
+
+            break;
+        case BMI2_GYRO:
+
+            /* Read the gyroscope FIFO filter data */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_GYR_FIFO_FILT_DATA);
+            }
+
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the down-sampling rates for accelerometer or gyroscope
+ * FIFO data.
+ */
+int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store sampling rate */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        switch (sens_sel)
+        {
+        case BMI2_ACCEL:
+
+            /* Set the accelerometer FIFO down sampling rate */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_DOWNS, fifo_down_samp);
+                rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            }
+
+            break;
+        case BMI2_GYRO:
+
+            /* Set the gyroscope FIFO down sampling rate */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                data = BMI2_SET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS, fifo_down_samp);
+                rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            }
+
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the down sampling rates which is configured for
+ * accelerometer or gyroscope FIFO data.
+ */
+int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t* fifo_down_samp, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store sampling rate */
+    uint8_t data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_down_samp != NULL))
+    {
+        switch (sens_sel)
+        {
+        case BMI2_ACCEL:
+
+            /* Read the accelerometer FIFO down data sampling rate */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                (*fifo_down_samp) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_DOWNS);
+            }
+
+            break;
+        case BMI2_GYRO:
+
+            /* Read the gyroscope FIFO down data sampling rate */
+            rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                (*fifo_down_samp) = BMI2_GET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS);
+            }
+
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the length of FIFO data available in the sensor in
+ * bytes.
+ */
+int8_t bmi2_get_fifo_length(uint16_t* fifo_length, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define byte index */
+    uint8_t index = 0;
+
+    /* Array to store FIFO data length */
+    uint8_t data[BMI2_FIFO_DATA_LENGTH] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (fifo_length != NULL))
+    {
+        /* Read FIFO length */
+        rslt = bmi2_get_regs(BMI2_FIFO_LENGTH_0_ADDR, data, BMI2_FIFO_DATA_LENGTH, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the MSB byte index */
+            index = BMI2_FIFO_LENGTH_MSB_BYTE;
+
+            /* Get the MSB byte of FIFO length */
+            data[index] = BMI2_GET_BIT_POS0(data[index], BMI2_FIFO_BYTE_COUNTER_MSB);
+
+            /* Get total FIFO length */
+            (*fifo_length) = ((data[index] << 8) | data[index - 1]);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the user-defined bytes of data from the given register
+ * address of auxiliary sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
+ */
+int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t* aux_data, uint16_t len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store burst length */
+    uint8_t burst_len = 0;
+
+    /* Variable to define APS status */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux_data != NULL))
+    {
+        /* Validate if manual mode */
+        if (dev->aux_man_en)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable APS if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Map the register value set to that of burst
+                 * length
+                 */
+                rslt = map_read_len(&burst_len, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Read auxiliary data */
+                    rslt = read_aux_data(reg_addr, aux_data, len, burst_len, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled for reading
+             * data and not when already disabled
+             */
+            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_AUX_INVALID_CFG;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the user-defined bytes of data and the address of
+ * auxiliary sensor where data is to be written in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ */
+int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t* aux_data, uint16_t len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to define APS status */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (aux_data != NULL))
+    {
+        /* Validate if manual mode */
+        if (dev->aux_man_en)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable APS if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Byte write data in the corresponding address */
+            if (rslt == BMI2_OK)
+            {
+                for (; ((loop < len) && (rslt == BMI2_OK)); loop++)
+                {
+                    rslt = write_aux_data((reg_addr + loop), aux_data[loop], dev);
+                    dev->delay_us(1000, dev->intf_ptr);
+                }
+            }
+
+            /* Enable Advance power save if disabled for writing
+             * data and not when already disabled
+             */
+            if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_AUX_INVALID_CFG;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the data ready status of accelerometer, gyroscope,
+ * auxiliary, command decoder and busy status of auxiliary.
+ */
+int8_t bmi2_get_status(uint8_t* status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_STATUS_ADDR, status, 1, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables OIS interface.
+ */
+int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable/Disable OIS interface */
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_OIS_IF_EN, enable);
+            if (enable)
+            {
+                /* Disable auxiliary interface if OIS is enabled */
+                reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_IF_EN);
+            }
+
+            /* Set the OIS interface configurations */
+            rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the configuration for SPI3 interface mode.
+ */
+int8_t bmi2_set_spi3_interface_mode(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the SPI3 Mode  configurations */
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* SPI3 Mode interface config */
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_SPI3_MODE, enable);
+
+            /* Set the SPI3 Mode  configurations */
+            rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the configuration for SPI3 interface mode.
+ */
+int8_t bmi2_get_spi3_interface_mode(uint8_t* enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (enable != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get SPI3 Mode interface config */
+            (*enable) = BMI2_GET_BIT_POS0(reg_data, BMI2_SPI3_MODE);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the configuration for SPI3 OIS interface mode.
+ */
+int8_t bmi2_set_spi3_ois_mode(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the SPI3 ois  configurations */
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* SPI3 ois interface config */
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_SPI3_OIS, enable);
+
+            /* Set the SPI3 ois  configurations */
+            rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the configuration for SPI3 OIS interface mode.
+ */
+int8_t bmi2_get_spi3_ois_mode(uint8_t* enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (enable != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get SPI3 Mode interface config */
+            (*enable) = BMI2_GET_BITS(reg_data, BMI2_SPI3_OIS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the internal error status of the sensor.
+ */
+int8_t bmi2_get_internal_error_status(uint8_t* status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_INTERNAL_ERR_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get internal error status */
+            (*status) = BMI2_GET_BIT_POS0(reg_data, BMI2_INTERNAL_ERROR_REG);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets saturation status of the sensor.
+ */
+int8_t bmi2_get_saturation_status(uint8_t* status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (status != NULL))
+    {
+        rslt = bmi2_get_regs(BMI2_SATURATION_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get saturation status */
+            (*status) = BMI2_GET_BIT_POS0(reg_data, BMI2_SATURATION_REG);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API can be used to write sync commands like ODR, sync period,
+ * frequency and phase, resolution ratio, sync time and delay time.
+ */
+int8_t bmi2_write_sync_commands(const uint8_t* command, uint8_t n_comm, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (command != NULL))
+    {
+        rslt = bmi2_set_regs(BMI2_SYNC_COMMAND_ADDR, command, n_comm, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs self-test to check the proper functionality of the
+ * accelerometer sensor.
+ */
+int8_t bmi2_perform_accel_self_test(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store self-test result */
+    int8_t st_rslt = 0;
+
+    /* Structure to define positive accelerometer axes */
+    struct bmi2_sens_axes_data positive = {0, 0, 0, 0};
+
+    /* Structure to define negative accelerometer axes */
+    struct bmi2_sens_axes_data negative = {0, 0, 0, 0};
+
+    /* Structure for difference of accelerometer values in g */
+    struct bmi2_selftest_delta_limit accel_data_diff = {0, 0, 0};
+
+    /* Structure for difference of accelerometer values in mg */
+    struct bmi2_selftest_delta_limit accel_data_diff_mg = {0, 0, 0};
+
+    /* Initialize the polarity of self-test as positive */
+    int8_t sign = BMI2_ENABLE;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Sets the configuration required before enabling self-test */
+        rslt = pre_self_test_config(dev);
+
+        /* Wait for greater than 2 milliseconds */
+        dev->delay_us(3000, dev->intf_ptr);
+        if (rslt == BMI2_OK)
+        {
+            do
+            {
+                /* Select positive first, then negative polarity
+                 * after enabling self-test
+                 */
+                rslt = self_test_config((uint8_t)sign, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Wait for greater than 50 milli-sec */
+                    dev->delay_us(51000, dev->intf_ptr);
+
+                    /* If polarity is positive */
+                    if (sign == BMI2_ENABLE)
+                    {
+                        /* Read and store positive acceleration value */
+                        rslt = read_accel_xyz(&positive, dev);
+                    }
+                    /* If polarity is negative */
+                    else if (sign == BMI2_DISABLE)
+                    {
+                        /* Read and store negative acceleration value */
+                        rslt = read_accel_xyz(&negative, dev);
+                    }
+                }
+                else
+                {
+                    /* Break if error */
+                    break;
+                }
+
+                /* Break if error */
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+
+                /* Turn the polarity of self-test negative */
+                sign--;
+            } while (sign >= 0);
+            if (rslt == BMI2_OK)
+            {
+                /* Subtract -ve acceleration values from that of +ve values */
+                accel_data_diff.x = (positive.x) - (negative.x);
+                accel_data_diff.y = (positive.y) - (negative.y);
+                accel_data_diff.z = (positive.z) - (negative.z);
+
+                /* Convert differences of acceleration values
+                 * from 'g' to 'mg'
+                 */
+                convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev);
+
+                /* Validate self-test for acceleration values
+                 * in mg and get the self-test result
+                 */
+                st_rslt = validate_self_test(&accel_data_diff_mg);
+
+                /* Trigger a soft reset after performing self-test */
+                rslt = bmi2_soft_reset(dev);
+
+                /* Return the self-test result */
+                if (rslt == BMI2_OK)
+                {
+                    rslt = st_rslt;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define the value of feature interrupts */
+    uint8_t feat_int = 0;
+
+    /* Array to store the interrupt mask bits */
+    uint8_t data_array[2] = {0};
+
+    /* Structure to define map the interrupts */
+    struct bmi2_map_int map_int = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Read interrupt map1 and map2 and register */
+        rslt = bmi2_get_regs(BMI2_INT1_MAP_FEAT_ADDR, data_array, 2, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the value of the feature interrupt to be mapped */
+            extract_feat_int_map(&map_int, type, dev);
+
+            feat_int = map_int.sens_map_int;
+
+            /* Map the interrupts */
+            rslt = map_feat_int(data_array, hw_int_pin, feat_int);
+
+            /* Map the interrupts to INT1 and INT2 map register */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_regs(BMI2_INT1_MAP_FEAT_ADDR, &data_array[0], 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    rslt = bmi2_set_regs(BMI2_INT2_MAP_FEAT_ADDR, &data_array[1], 1, dev);
+                }
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/un-maps data interrupts to that of interrupt pins.
+ */
+int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to mask interrupt pin 1 - lower nibble */
+    uint8_t int1_mask = data_int;
+
+    /* Variable to mask interrupt pin 2 - higher nibble */
+    uint8_t int2_mask = (uint8_t)(data_int << 4);
+
+    /* Variable to store register data */
+    uint8_t reg_data = 0;
+
+    /* Read interrupt map1 and map2 and register */
+    rslt = bmi2_get_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        if (int_pin < BMI2_INT_PIN_MAX)
+        {
+            switch (int_pin)
+            {
+            case BMI2_INT_NONE:
+
+                /* Un-Map the corresponding data
+                 * interrupt to both interrupt pin 1 and 2
+                 */
+                reg_data &= ~(int1_mask | int2_mask);
+                break;
+            case BMI2_INT1:
+
+                /* Map the corresponding data interrupt to
+                 * interrupt pin 1
+                 */
+                reg_data |= int1_mask;
+                break;
+            case BMI2_INT2:
+
+                /* Map the corresponding data interrupt to
+                 * interrupt pin 2
+                 */
+                reg_data |= int2_mask;
+                break;
+            case BMI2_INT_BOTH:
+
+                /* Map the corresponding data
+                 * interrupt to both interrupt pin 1 and 2
+                 */
+                reg_data |= (int1_mask | int2_mask);
+                break;
+            default:
+                break;
+            }
+
+            /* Set the interrupts in the map register */
+            rslt = bmi2_set_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
+        }
+        else
+        {
+            /* Return error if invalid pin selection */
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the re-mapped x, y and z axes from the sensor and
+ * updates the values in the device structure.
+ */
+int8_t bmi2_get_remap_axes(struct bmi2_remap* remapped_axis, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Initialize the local structure for axis re-mapping */
+    struct bmi2_axes_remap remap = {0, 0, 0, 0, 0, 0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
+    {
+        /* Get the re-mapped axes from the sensor */
+        rslt = get_remap_axes(&remap, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Store the re-mapped x-axis value in device structure
+             * and its user-value in the interface structure
+             */
+            switch (remap.x_axis)
+            {
+            case BMI2_MAP_X_AXIS:
+
+                /* If mapped to x-axis */
+                dev->remap.x_axis = BMI2_MAP_X_AXIS;
+                remapped_axis->x = BMI2_X;
+                break;
+            case BMI2_MAP_Y_AXIS:
+
+                /* If mapped to y-axis */
+                dev->remap.x_axis = BMI2_MAP_Y_AXIS;
+                remapped_axis->x = BMI2_Y;
+                break;
+            case BMI2_MAP_Z_AXIS:
+
+                /* If mapped to z-axis */
+                dev->remap.x_axis = BMI2_MAP_Z_AXIS;
+                remapped_axis->x = BMI2_Z;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped x-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.x_axis_sign)
+            {
+                /* If x-axis is mapped to -ve sign */
+                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->x |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.x_axis_sign = BMI2_POS_SIGN;
+            }
+
+            /* Store the re-mapped y-axis value in device structure
+             *  and its user-value in the interface structure
+             */
+            switch (remap.y_axis)
+            {
+            case BMI2_MAP_X_AXIS:
+
+                /* If mapped to x-axis */
+                dev->remap.y_axis = BMI2_MAP_X_AXIS;
+                remapped_axis->y = BMI2_X;
+                break;
+            case BMI2_MAP_Y_AXIS:
+
+                /* If mapped to y-axis */
+                dev->remap.y_axis = BMI2_MAP_Y_AXIS;
+                remapped_axis->y = BMI2_Y;
+                break;
+            case BMI2_MAP_Z_AXIS:
+
+                /* If mapped to z-axis */
+                dev->remap.y_axis = BMI2_MAP_Z_AXIS;
+                remapped_axis->y = BMI2_Z;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped y-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.y_axis_sign)
+            {
+                /* If y-axis is mapped to -ve sign */
+                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->y |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.y_axis_sign = BMI2_POS_SIGN;
+            }
+
+            /* Store the re-mapped z-axis value in device structure
+             *  and its user-value in the interface structure
+             */
+            switch (remap.z_axis)
+            {
+            case BMI2_MAP_X_AXIS:
+
+                /* If mapped to x-axis */
+                dev->remap.z_axis = BMI2_MAP_X_AXIS;
+                remapped_axis->z = BMI2_X;
+                break;
+            case BMI2_MAP_Y_AXIS:
+
+                /* If mapped to y-axis */
+                dev->remap.z_axis = BMI2_MAP_Y_AXIS;
+                remapped_axis->z = BMI2_Y;
+                break;
+            case BMI2_MAP_Z_AXIS:
+
+                /* If mapped to z-axis */
+                dev->remap.z_axis = BMI2_MAP_Z_AXIS;
+                remapped_axis->z = BMI2_Z;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped z-axis sign in device structure
+             * and its user-value in the interface structure
+             */
+            if (remap.z_axis_sign)
+            {
+                /* If z-axis is mapped to -ve sign */
+                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
+                remapped_axis->z |= BMI2_AXIS_SIGN;
+            }
+            else
+            {
+                dev->remap.z_axis_sign = BMI2_POS_SIGN;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the re-mapped x, y and z axes to the sensor and
+ * updates the them in the device structure.
+ */
+int8_t bmi2_set_remap_axes(const struct bmi2_remap* remapped_axis, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store all the re-mapped axes */
+    uint8_t remap_axes = 0;
+
+    /* Variable to store the re-mapped x-axes */
+    uint8_t remap_x = 0;
+
+    /* Variable to store the re-mapped y-axes */
+    uint8_t remap_y = 0;
+
+    /* Variable to store the re-mapped z-axes */
+    uint8_t remap_z = 0;
+
+    /* Initialize the local structure for axis re-mapping */
+    struct bmi2_axes_remap remap = {0, 0, 0, 0, 0, 0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (remapped_axis != NULL))
+    {
+        /* Check whether all the axes are re-mapped */
+        remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z;
+
+        /* If all the axes are re-mapped */
+        if ((remap_axes & BMI2_AXIS_MASK) == BMI2_AXIS_MASK)
+        {
+            /* Get the re-mapped value of x, y and z axis */
+            remap_x = remapped_axis->x & BMI2_AXIS_MASK;
+            remap_y = remapped_axis->y & BMI2_AXIS_MASK;
+            remap_z = remapped_axis->z & BMI2_AXIS_MASK;
+
+            /* Store the value of re-mapped x-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_x)
+            {
+            case BMI2_X:
+
+                /* If mapped to x-axis */
+                dev->remap.x_axis = BMI2_MAP_X_AXIS;
+                remap.x_axis = BMI2_MAP_X_AXIS;
+                break;
+            case BMI2_Y:
+
+                /* If mapped to y-axis */
+                dev->remap.x_axis = BMI2_MAP_Y_AXIS;
+                remap.x_axis = BMI2_MAP_Y_AXIS;
+                break;
+            case BMI2_Z:
+
+                /* If mapped to z-axis */
+                dev->remap.x_axis = BMI2_MAP_Z_AXIS;
+                remap.x_axis = BMI2_MAP_Z_AXIS;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped x-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->x & BMI2_AXIS_SIGN)
+            {
+                /* If x-axis is mapped to -ve sign */
+                dev->remap.x_axis_sign = BMI2_NEG_SIGN;
+                remap.x_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.x_axis_sign = BMI2_POS_SIGN;
+                remap.x_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Store the value of re-mapped y-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_y)
+            {
+            case BMI2_X:
+
+                /* If mapped to x-axis */
+                dev->remap.y_axis = BMI2_MAP_X_AXIS;
+                remap.y_axis = BMI2_MAP_X_AXIS;
+                break;
+            case BMI2_Y:
+
+                /* If mapped to y-axis */
+                dev->remap.y_axis = BMI2_MAP_Y_AXIS;
+                remap.y_axis = BMI2_MAP_Y_AXIS;
+                break;
+            case BMI2_Z:
+
+                /* If mapped to z-axis */
+                dev->remap.y_axis = BMI2_MAP_Z_AXIS;
+                remap.y_axis = BMI2_MAP_Z_AXIS;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped y-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->y & BMI2_AXIS_SIGN)
+            {
+                /* If y-axis is mapped to -ve sign */
+                dev->remap.y_axis_sign = BMI2_NEG_SIGN;
+                remap.y_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.y_axis_sign = BMI2_POS_SIGN;
+                remap.y_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Store the value of re-mapped z-axis in both
+             * device structure and the local structure
+             */
+            switch (remap_z)
+            {
+            case BMI2_X:
+
+                /* If mapped to x-axis */
+                dev->remap.z_axis = BMI2_MAP_X_AXIS;
+                remap.z_axis = BMI2_MAP_X_AXIS;
+                break;
+            case BMI2_Y:
+
+                /* If mapped to y-axis */
+                dev->remap.z_axis = BMI2_MAP_Y_AXIS;
+                remap.z_axis = BMI2_MAP_Y_AXIS;
+                break;
+            case BMI2_Z:
+
+                /* If mapped to z-axis */
+                dev->remap.z_axis = BMI2_MAP_Z_AXIS;
+                remap.z_axis = BMI2_MAP_Z_AXIS;
+                break;
+            default:
+                break;
+            }
+
+            /* Store the re-mapped z-axis sign in the device
+             * structure and its value in local structure
+             */
+            if (remapped_axis->z & BMI2_AXIS_SIGN)
+            {
+                /* If z-axis is mapped to -ve sign */
+                dev->remap.z_axis_sign = BMI2_NEG_SIGN;
+                remap.z_axis_sign = BMI2_MAP_NEGATIVE;
+            }
+            else
+            {
+                dev->remap.z_axis_sign = BMI2_POS_SIGN;
+                remap.z_axis_sign = BMI2_MAP_POSITIVE;
+            }
+
+            /* Set the re-mapped axes in the sensor */
+            rslt = set_remap_axes(&remap, dev);
+        }
+        else
+        {
+            rslt = BMI2_E_REMAP_ERROR;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables gyroscope offset compensation. It adds the
+ * offsets defined in the offset register with gyroscope data.
+ */
+int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of gyroscope offset enable */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN, enable);
+
+            /* Enable/Disable gyroscope offset compensation */
+            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the gyroscope offset compensation.
+ */
+int8_t bmi2_get_gyro_offset_comp(uint8_t* offset, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    /* Get the status of gyroscope gain */
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        (*offset) = BMI2_GET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables gyroscope gain for Sensitivity Error Compensation.
+ */
+int8_t bmi2_set_gyro_gain(uint8_t gyro_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of gyroscope gain enable */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, gyro_gain);
+
+            /* Enable/Disable gyroscope gain */
+            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the Gyro gain.
+ */
+int8_t bmi2_get_gyro_gain(uint8_t* gyro_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    /* Get the status of gyroscope gain */
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        (*gyro_gain) = BMI2_GET_BITS(reg_data, BMI2_GYR_GAIN_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ */
+int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data* gyr_off_comp_axes, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[4] = {0};
+
+    /* Variable to store LSB value of offset compensation for x-axis */
+    uint8_t gyr_off_lsb_x;
+
+    /* Variable to store LSB value of offset compensation for y-axis */
+    uint8_t gyr_off_lsb_y;
+
+    /* Variable to store LSB value of offset compensation for z-axis */
+    uint8_t gyr_off_lsb_z;
+
+    /* Variable to store MSB value of offset compensation for x-axis */
+    uint8_t gyr_off_msb_x;
+
+    /* Variable to store MSB value of offset compensation for y-axis */
+    uint8_t gyr_off_msb_y;
+
+    /* Variable to store MSB value of offset compensation for z-axis */
+    uint8_t gyr_off_msb_z;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
+    {
+        /* Get the gyroscope compensated offset values */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get LSB and MSB values of offset compensation for
+             * x, y and z axis
+             */
+            gyr_off_lsb_x = reg_data[0];
+            gyr_off_lsb_y = reg_data[1];
+            gyr_off_lsb_z = reg_data[2];
+            gyr_off_msb_x = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_X_MASK;
+            gyr_off_msb_y = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Y_MASK;
+            gyr_off_msb_z = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Z_MASK;
+
+            /* Gyroscope offset compensation value for x-axis */
+            gyr_off_comp_axes->x = (int16_t)(((uint16_t)gyr_off_msb_x << 8) | gyr_off_lsb_x);
+
+            /* Gyroscope offset compensation value for y-axis */
+            gyr_off_comp_axes->y = (int16_t)(((uint16_t)gyr_off_msb_y << 6) | gyr_off_lsb_y);
+
+            /* Gyroscope offset compensation value for z-axis */
+            gyr_off_comp_axes->z = (int16_t)(((uint16_t)gyr_off_msb_z << 4) | gyr_off_lsb_z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API writes the gyroscope bias values for each axis which is used
+ * for gyroscope offset compensation.
+ */
+int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data* gyr_off_comp_axes, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[4] = {0};
+
+    /* Variable to store MSB value of offset compensation for x-axis */
+    uint8_t gyr_off_msb_x;
+
+    /* Variable to store MSB value of offset compensation for y-axis */
+    uint8_t gyr_off_msb_y;
+
+    /* Variable to store MSB value of offset compensation for z-axis */
+    uint8_t gyr_off_msb_z;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
+    {
+        /* Get the gyroscope offset compensation values of axes */
+        rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get MSB value of x-axis from user-input */
+            gyr_off_msb_x = (uint8_t)((gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get MSB value of y-axis from user-input */
+            gyr_off_msb_y = (uint8_t)((gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get MSB value of z-axis from user-input */
+            gyr_off_msb_z = (uint8_t)((gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
+
+            /* Get LSB value of x-axis from user-input */
+            reg_data[0] = (uint8_t)(gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get LSB value of y-axis from user-input */
+            reg_data[1] = (uint8_t)(gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get LSB value of z-axis from user-input */
+            reg_data[2] = (uint8_t)(gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_LSB_MASK);
+
+            /* Get MSB value of x-axis to be set */
+            reg_data[3] = BMI2_SET_BIT_POS0(reg_data[3], BMI2_GYR_OFF_COMP_MSB_X, gyr_off_msb_x);
+
+            /* Get MSB value of y-axis to be set */
+            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Y, gyr_off_msb_y);
+
+            /* Get MSB value of z-axis to be set */
+            reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Z, gyr_off_msb_z);
+
+            /* Set the offset compensation values of axes */
+            rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the cross sensitivity coefficient between gyroscope's
+ * X and Z axes.
+ */
+int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+    struct bmi2_feat_sensor_data data;
+
+    /* Check if the feature is supported by this variant */
+    if (dev->variant_feature & BMI2_GYRO_CROSS_SENS_ENABLE)
+    {
+        rslt = null_ptr_check(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Select the feature whose data is to be acquired */
+            data.type = BMI2_GYRO_CROSS_SENSE;
+
+            /* Get the respective data */
+            rslt = bmi2_get_feature_data(&data, 1, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Update the gyroscope cross sense value of z axis
+                 * in the device structure
+                 */
+                dev->gyr_cross_sens_zx = data.sens_data.correction_factor_zx;
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_NULL_PTR;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets Error bits and message indicating internal status.
+ */
+int8_t bmi2_get_internal_status(uint8_t* int_stat, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (int_stat != NULL))
+    {
+        /* Wait till ASIC is initialized */
+        dev->delay_us(BMI2_INTERNAL_STATUS_READ_DELAY_MS, dev->intf_ptr);
+
+        /* Get the error bits and message */
+        rslt = bmi2_get_regs(BMI2_INTERNAL_STATUS_ADDR, int_stat, 1, dev);
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs Fast Offset Compensation for accelerometer.
+ */
+int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value* accel_g_value, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define the accelerometer configurations */
+    struct bmi2_accel_config acc_cfg = {0, 0, 0, 0};
+
+    /* Variable to store status of advance power save */
+    uint8_t aps = 0;
+
+    /* Variable to store status of accelerometer enable */
+    uint8_t acc_en = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (accel_g_value != NULL))
+    {
+        /* Check for input validity */
+        if ((((BMI2_ABS(accel_g_value->x)) + (BMI2_ABS(accel_g_value->y)) + (BMI2_ABS(accel_g_value->z))) == 1) &&
+            ((accel_g_value->sign == 1) || (accel_g_value->sign == 0)))
+        {
+            rslt = verify_foc_position(BMI2_ACCEL, accel_g_value, dev);
+
+            /* Save accelerometer configurations, accelerometer
+             * enable status and advance power save status
+             */
+            if (rslt == BMI2_OK)
+            {
+                rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev);
+            }
+
+            /* Set configurations for FOC */
+            if (rslt == BMI2_OK)
+            {
+                rslt = set_accel_foc_config(dev);
+            }
+
+            /* Perform accelerometer FOC */
+            if (rslt == BMI2_OK)
+            {
+                rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev);
+            }
+
+            /* Restore the saved configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_INPUT;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API performs Fast Offset Compensation for gyroscope.
+ */
+int8_t bmi2_perform_gyro_foc(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define the gyroscope configurations */
+    struct bmi2_gyro_config gyr_cfg = {0, 0, 0, 0, 0, 0};
+
+    /* Variable to store status of advance power save */
+    uint8_t aps = 0;
+
+    /* Variable to store status of gyroscope enable */
+    uint8_t gyr_en = 0;
+
+    /* Array of structure to store gyroscope data */
+    struct bmi2_sens_axes_data gyr_value[128];
+
+    /* Structure to store gyroscope data temporarily */
+    struct bmi2_foc_temp_value temp = {0, 0, 0};
+
+    /* Variable to store status read from the status register */
+    uint8_t reg_status = 0;
+
+    /* Variable to define count */
+    uint8_t loop = 0;
+
+    /* Structure to store the offset values to be stored in the register */
+    struct bmi2_sens_axes_data gyro_offset = {0, 0, 0, 0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Save gyroscope configurations, gyroscope enable
+         * status and advance power save status
+         */
+        rslt = save_gyro_config(&gyr_cfg, &aps, &gyr_en, dev);
+
+        /* Set configurations for gyroscope FOC */
+        if (rslt == BMI2_OK)
+        {
+            rslt = set_gyro_foc_config(dev);
+        }
+
+        /* Perform FOC */
+        if (rslt == BMI2_OK)
+        {
+            for (loop = 0; loop < 128; loop++)
+            {
+                /* Giving a delay of more than 40ms since ODR is configured as 25Hz */
+                dev->delay_us(50000, dev->intf_ptr);
+
+                /* Get gyroscope data ready interrupt status */
+                rslt = bmi2_get_status(&reg_status, dev);
+
+                /* Read 128 samples of gyroscope data on data ready interrupt */
+                if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_GYR))
+                {
+                    rslt = read_gyro_xyz(&gyr_value[loop], dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        /* Store the data in a temporary structure */
+                        temp.x = temp.x + (int32_t)gyr_value[loop].x;
+                        temp.y = temp.y + (int32_t)gyr_value[loop].y;
+                        temp.z = temp.z + (int32_t)gyr_value[loop].z;
+                    }
+                }
+
+                if (rslt != BMI2_OK)
+                {
+                    break;
+                }
+                else if ((reg_status & BMI2_DRDY_GYR) != BMI2_DRDY_GYR)
+                {
+                    rslt = BMI2_E_INVALID_STATUS;
+                    break;
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Take average of x, y and z data for lesser
+                 * noise. It is same as offset data since lsb/dps
+                 * is same for both data and offset register
+                 */
+                gyro_offset.x = (int16_t)(temp.x / 128);
+                gyro_offset.y = (int16_t)(temp.y / 128);
+                gyro_offset.z = (int16_t)(temp.z / 128);
+
+                /* Saturate gyroscope data since the offset
+                 * registers are of 10 bit value where as the
+                 * gyroscope data is of 16 bit value
+                 */
+                saturate_gyro_data(&gyro_offset);
+
+                /* Invert the gyroscope offset  data */
+                invert_gyro_offset(&gyro_offset);
+
+                /* Write offset data in the gyroscope offset
+                 * compensation register
+                 */
+                rslt = bmi2_write_gyro_offset_comp_axes(&gyro_offset, dev);
+            }
+
+            /* Enable gyroscope offset compensation */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_gyro_offset_comp(BMI2_ENABLE, dev);
+            }
+
+            /* Restore the saved gyroscope configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = restore_gyro_config(&gyr_cfg, aps, gyr_en, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to get the feature configuration from the
+ * selected page.
+ */
+int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t* feat_config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define bytes remaining to read */
+    uint8_t bytes_remain = BMI2_FEAT_SIZE_IN_BYTES;
+
+    /* Variable to define the read-write length */
+    uint8_t read_write_len = 0;
+
+    /* Variable to define the feature configuration address */
+    uint8_t addr = BMI2_FEATURES_REG_ADDR;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    if ((feat_config == NULL) || (dev == NULL))
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+    else
+    {
+        /* Check whether the page is valid */
+        if (sw_page < dev->page_max)
+        {
+            /* Switch page */
+            rslt = bmi2_set_regs(BMI2_FEAT_PAGE_ADDR, &sw_page, 1, dev);
+
+            /* If user length is less than feature length */
+            if ((rslt == BMI2_OK) && (dev->read_write_len < BMI2_FEAT_SIZE_IN_BYTES))
+            {
+                /* Read-write should be even */
+                if ((dev->read_write_len % 2) != 0)
+                {
+                    dev->read_write_len--;
+                }
+
+                while (bytes_remain > 0)
+                {
+                    if (bytes_remain >= dev->read_write_len)
+                    {
+                        /* Read from the page */
+                        rslt = bmi2_get_regs(addr, &feat_config[index], dev->read_write_len, dev);
+
+                        /* Update index */
+                        index += (uint8_t)dev->read_write_len;
+
+                        /* Update address */
+                        addr += (uint8_t)dev->read_write_len;
+
+                        /* Update read-write length */
+                        read_write_len += (uint8_t)dev->read_write_len;
+                    }
+                    else
+                    {
+                        /* Read from the page */
+                        rslt = bmi2_get_regs(addr, (uint8_t*)(feat_config + index), (uint16_t)bytes_remain, dev);
+
+                        /* Update read-write length */
+                        read_write_len += bytes_remain;
+                    }
+
+                    /* Remaining bytes */
+                    bytes_remain = BMI2_FEAT_SIZE_IN_BYTES - read_write_len;
+
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+            else if (rslt == BMI2_OK)
+            {
+                /* Get configuration from the page */
+                rslt = bmi2_get_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_PAGE;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to extract the input feature configuration
+ * details from the look-up table.
+ */
+uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config* feat_config, uint8_t type,
+                                       const struct bmi2_dev* dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the input feature from the input configuration array */
+    while (loop < dev->input_sens)
+    {
+        if (dev->feat_config[loop].type == type)
+        {
+            *feat_config = dev->feat_config[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*! @cond DOXYGEN_SUPRESS */
+
+/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
+ * directories */
+
+/*!
+ * @brief This internal API writes the configuration file.
+ */
+static int8_t write_config_file(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to update the configuration file index */
+    uint16_t index = 0;
+
+    /* config file size */
+    uint16_t config_size = dev->config_size;
+
+    /* Variable to get the remainder */
+    uint8_t remain = (uint8_t)(config_size % dev->read_write_len);
+
+    /* Variable to get the balance bytes */
+    uint16_t bal_byte = 0;
+
+    /* Variable to define temporary read/write length */
+    uint16_t read_write_len = 0;
+
+    /* Disable advanced power save mode */
+    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable loading of the configuration */
+        rslt = set_config_load(BMI2_DISABLE, dev);
+        if (rslt == BMI2_OK)
+        {
+            if (!remain)
+            {
+                /* Write the configuration file */
+                for (index = 0; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len)
+                {
+                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                }
+            }
+            else
+            {
+                /* Get the balance bytes */
+                bal_byte = (uint16_t)config_size - (uint16_t)remain;
+
+                /* Write the configuration file for the balancem bytes */
+                for (index = 0; (index < bal_byte) && (rslt == BMI2_OK); index += dev->read_write_len)
+                {
+                    rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    /* Update length in a temporary variable */
+                    read_write_len = dev->read_write_len;
+
+                    /* Write the remaining bytes in 2 bytes length */
+                    dev->read_write_len = 2;
+
+                    /* Write the configuration file for the remaining bytes */
+                    for (index = bal_byte; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len)
+                    {
+                        rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
+                    }
+
+                    /* Restore the user set length back from the temporary variable */
+                    dev->read_write_len = read_write_len;
+                }
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                /* Enable loading of the configuration */
+                rslt = set_config_load(BMI2_ENABLE, dev);
+
+                if (rslt == BMI2_OK)
+                {
+                    /* Enable advanced power save mode */
+                    rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables the loading of the configuration
+ * file.
+ */
+static int8_t set_config_load(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_CONF_LOAD_EN, enable);
+        rslt = bmi2_set_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API loads the configuration file.
+ */
+static int8_t upload_file(const uint8_t* config_data, uint16_t index, uint16_t write_len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store address */
+    uint8_t addr_array[2] = {0};
+
+    if (config_data != NULL)
+    {
+        /* Store 0 to 3 bits of address in first byte */
+        addr_array[0] = (uint8_t)((index / 2) & 0x0F);
+
+        /* Store 4 to 11 bits of address in the second byte */
+        addr_array[1] = (uint8_t)((index / 2) >> 4);
+
+        /* Write the 2 bytes of address in consecutive locations */
+        rslt = bmi2_set_regs(BMI2_INIT_ADDR_0, addr_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Burst write configuration file data corresponding to user set length */
+            rslt = bmi2_set_regs(BMI2_INIT_DATA_ADDR, (uint8_t*)config_data, write_len, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates bandwidth and performance mode of the
+ * accelerometer set by the user.
+ */
+static int8_t validate_bw_perf_mode(uint8_t* bandwidth, uint8_t* perf_mode, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto-correct performance mode */
+    rslt = check_boundary_val(perf_mode, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto-correct bandwidth parameter */
+        if (*perf_mode == BMI2_PERF_OPT_MODE)
+        {
+            /* Validate for continuous filter mode */
+            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_CIC_AVG8, dev);
+        }
+        else
+        {
+            /* Validate for CIC averaging mode */
+            rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_RES_AVG128, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates ODR and range of the accelerometer set by
+ * the user.
+ */
+static int8_t validate_odr_range(uint8_t* odr, uint8_t* range, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto correct ODR */
+    rslt = check_boundary_val(odr, BMI2_ACC_ODR_0_78HZ, BMI2_ACC_ODR_1600HZ, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto correct Range */
+        rslt = check_boundary_val(range, BMI2_ACC_RANGE_2G, BMI2_ACC_RANGE_16G, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates bandwidth, performance mode, low power/
+ * high performance mode, ODR, and range set by the user.
+ */
+static int8_t validate_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate and auto-correct performance mode */
+    rslt = check_boundary_val(&config->filter_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate and auto-correct bandwidth parameter */
+        rslt = check_boundary_val(&config->bwp, BMI2_GYR_OSR4_MODE, BMI2_GYR_CIC_MODE, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Validate and auto-correct low power/high-performance parameter */
+            rslt = check_boundary_val(&config->noise_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Validate and auto-correct ODR parameter */
+                rslt = check_boundary_val(&config->odr, BMI2_GYR_ODR_25HZ, BMI2_GYR_ODR_3200HZ, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Validate and auto-correct OIS range */
+                    rslt = check_boundary_val(&config->ois_range, BMI2_GYR_OIS_250, BMI2_GYR_OIS_2000, dev);
+                    if (rslt == BMI2_OK)
+                    {
+                        /* Validate and auto-correct range parameter */
+                        rslt = check_boundary_val(&config->range, BMI2_GYR_RANGE_2000, BMI2_GYR_RANGE_125, dev);
+                    }
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API shows the error status when illegal sensor
+ * configuration is set.
+ */
+static int8_t cfg_error_status(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Get error status of the set sensor configuration */
+    rslt = bmi2_get_regs(BMI2_EVENT_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_GET_BITS(reg_data, BMI2_EVENT_FLAG);
+        switch (reg_data)
+        {
+        case BMI2_NO_ERROR:
+            rslt = BMI2_OK;
+            break;
+        case BMI2_ACC_ERROR:
+            rslt = BMI2_E_ACC_INVALID_CFG;
+            break;
+        case BMI2_GYR_ERROR:
+            rslt = BMI2_E_GYRO_INVALID_CFG;
+            break;
+        case BMI2_ACC_GYR_ERROR:
+            rslt = BMI2_E_ACC_GYR_INVALID_CFG;
+            break;
+        default:
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API:
+ * 1) Enables/Disables auxiliary interface.
+ * 2) Sets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3)It maps/un-maps data interrupts to that of hardware interrupt line.
+ */
+static int8_t set_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate auxiliary configurations */
+    rslt = validate_aux_config(config, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable/Disable auxiliary interface */
+        rslt = set_aux_interface(config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set the auxiliary interface configurations */
+            rslt = config_aux_interface(config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Set read out offset and ODR */
+                rslt = config_aux(config, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ */
+static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for user-gain */
+    struct bmi2_feature_config user_gain_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for user-gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user-gain feature resides */
+        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for user-gain select */
+            idx = user_gain_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set ratio_x */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_X, config->ratio_x);
+
+            /* Increment offset by 1 word to set ratio_y */
+            idx++;
+
+            /* Set ratio_y */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Y, config->ratio_y);
+
+            /* Increment offset by 1 word to set ratio_z */
+            idx++;
+
+            /* Set ratio_z */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Z, config->ratio_z);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - user_gain_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[user_gain_config.start_addr + index] =
+                    *((uint8_t*)data_p + user_gain_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables auxiliary interface.
+ */
+static int8_t set_aux_interface(const struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_IF_EN, config->aux_en);
+
+        /* Enable/Disable auxiliary interface */
+        rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ *
+ * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
+ * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
+ */
+static int8_t config_aux_interface(const struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data[2] = {0};
+
+    /* Variable to store status */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 0;
+
+    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set I2C address for AUX sensor */
+        reg_data[0] = BMI2_SET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR, config->i2c_device_addr);
+
+        /* Set the AUX IF to either manual or auto mode */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN, config->manual_en);
+
+        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN, config->fcu_write_en);
+
+        /* Set the burst read length for manual mode */
+        reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST, config->man_rd_burst);
+
+        /* Set the burst read length for data mode */
+        reg_data[1] = BMI2_SET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST, config->aux_rd_burst);
+        for (;;)
+        {
+            /* Check if auxiliary sensor is busy */
+            rslt = bmi2_get_status(&status, dev);
+            if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
+            {
+                /* Set the configurations if AUX is not busy */
+                rslt = bmi2_set_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+                dev->delay_us(1000, dev->intf_ptr);
+                if (rslt == BMI2_OK)
+                {
+                    /* If data mode */
+                    if (!config->manual_en)
+                    {
+                        /* Disable manual enable flag in device structure */
+                        dev->aux_man_en = 0;
+
+                        /* Set the read address of the AUX sensor */
+                        rslt = bmi2_set_regs(BMI2_AUX_RD_ADDR, (uint8_t*)&config->read_addr, 1, dev);
+                        dev->delay_us(1000, dev->intf_ptr);
+                    }
+                    else
+                    {
+                        /* Enable manual enable flag in device structure */
+                        dev->aux_man_en = 1;
+
+                        /* Update manual read burst length in device structure */
+                        dev->aux_man_rd_burst_len = config->man_rd_burst;
+                    }
+                }
+
+                /* Break after setting the register */
+                break;
+            }
+
+            /* Increment count after every 10 seconds */
+            dev->delay_us(10000, dev->intf_ptr);
+            count++;
+
+            /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
+            if (count > 20)
+            {
+                rslt = BMI2_E_AUX_BUSY;
+                break;
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API triggers read out offset and sets ODR of the
+ * auxiliary sensor.
+ */
+static int8_t config_aux(const struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Trigger read out offset */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT, config->offset);
+
+        /* Set ODR */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN, config->odr);
+
+        /* Set auxiliary configuration register */
+        rslt = bmi2_set_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+        dev->delay_us(1000, dev->intf_ptr);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API checks the busy status of auxiliary sensor and sets
+ * the auxiliary register addresses when not busy.
+ */
+static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get status of AUX_BUSY */
+    uint8_t status = 0;
+
+    /* Variable to define count for time-out */
+    uint8_t count = 0;
+
+    for (;;)
+    {
+        /* Check if AUX is busy */
+        rslt = bmi2_get_status(&status, dev);
+
+        /* Set the registers if not busy */
+        if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
+        {
+            rslt = bmi2_set_regs(reg_addr, &reg_data, 1, dev);
+            dev->delay_us(1000, dev->intf_ptr);
+
+            /* Break after setting the register */
+            break;
+        }
+
+        /* Increment count after every 10 seconds */
+        dev->delay_us(10000, dev->intf_ptr);
+        count++;
+
+        /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
+        if (count > 20)
+        {
+            rslt = BMI2_E_AUX_BUSY;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates auxiliary configuration set by the user.
+ */
+static int8_t validate_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Validate ODR for auxiliary sensor */
+    rslt = check_boundary_val(&config->odr, BMI2_AUX_ODR_0_78HZ, BMI2_AUX_ODR_800HZ, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ */
+static int8_t get_accel_config(struct bmi2_accel_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Read the sensor configuration details */
+        rslt = bmi2_get_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get accelerometer performance mode */
+            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE);
+
+            /* Get accelerometer bandwidth */
+            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_ACC_BW_PARAM);
+
+            /* Get accelerometer ODR */
+            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_ACC_ODR);
+
+            /* Get accelerometer range */
+            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_ACC_RANGE);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range.
+ */
+static int8_t get_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store data */
+    uint8_t data_array[2] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Read the sensor configuration details */
+        rslt = bmi2_get_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get gyroscope performance mode */
+            config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE);
+
+            /* Get gyroscope noise performance mode */
+            config->noise_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_NOISE_PERF_MODE);
+
+            /* Get gyroscope bandwidth */
+            config->bwp = BMI2_GET_BITS(data_array[0], BMI2_GYR_BW_PARAM);
+
+            /* Get gyroscope ODR */
+            config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_GYR_ODR);
+
+            /* Get gyroscope OIS range */
+            config->ois_range = BMI2_GET_BITS(data_array[1], BMI2_GYR_OIS_RANGE);
+
+            /* Get gyroscope range */
+            config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_GYR_RANGE);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API:
+ * 1) Gets the status of auxiliary interface enable.
+ * 2) Gets auxiliary interface configurations like I2C address, manual/auto
+ * mode enable, manual burst read length, AUX burst read length and AUX read
+ * address.
+ * 3) Gets ODR and offset.
+ */
+static int8_t get_aux_config(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (config != NULL))
+    {
+        /* Get enable status of auxiliary interface */
+        rslt = get_aux_interface(config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the auxiliary interface configurations */
+            rslt = get_aux_interface_config(config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Get read out offset and ODR */
+                rslt = get_aux_cfg(config, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets gyroscope user-gain configurations like gain
+ * update value for x, y and z-axis.
+ */
+static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for user-gain */
+    struct bmi2_feature_config user_gain_config = {0, 0, 0};
+
+    /* Search for user-gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user-gain feature resides */
+        rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for user-gain select */
+            idx = user_gain_config.start_addr;
+
+            /* Get word to calculate ratio_x */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_x */
+            config->ratio_x = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_X_MASK;
+
+            /* Get word to calculate ratio_y */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_y */
+            config->ratio_y = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Y_MASK;
+
+            /* Get word to calculate ratio_z */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get ratio_z */
+            config->ratio_z = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Z_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the enable status of auxiliary interface.
+ */
+static int8_t get_aux_interface(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Get the enable status of auxiliary interface */
+    rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        config->aux_en = BMI2_GET_BITS(reg_data, BMI2_AUX_IF_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets auxiliary configurations like manual/auto mode
+ * FCU write command enable and read burst length for both data and manual mode.
+ */
+static int8_t get_aux_interface_config(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data[2] = {0};
+
+    rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get I2C address for auxiliary sensor */
+        config->i2c_device_addr = BMI2_GET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR);
+
+        /* Get the AUX IF to either manual or auto mode */
+        config->manual_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN);
+
+        /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
+        config->fcu_write_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN);
+
+        /* Get the burst read length for manual mode */
+        config->man_rd_burst = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST);
+
+        /* Get the burst read length for data mode */
+        config->aux_rd_burst = BMI2_GET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST);
+
+        /* If data mode, get the read address of the auxiliary sensor from where data is to be read */
+        if (!config->manual_en)
+        {
+            rslt = bmi2_get_regs(BMI2_AUX_RD_ADDR, &config->read_addr, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets read out offset and ODR of the auxiliary
+ * sensor.
+ */
+static int8_t get_aux_cfg(struct bmi2_aux_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get read out offset */
+        config->offset = BMI2_GET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT);
+
+        /* Get ODR */
+        config->odr = BMI2_GET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API maps/un-maps feature interrupts to that of interrupt
+ * pins.
+ */
+static int8_t map_feat_int(uint8_t* reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Check for NULL error */
+    if (reg_data_array != NULL)
+    {
+        /* Check validity on interrupt pin selection */
+        if (int_pin < BMI2_INT_PIN_MAX)
+        {
+            switch (int_pin)
+            {
+            case BMI2_INT_NONE:
+
+                /* Un-Map the corresponding feature interrupt to interrupt pin 1 and 2 */
+                reg_data_array[0] &= ~(int_mask);
+                reg_data_array[1] &= ~(int_mask);
+                break;
+            case BMI2_INT1:
+
+                /* Map the corresponding feature interrupt to interrupt pin 1 */
+                reg_data_array[0] |= int_mask;
+
+                /* Un-map the corresponding feature interrupt to interrupt pin 2 */
+                reg_data_array[1] &= ~(int_mask);
+                break;
+            case BMI2_INT2:
+
+                /* Map the corresponding feature interrupt to interrupt pin 2 */
+                reg_data_array[1] |= int_mask;
+
+                /* Un-map the corresponding feature interrupt to interrupt pin 1 */
+                reg_data_array[0] &= ~(int_mask);
+                break;
+            case BMI2_INT_BOTH:
+
+                /* Map the corresponding feature interrupt to interrupt pin 1 and 2 */
+                reg_data_array[0] |= int_mask;
+                reg_data_array[1] |= int_mask;
+                break;
+            default:
+                break;
+            }
+        }
+        else
+        {
+            /* Return error if invalid pin selection */
+            rslt = BMI2_E_INVALID_INT_PIN;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the accelerometer/gyroscope data.
+ */
+static void get_acc_gyr_data(struct bmi2_sens_axes_data* data, const uint8_t* reg_data)
+{
+    /* Variables to store msb value */
+    uint8_t msb;
+
+    /* Variables to store lsb value */
+    uint8_t lsb;
+
+    /* Variables to store both msb and lsb value */
+    uint16_t msb_lsb;
+
+    /* Variables to define index */
+    uint8_t index = 0;
+
+    /* Read x-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+    data->x = (int16_t)msb_lsb;
+
+    /* Read y-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+    data->y = (int16_t)msb_lsb;
+
+    /* Read z-axis data */
+    lsb = reg_data[index++];
+    msb = reg_data[index++];
+    msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
+    data->z = (int16_t)msb_lsb;
+}
+
+/*!
+ * @brief This internal API gets the re-mapped accelerometer/gyroscope data.
+ */
+static void get_remapped_data(struct bmi2_sens_axes_data* data, const struct bmi2_dev* dev)
+{
+    /* Array to defined the re-mapped sensor data */
+    int16_t remap_data[3] = {0};
+    int16_t pos_multiplier = INT16_C(1);
+    int16_t neg_multiplier = INT16_C(-1);
+
+    /* Fill the array with the un-mapped sensor data */
+    remap_data[0] = data->x;
+    remap_data[1] = data->y;
+    remap_data[2] = data->z;
+
+    /* Get the re-mapped x axis data */
+    if (dev->remap.x_axis_sign == BMI2_POS_SIGN)
+    {
+        data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier);
+    }
+
+    /* Get the re-mapped y axis data */
+    if (dev->remap.y_axis_sign == BMI2_POS_SIGN)
+    {
+        data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier);
+    }
+
+    /* Get the re-mapped z axis data */
+    if (dev->remap.z_axis_sign == BMI2_POS_SIGN)
+    {
+        data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier);
+    }
+    else
+    {
+        data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier);
+    }
+}
+
+/*!
+ * @brief This internal API reads the user-defined bytes of data from the given
+ * register address of auxiliary sensor in manual mode.
+ */
+static int8_t read_aux_data(uint8_t reg_addr, uint8_t* aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to store the register data */
+    uint8_t reg_data[15] = {0};
+
+    /* Variable to define number of bytes to read */
+    uint16_t read_length = 0;
+
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to define counts to get the correct array index */
+    uint8_t count = 0;
+
+    /* Variable to define index for the array */
+    uint8_t idx = 0;
+
+    while (len > 0)
+    {
+        /* Set the read address if AUX is not busy */
+        rslt = set_if_aux_not_busy(BMI2_AUX_RD_ADDR, reg_addr, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Read data from bmi2 data register */
+            rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, (uint16_t)burst_len, dev);
+            dev->delay_us(1000, dev->intf_ptr);
+            if (rslt == BMI2_OK)
+            {
+                /* Get number of bytes to be read */
+                if (len < burst_len)
+                {
+                    read_length = (uint8_t)len;
+                }
+                else
+                {
+                    read_length = burst_len;
+                }
+
+                /* Update array index and store the data */
+                for (loop = 0; loop < read_length; loop++)
+                {
+                    idx = loop + count;
+                    aux_data[idx] = reg_data[loop];
+                }
+            }
+        }
+
+        /* Update address for the next read */
+        reg_addr += burst_len;
+
+        /* Update count for the array index */
+        count += burst_len;
+
+        /* Update no of bytes left to read */
+        len -= read_length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API writes AUX write address and the user-defined bytes
+ * of data to the AUX sensor in manual mode.
+ *
+ * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
+ */
+static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Write data to be written to the AUX sensor in bmi2 register */
+    rslt = bmi2_set_regs(BMI2_AUX_WR_DATA_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Write the AUX address where data is to be stored when AUX is not busy */
+        rslt = set_if_aux_not_busy(BMI2_AUX_WR_ADDR, reg_addr, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API maps the actual burst read length with that of the
+ * register value set by user.
+ */
+static int8_t map_read_len(uint8_t* len, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Get the burst read length against the values set by the user */
+    switch (dev->aux_man_rd_burst_len)
+    {
+    case BMI2_AUX_READ_LEN_0:
+        *len = 1;
+        break;
+    case BMI2_AUX_READ_LEN_1:
+        *len = 2;
+        break;
+    case BMI2_AUX_READ_LEN_2:
+        *len = 6;
+        break;
+    case BMI2_AUX_READ_LEN_3:
+        *len = 8;
+        break;
+    default:
+        rslt = BMI2_E_AUX_INVALID_CFG;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API computes the number of bytes of accelerometer FIFO
+ * data which is to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_accel_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* acc_count,
+                                   const struct bmi2_fifo_frame* fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    (*start_idx) = fifo->acc_byte_start_idx;
+
+    /* If only accelerometer is enabled */
+    if (fifo->data_enable == BMI2_FIFO_ACC_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_LENGTH);
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = BMI2_FIFO_ACC_LENGTH;
+    }
+    /* If only accelerometer and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+
+        /* Data start index */
+        (*start_idx) = fifo->acc_byte_start_idx + fifo->aux_frm_len;
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_GYR_LENGTH);
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = BMI2_FIFO_ACC_GYR_LENGTH;
+
+        /* Data start index */
+        (*start_idx) = fifo->acc_byte_start_idx + BMI2_FIFO_GYR_LENGTH;
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*acc_count) * (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Data start index */
+        (*start_idx) = fifo->acc_byte_start_idx + (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion when
+         * no sensors or sensors apart from accelerometer are enabled
+         */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if ((*len) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to skip dummy frames in FIFO headerless mode
+ */
+static int8_t check_dummy_frame(uint8_t dummy_frame_header, uint16_t* data_index, uint8_t skip_length,
+                                const struct bmi2_fifo_frame* fifo)
+{
+    int8_t rslt;
+
+    /* Validate data index */
+    if (((*data_index) + 6) <= fifo->length)
+    {
+        /* Check if FIFO contains dummy frame */
+        if (((fifo->data[(*data_index)] == dummy_frame_header) &&
+             (fifo->data[(*data_index) + 1] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_1) &&
+             (fifo->data[(*data_index) + 2] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_2)) &&
+            ((fifo->data[(*data_index) + 3] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_3)))
+        {
+            /* Move the data index to next frame */
+            (*data_index) = (*data_index) + skip_length;
+
+            /* Dummy byte parsed */
+            rslt = BMI2_W_DUMMY_BYTE;
+        }
+        else
+        {
+            /* Valid frame */
+            rslt = BMI2_OK;
+        }
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion */
+        (*data_index) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO in headerless mode.
+ */
+static int8_t extract_accel_headerless_mode(struct bmi2_sens_axes_data* acc, uint16_t* accel_length,
+                                            struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable;
+
+    /* Variable to index accelerometer frames */
+    uint16_t accel_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Number of bytes to skip in case dummy frame is obtained */
+    uint8_t skip_length = 0;
+
+    /* Get the number of accelerometer bytes to be read */
+    rslt = parse_fifo_accel_len(&data_index, &data_read_length, &skip_length, accel_length, fifo);
+
+    /* Convert word to byte since all sensor enables are in a byte */
+    data_enable = (uint8_t)(fifo->data_enable >> 8);
+
+    for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+    {
+        rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_ACC, &data_index, skip_length, fifo);
+
+        /* Unpack only if Valid frame is present */
+        if (rslt == BMI2_OK)
+        {
+            /* Unpack frame to get the accelerometer data */
+            rslt = unpack_accel_headerless_frame(acc, &data_index, &accel_index, data_enable, fifo, dev);
+
+            if (rslt != BMI2_W_FIFO_EMPTY)
+            {
+                /* Check for the availability of next two bytes of FIFO data */
+                rslt = check_empty_fifo(&data_index, fifo);
+            }
+        }
+    }
+
+    /* Update number of accelerometer frames to be read */
+    (*accel_length) = accel_index;
+
+    /* Update the accelerometer byte index */
+    fifo->acc_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO in header mode.
+ */
+static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data* acc, uint16_t* accel_length,
+                                        struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index accelerometer frames */
+    uint16_t accel_index = 0;
+
+    /* Variable to indicate accelerometer frames read */
+    uint16_t frame_to_read = *accel_length;
+
+    for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+        /* If header defines accelerometer frame */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+        case BMI2_FIFO_HEADER_ALL_FRM:
+
+            /* Unpack from normal frames */
+            rslt = unpack_accel_header_frame(acc, &data_index, &accel_index, frame_header, fifo, dev);
+            break;
+
+        /* If header defines only gyroscope frame */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+            rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+            break;
+
+        /* If header defines only auxiliary frame */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+            rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+            break;
+
+        /* If header defines only auxiliary and gyroscope frame */
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+            rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
+            break;
+
+        /* If header defines sensor time frame */
+        case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+            rslt = unpack_sensortime_frame(&data_index, fifo);
+            break;
+
+        /* If header defines skip frame */
+        case BMI2_FIFO_HEADER_SKIP_FRM:
+            rslt = unpack_skipped_frame(&data_index, fifo);
+            break;
+
+        /* If header defines Input configuration frame */
+        case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+            break;
+
+        /* If header defines invalid frame or end of valid data */
+        case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+            /* Move the data index to the last byte to mark completion */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+            break;
+        default:
+
+            /* Move the data index to the last byte in case of invalid values */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        }
+
+        /* Break if Number of frames to be read is complete or FIFO is mpty */
+        if ((frame_to_read == accel_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the accelerometer frame index */
+    (*accel_length) = accel_index;
+
+    /* Update the accelerometer byte index */
+    fifo->acc_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in header-less mode. It updates the current data
+ * byte to be parsed.
+ */
+static int8_t unpack_accel_headerless_frame(struct bmi2_sens_axes_data* acc, uint16_t* idx, uint16_t* acc_idx,
+                                            uint8_t frame, const struct bmi2_fifo_frame* fifo,
+                                            const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+    /* If frame contains only accelerometer data */
+    case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_frm_len) > fifo->length)
+        {
+            /* Update the data index as complete*/
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and gyroscope data */
+    case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer, gyroscope and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+        /* Partially read, then skip the data*/
+        if ((*idx + fifo->acc_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains gyroscope and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only gyroscope data */
+    case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+    default:
+
+        /* Move the data index to the last byte in case of invalid values */
+        (*idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the accelerometer data from the
+ * FIFO data in header mode. It updates the current data
+ * byte to be parsed.
+ */
+static int8_t unpack_accel_header_frame(struct bmi2_sens_axes_data* acc, uint16_t* idx, uint16_t* acc_idx,
+                                        uint8_t frame, const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+    /* If frame contains only accelerometer data */
+    case BMI2_FIFO_HEADER_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_frm_len) > fifo->length)
+        {
+            /* Update the data index as complete*/
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_LENGTH), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], ((*idx) + fifo->aux_frm_len), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer, gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_ALL_FRM:
+
+        /* Partially read, then skip the data*/
+        if ((*idx + fifo->all_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the accelerometer data */
+        unpack_accel_data(&acc[(*acc_idx)], ((*idx) + (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len)), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
+        }
+
+        /* Update accelerometer frame index */
+        (*acc_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+    default:
+
+        /* Move the data index to the last byte in case of invalid values */
+        (*idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse accelerometer data from the
+ * FIFO data.
+ */
+static void unpack_accel_data(struct bmi2_sens_axes_data* acc, uint16_t data_start_index,
+                              const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variables to store LSB value */
+    uint16_t data_lsb;
+
+    /* Variables to store MSB value */
+    uint16_t data_msb;
+
+    /* Accelerometer raw x data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accelerometer raw y data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Accelerometer raw z data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    acc->z = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Get the re-mapped accelerometer data */
+    get_remapped_data(acc, dev);
+}
+
+/*!
+ * @brief This internal API computes the number of bytes of gyroscope FIFO data
+ * which is to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_gyro_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* gyr_count,
+                                  const struct bmi2_fifo_frame* fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    (*start_idx) = fifo->gyr_byte_start_idx;
+
+    /* If only gyroscope is enabled */
+    if (fifo->data_enable == BMI2_FIFO_GYR_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_LENGTH);
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = BMI2_FIFO_GYR_LENGTH;
+    }
+    /* If only gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Data start index */
+        (*start_idx) = fifo->gyr_byte_start_idx + fifo->aux_frm_len;
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ACC_GYR_LENGTH);
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = BMI2_FIFO_ACC_GYR_LENGTH;
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*gyr_count) * (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Data start index */
+        (*start_idx) = fifo->gyr_byte_start_idx + fifo->aux_frm_len;
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion when
+         * no sensors or sensors apart from gyroscope are enabled
+         */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if (((*len)) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the
+ * FIFO in headerless mode.
+ */
+static int8_t extract_gyro_headerless_mode(struct bmi2_sens_axes_data* gyr, uint16_t* gyro_length,
+                                           struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to index gyroscope frames */
+    uint16_t gyro_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable;
+
+    /* Variable to hold number of bytes to skip in case dummy frame is obtained */
+    uint8_t skip_length = 0;
+
+    /* Get the number of gyro bytes to be read */
+    rslt = parse_fifo_gyro_len(&data_index, &data_read_length, &skip_length, gyro_length, fifo);
+
+    /* Convert word to byte since all sensor enables are in a byte */
+    data_enable = (uint8_t)(fifo->data_enable >> 8);
+
+    for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+    {
+        rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_GYR, &data_index, skip_length, fifo);
+
+        /* Unpack only if Valid frame is present */
+        if (rslt == BMI2_OK)
+        {
+            /* Unpack frame to get gyroscope data */
+            rslt = unpack_gyro_headerless_frame(gyr, &data_index, &gyro_index, data_enable, fifo, dev);
+
+            if (rslt != BMI2_W_FIFO_EMPTY)
+            {
+                /* Check for the availability of next two bytes of FIFO data */
+                rslt = check_empty_fifo(&data_index, fifo);
+            }
+        }
+    }
+
+    /* Update number of gyroscope frames to be read */
+    (*gyro_length) = gyro_index;
+
+    /* Update the gyroscope byte index */
+    fifo->gyr_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ *  @brief This internal API is used to parse the gyroscope data from the
+ *  FIFO data in header mode.
+ */
+static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data* gyr, uint16_t* gyro_length,
+                                       struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index gyroscope frames */
+    uint16_t gyro_index = 0;
+
+    /* Variable to indicate gyroscope frames read */
+    uint16_t frame_to_read = (*gyro_length);
+
+    for (data_index = fifo->gyr_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+        /* If header defines gyroscope frame */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+        case BMI2_FIFO_HEADER_ALL_FRM:
+
+            /* Unpack from normal frames */
+            rslt = unpack_gyro_header_frame(gyr, &data_index, &gyro_index, frame_header, fifo, dev);
+            break;
+
+        /* If header defines only accelerometer frame */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+            rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+            break;
+
+        /* If header defines only auxiliary frame */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+            rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
+            break;
+
+        /* If header defines only auxiliary and accelerometer frame */
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+            rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
+            break;
+
+        /* If header defines sensor time frame */
+        case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+            rslt = unpack_sensortime_frame(&data_index, fifo);
+            break;
+
+        /* If header defines skip frame */
+        case BMI2_FIFO_HEADER_SKIP_FRM:
+            rslt = unpack_skipped_frame(&data_index, fifo);
+            break;
+
+        /* If header defines Input configuration frame */
+        case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+            break;
+
+        /* If header defines invalid frame or end of valid data */
+        case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+            /* Move the data index to the last byte */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+            break;
+        default:
+
+            /* Move the data index to the last byte in case of invalid values */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        }
+
+        /* Break if number of frames to be read is complete or FIFO is empty */
+        if ((frame_to_read == gyro_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the gyroscope frame index */
+    (*gyro_length) = gyro_index;
+
+    /* Update the gyroscope byte index */
+    fifo->gyr_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in header mode. It updates the current data byte to
+ * be parsed.
+ */
+static int8_t unpack_gyro_header_frame(struct bmi2_sens_axes_data* gyr, uint16_t* idx, uint16_t* gyr_idx, uint8_t frame,
+                                       const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+    /* If frame contains only gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->gyr_frm_len) > fifo->length)
+        {
+            /* Update the data index as complete*/
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + fifo->aux_frm_len), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer, gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_ALL_FRM:
+
+        /* Partially read, then skip the data*/
+        if ((*idx + fifo->all_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + fifo->aux_frm_len), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_FRM:
+    case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only accelerometer data */
+    case BMI2_FIFO_HEADER_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+    default:
+
+        /* Move the data index to the last byte in case of invalid values */
+        (*idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the gyroscope data from the FIFO
+ * data in header-less mode. It updates the current data byte to
+ * be parsed.
+ */
+static int8_t unpack_gyro_headerless_frame(struct bmi2_sens_axes_data* gyr, uint16_t* idx, uint16_t* gyr_idx,
+                                           uint8_t frame, const struct bmi2_fifo_frame* fifo,
+                                           const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+    /* If frame contains only gyroscope data */
+    case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->gyr_frm_len) > fifo->length)
+        {
+            /* Update the data index as complete*/
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and gyroscope data */
+    case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains gyroscope and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer, gyroscope and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+        /* Partially read, then skip the data*/
+        if ((*idx + fifo->all_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the gyroscope data */
+        unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        /* Get virtual sensor time if S4S is enabled */
+        if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+        {
+            unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
+        }
+
+        /* Update gyroscope frame index */
+        (*gyr_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only auxiliary data */
+    case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only accelerometer data */
+    case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+    default:
+
+        /* Move the data index to the last byte in case of invalid values */
+        (*idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse gyroscope data from the FIFO data.
+ */
+static void unpack_gyro_data(struct bmi2_sens_axes_data* gyr, uint16_t data_start_index,
+                             const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variables to store LSB value */
+    uint16_t data_lsb;
+
+    /* Variables to store MSB value */
+    uint16_t data_msb;
+
+    /* Gyroscope raw x data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->x = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyroscope raw y data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->y = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Gyroscope raw z data */
+    data_lsb = fifo->data[data_start_index++];
+    data_msb = fifo->data[data_start_index++];
+    gyr->z = (int16_t)((data_msb << 8) | data_lsb);
+
+    /* Get the compensated gyroscope data */
+    comp_gyro_cross_axis_sensitivity(gyr, dev);
+
+    /* Get the re-mapped gyroscope data */
+    get_remapped_data(gyr, dev);
+}
+
+/*!
+ * @brief This API computes the number of bytes of auxiliary FIFO data which is
+ * to be parsed in header-less mode.
+ */
+static int8_t parse_fifo_aux_len(uint16_t* start_idx, uint16_t* len, uint8_t* skip_length, const uint16_t* aux_count,
+                                 const struct bmi2_fifo_frame* fifo)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Data start index */
+    *start_idx = fifo->aux_byte_start_idx;
+
+    /* If only auxiliary is enabled */
+    if (fifo->data_enable == BMI2_FIFO_AUX_EN)
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * fifo->aux_frm_len);
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = fifo->aux_frm_len;
+    }
+    /* If only accelerometer and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+    }
+    /* If only accelerometer and gyroscope are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+    }
+    /* If only accelerometer, gyroscope and auxiliary are enabled */
+    else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_ACC_EN))
+    {
+        /* Number of bytes to be read */
+        (*len) = (uint16_t)((*aux_count) * (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len));
+
+        /* Number of bytes to skip in case dummy frame is obtained */
+        (*skip_length) = (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+    }
+    else
+    {
+        /* Move the data index to the last byte to mark completion */
+        (*start_idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+    }
+
+    /* If more data is requested than available */
+    if (((*len)) > fifo->length)
+    {
+        (*len) = fifo->length;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse the auxiliary data from the
+ * FIFO in headerless mode.
+ */
+static int8_t extract_aux_headerless_mode(struct bmi2_aux_fifo_data* aux, uint16_t* aux_length,
+                                          struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    /* Variable to index the bytes */
+    uint16_t data_index = 0;
+
+    /* Variable to index auxiliary frames */
+    uint16_t aux_index = 0;
+
+    /* Variable to store the number of bytes to be read */
+    uint16_t data_read_length = 0;
+
+    /* Variable to define the data enable byte */
+    uint8_t data_enable;
+
+    /* Number of bytes to skip in case dummy frame is obtained */
+    uint8_t skip_length = 0;
+
+    rslt = parse_fifo_aux_len(&data_index, &data_read_length, &skip_length, aux_length, fifo);
+
+    /* Convert word to byte since all sensor enables are in a byte */
+    data_enable = (uint8_t)(fifo->data_enable >> 8);
+
+    for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
+    {
+        rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_AUX, &data_index, skip_length, fifo);
+
+        /* Unpack only if Valid frame is present */
+        if (rslt == BMI2_OK)
+        {
+            /* Unpack frame to get auxiliary data */
+            rslt = unpack_aux_frame(aux, &data_index, &aux_index, data_enable, fifo, dev);
+
+            if (rslt != BMI2_W_FIFO_EMPTY)
+            {
+                /* Check for the availability of next two bytes of FIFO data */
+                rslt = check_empty_fifo(&data_index, fifo);
+            }
+        }
+    }
+
+    /* Update number of auxiliary frames to be read */
+    *aux_length = aux_index;
+
+    /* Update the auxiliary byte index */
+    fifo->aux_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to parse the auxiliary data from the FIFO data in
+ * header mode.
+ */
+static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data* aux, uint16_t* aux_len, struct bmi2_fifo_frame* fifo,
+                                      const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define header frame */
+    uint8_t frame_header = 0;
+
+    /* Variable to index the data bytes */
+    uint16_t data_index;
+
+    /* Variable to index gyroscope frames */
+    uint16_t aux_index = 0;
+
+    /* Variable to indicate auxiliary frames read */
+    uint16_t frame_to_read = *aux_len;
+
+    for (data_index = fifo->aux_byte_start_idx; data_index < fifo->length;)
+    {
+        /* Get frame header byte */
+        frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
+
+        /* Parse virtual header if S4S is enabled */
+        parse_if_virtual_header(&frame_header, &data_index, fifo);
+
+        /* Index shifted to next byte where data starts */
+        data_index++;
+        switch (frame_header)
+        {
+        /* If header defines auxiliary frame */
+        case BMI2_FIFO_HEADER_AUX_FRM:
+        case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+        case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+        case BMI2_FIFO_HEADER_ALL_FRM:
+
+            /* Unpack from normal frames */
+            rslt = unpack_aux_frame(aux, &data_index, &aux_index, frame_header, fifo, dev);
+            break;
+
+        /* If header defines only accelerometer frame */
+        case BMI2_FIFO_HEADER_ACC_FRM:
+            rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
+            break;
+
+        /* If header defines only gyroscope frame */
+        case BMI2_FIFO_HEADER_GYR_FRM:
+            rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
+            break;
+
+        /* If header defines only gyroscope and accelerometer frame */
+        case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+            rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
+            break;
+
+        /* If header defines sensor time frame */
+        case BMI2_FIFO_HEADER_SENS_TIME_FRM:
+            rslt = unpack_sensortime_frame(&data_index, fifo);
+            break;
+
+        /* If header defines skip frame */
+        case BMI2_FIFO_HEADER_SKIP_FRM:
+            rslt = unpack_skipped_frame(&data_index, fifo);
+            break;
+
+        /* If header defines Input configuration frame */
+        case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
+            break;
+
+        /* If header defines invalid frame or end of valid data */
+        case BMI2_FIFO_HEAD_OVER_READ_MSB:
+
+            /* Move the data index to the last byte */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
+            rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
+            break;
+        default:
+
+            /* Move the data index to the last byte in case
+             * of invalid values
+             */
+            data_index = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+            break;
+        }
+
+        /* Break if number of frames to be read is complete or FIFO is
+         * empty
+         */
+        if ((frame_to_read == aux_index) || (rslt == BMI2_W_FIFO_EMPTY))
+        {
+            break;
+        }
+    }
+
+    /* Update the gyroscope frame index */
+    (*aux_len) = aux_index;
+
+    /* Update the gyroscope byte index */
+    fifo->aux_byte_start_idx = data_index;
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is used to parse the auxiliary frame from the FIFO data in
+ * both header mode and header-less mode and update the data_index value which
+ * is used to store the index of the current data byte which is parsed.
+ */
+static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data* aux, uint16_t* idx, uint16_t* aux_idx, uint8_t frame,
+                               const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (frame)
+    {
+    /* If frame contains only auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_FRM:
+    case BMI2_FIFO_HEAD_LESS_AUX_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->aux_frm_len) > fifo->length)
+        {
+            /* Update the data index as complete*/
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the auxiliary data */
+        unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->aux_frm_len;
+
+        unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev);
+
+        /* Update auxiliary frame index */
+        (*aux_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_ACC_FRM:
+    case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the auxiliary data */
+        unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+
+        unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev);
+
+        /* Update auxiliary frame index */
+        (*aux_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_AUX_GYR_FRM:
+    case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
+
+        /* Partially read, then skip the data */
+        if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the auxiliary data */
+        unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev);
+
+        /* Update auxiliary frame index */
+        (*aux_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer, gyroscope and auxiliary data */
+    case BMI2_FIFO_HEADER_ALL_FRM:
+    case BMI2_FIFO_HEAD_LESS_ALL_FRM:
+
+        /* Partially read, then skip the data */
+        if ((*idx + fifo->all_frm_len) > fifo->length)
+        {
+            /* Move the data index to the last byte */
+            (*idx) = fifo->length;
+
+            rslt = BMI2_OK;
+            break;
+        }
+
+        /* Get the auxiliary data */
+        unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
+
+        /* Update data index */
+        (*idx) = (*idx) + (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+
+        unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev);
+
+        /* Update auxiliary frame index */
+        (*aux_idx)++;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only accelerometer data */
+    case BMI2_FIFO_HEADER_ACC_FRM:
+    case BMI2_FIFO_HEAD_LESS_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains only gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_FRM:
+    case BMI2_FIFO_HEAD_LESS_GYR_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+
+    /* If frame contains accelerometer and gyroscope data */
+    case BMI2_FIFO_HEADER_GYR_ACC_FRM:
+    case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
+
+        /* Update data index */
+        (*idx) = (*idx) + fifo->acc_gyr_frm_len;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+        break;
+    default:
+
+        /* Move the data index to the last byte in case of
+         * invalid values
+         */
+        (*idx) = fifo->length;
+
+        /* FIFO is empty */
+        rslt = BMI2_W_FIFO_EMPTY;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to unpack virtual auxillary sensortime data.
+ */
+static void unpack_virtual_aux_data(struct bmi2_aux_fifo_data* aux, uint16_t* idx, const uint16_t* aux_idx,
+                                    const struct bmi2_fifo_frame* fifo, const struct bmi2_dev* dev)
+{
+    /* Get virtual sensor time if S4S is enabled */
+    if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
+    {
+        unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
+    }
+}
+
+/*!
+ * @brief This internal API is used to parse auxiliary data from the FIFO data.
+ */
+static void unpack_aux_data(struct bmi2_aux_fifo_data* aux, uint16_t data_start_index,
+                            const struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to store index */
+    uint16_t idx = 0;
+
+    /* Get auxiliary data */
+    for (; idx < 8; idx++)
+    {
+        aux->data[idx] = fifo->data[data_start_index++];
+    }
+}
+
+/*!
+ * @brief This internal API parses virtual frame header from the FIFO data.
+ */
+static void parse_if_virtual_header(uint8_t* frame_header, uint16_t* data_index, const struct bmi2_fifo_frame* fifo)
+{
+    /* Variable to extract virtual header byte */
+    uint8_t virtual_header_mode;
+
+    /* Extract virtual header mode from the frame header */
+    virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
+
+    /* If the extracted header byte is a virtual header */
+    if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
+    {
+        /* If frame header is not activity recognition header */
+        if (*frame_header != 0xC8)
+        {
+            /* Index shifted to next byte where sensor frame is present */
+            (*data_index) = (*data_index) + 1;
+
+            /* Get the sensor frame header */
+            *frame_header = fifo->data[*data_index] & BMI2_FIFO_TAG_INTR_MASK;
+        }
+    }
+}
+
+/*!
+ * @brief This internal API gets sensor time from the accelerometer and
+ * gyroscope virtual frames and updates in the data structure.
+ */
+static void unpack_virt_sensor_time(struct bmi2_sens_axes_data* sens, uint16_t* idx, const struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3;
+    uint16_t sensor_time_byte2;
+    uint8_t sensor_time_byte1;
+
+    /* Get sensor time from the FIFO data */
+    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
+    sensor_time_byte2 = (uint16_t)fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+    sensor_time_byte1 = fifo->data[(*idx)];
+
+    /* Store sensor time in the sensor data structure */
+    sens->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+    /* Move the data index by 3 bytes */
+    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
+}
+
+/*!
+ * @brief This internal API gets sensor time from the auxiliary virtual
+ * frames and updates in the data structure.
+ */
+static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data* aux, uint16_t* idx,
+                                        const struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3;
+    uint16_t sensor_time_byte2;
+    uint8_t sensor_time_byte1;
+
+    /* Get sensor time from the FIFO data */
+    sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
+    sensor_time_byte2 = (uint16_t)fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+    sensor_time_byte1 = fifo->data[(*idx)];
+
+    /* Store sensor time in the sensor data structure */
+    aux->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+    /* Move the data index by 3 bytes */
+    (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
+}
+
+/*!
+ * @brief This internal API is used to reset the FIFO related configurations in
+ * the FIFO frame structure for the next FIFO read.
+ */
+static int8_t reset_fifo_frame_structure(struct bmi2_fifo_frame* fifo, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    struct bmi2_aux_config config;
+
+    /* Reset FIFO data structure */
+    fifo->acc_byte_start_idx = 0;
+    fifo->aux_byte_start_idx = 0;
+    fifo->gyr_byte_start_idx = 0;
+    fifo->sensor_time = 0;
+    fifo->skipped_frame_count = 0;
+    fifo->act_recog_byte_start_idx = 0;
+
+    /* Get default configurations for the type of feature selected. */
+    rslt = get_aux_interface_config(&config, dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* If S4S is enabled */
+        if ((dev->sens_en_stat & BMI2_EXT_SENS_SEL) == BMI2_EXT_SENS_SEL)
+        {
+            fifo->acc_frm_len = BMI2_FIFO_VIRT_ACC_LENGTH;
+            fifo->gyr_frm_len = BMI2_FIFO_VIRT_GYR_LENGTH;
+            fifo->aux_frm_len = BMI2_FIFO_VIRT_AUX_LENGTH;
+            fifo->acc_gyr_frm_len = BMI2_FIFO_VIRT_ACC_GYR_LENGTH;
+            fifo->acc_aux_frm_len = BMI2_FIFO_VIRT_ACC_AUX_LENGTH;
+            fifo->aux_gyr_frm_len = BMI2_FIFO_VIRT_GYR_AUX_LENGTH;
+            fifo->all_frm_len = BMI2_FIFO_VIRT_ALL_LENGTH;
+
+            /* If S4S is not enabled */
+        }
+        else
+        {
+            if (config.aux_rd_burst == BMI2_AUX_READ_LEN_0)
+            {
+                fifo->aux_frm_len = BMI2_AUX_RD_BURST_FRM_LEN_1;
+            }
+
+            if (config.aux_rd_burst == BMI2_AUX_READ_LEN_1)
+            {
+                fifo->aux_frm_len = BMI2_AUX_RD_BURST_FRM_LEN_2;
+            }
+
+            if (config.aux_rd_burst == BMI2_AUX_READ_LEN_2)
+            {
+                fifo->aux_frm_len = BMI2_AUX_RD_BURST_FRM_LEN_6;
+            }
+
+            if (config.aux_rd_burst == BMI2_AUX_READ_LEN_3)
+            {
+                fifo->aux_frm_len = BMI2_AUX_RD_BURST_FRM_LEN_8;
+            }
+
+            fifo->acc_frm_len = BMI2_FIFO_ACC_LENGTH;
+            fifo->gyr_frm_len = BMI2_FIFO_GYR_LENGTH;
+            fifo->acc_gyr_frm_len = BMI2_FIFO_ACC_GYR_LENGTH;
+            fifo->acc_aux_frm_len = (BMI2_FIFO_ACC_LENGTH + fifo->aux_frm_len);
+            fifo->aux_gyr_frm_len = (BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+            fifo->all_frm_len = (BMI2_FIFO_ACC_LENGTH + BMI2_FIFO_GYR_LENGTH + fifo->aux_frm_len);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API internal checks whether the FIFO data read is an empty frame.
+ * If empty frame, index is moved to the last byte.
+ */
+static int8_t check_empty_fifo(uint16_t* data_index, const struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + 6) < fifo->length)
+    {
+        /* Check if FIFO is empty */
+        if (((fifo->data[(*data_index)] == BMI2_FIFO_LSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 1] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 2] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
+            ((fifo->data[(*data_index) + 3] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
+             (fifo->data[(*data_index) + 4] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
+            ((fifo->data[(*data_index) + 5] == BMI2_FIFO_MSB_CONFIG_CHECK)))
+        {
+            /* Move the data index to the last byte to mark completion */
+            (*data_index) = fifo->length;
+
+            /* FIFO is empty */
+            rslt = BMI2_W_FIFO_EMPTY;
+        }
+        else
+        {
+            /* More frames could be read */
+            rslt = BMI2_W_PARTIAL_READ;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to move the data index ahead of the
+ * current_frame_length parameter when unnecessary FIFO data appears while
+ * extracting the user specified data.
+ */
+static int8_t move_next_frame(uint16_t* data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if (((*data_index) + current_frame_length) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        /* Move the data index to next frame */
+        (*data_index) = (*data_index) + current_frame_length;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the sensor time from the
+ * FIFO data.
+ */
+static int8_t unpack_sensortime_frame(uint16_t* data_index, struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variables to define 3 bytes of sensor time */
+    uint32_t sensor_time_byte3 = 0;
+    uint16_t sensor_time_byte2 = 0;
+    uint8_t sensor_time_byte1 = 0;
+
+    /* Validate data index */
+    if (((*data_index) + BMI2_SENSOR_TIME_LENGTH) > fifo->length)
+    {
+        /* Move the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        /* Get sensor time from the FIFO data */
+        sensor_time_byte3 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_MSB_BYTE] << 16;
+        sensor_time_byte2 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
+        sensor_time_byte1 = fifo->data[(*data_index)];
+
+        /* Update sensor time in the FIFO structure */
+        fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
+
+        /* Move the data index by 3 bytes */
+        (*data_index) = (*data_index) + BMI2_SENSOR_TIME_LENGTH;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to parse and store the skipped frame count
+ * from the FIFO data.
+ */
+static int8_t unpack_skipped_frame(uint16_t* data_index, struct bmi2_fifo_frame* fifo)
+{
+    /* Variables to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Validate data index */
+    if ((*data_index) >= fifo->length)
+    {
+        /* Update the data index to the last byte */
+        (*data_index) = fifo->length;
+
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        /* Update skipped frame count in the FIFO structure */
+        fifo->skipped_frame_count = fifo->data[(*data_index)];
+
+        /* Move the data index by 1 byte */
+        (*data_index) = (*data_index) + 1;
+
+        /* More frames could be read */
+        rslt = BMI2_W_PARTIAL_READ;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables and configures the accelerometer which is
+ * needed for self-test operation. It also sets the amplitude for the self-test.
+ */
+static int8_t pre_self_test_config(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* List the sensors to be selected */
+    uint8_t sens_sel = BMI2_ACCEL;
+
+    /* Enable accelerometer */
+    rslt = bmi2_sensor_enable(&sens_sel, 1, dev);
+    dev->delay_us(1000, dev->intf_ptr);
+
+    /* Enable self-test amplitude */
+    if (rslt == BMI2_OK)
+    {
+        rslt = set_accel_self_test_amp(BMI2_ENABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Select accelerometer for sensor configurations */
+        sens_cfg.type = BMI2_ACCEL;
+
+        /* Get the default values */
+        rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set the configurations required for self-test */
+            sens_cfg.cfg.acc.odr = BMI2_ACC_ODR_1600HZ;
+            sens_cfg.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
+            sens_cfg.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+            sens_cfg.cfg.acc.range = BMI2_ACC_RANGE_16G;
+
+            /* Set accelerometer configurations */
+            rslt = bmi2_set_sensor_config(&sens_cfg, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API performs the steps needed for self-test operation
+ * before reading the accelerometer self-test data.
+ */
+static int8_t self_test_config(uint8_t sign, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Enable the accelerometer self-test feature */
+    rslt = set_accel_self_test_enable(BMI2_ENABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Selects the sign of accelerometer self-test excitation */
+        rslt = set_acc_self_test_sign(sign, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables or disables the accelerometer self-test
+ * feature in the sensor.
+ */
+static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Enable/Disable self-test feature */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BIT_POS0(data, BMI2_ACC_SELF_TEST_EN, enable);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sign for accelerometer self-test
+ * excitation.
+ */
+static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Select the sign for self-test excitation */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_SIGN, sign);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the amplitude of the accelerometer self-test
+ * deflection in the sensor.
+ */
+static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define data */
+    uint8_t data = 0;
+
+    /* Select amplitude of the self-test deflection */
+    rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_AMP, amp);
+        rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the accelerometer data for x,y and z axis from
+ * the sensor. The data units is in LSB format.
+ */
+static int8_t read_accel_xyz(struct bmi2_sens_axes_data* accel, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Array to define data buffer */
+    uint8_t data[BMI2_ACC_NUM_BYTES] = {0};
+
+    rslt = bmi2_get_regs(BMI2_ACC_X_LSB_ADDR, data, BMI2_ACC_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Accelerometer data x axis */
+        msb = data[1];
+        lsb = data[0];
+        accel->x = (int16_t)((msb << 8) | lsb);
+
+        /* Accelerometer data y axis */
+        msb = data[3];
+        lsb = data[2];
+        accel->y = (int16_t)((msb << 8) | lsb);
+
+        /* Accelerometer data z axis */
+        msb = data[5];
+        lsb = data[4];
+        accel->z = (int16_t)((msb << 8) | lsb);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the gyroscope data for x, y and z axis from
+ * the sensor. The data units is in LSB format.
+ */
+static int8_t read_gyro_xyz(struct bmi2_sens_axes_data* gyro, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Array to define data buffer */
+    uint8_t data[BMI2_GYR_NUM_BYTES] = {0};
+
+    rslt = bmi2_get_regs(BMI2_GYR_X_LSB_ADDR, data, BMI2_GYR_NUM_BYTES, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Gyroscope data x axis */
+        msb = data[1];
+        lsb = data[0];
+        gyro->x = (int16_t)((msb << 8) | lsb);
+
+        /* Gyroscope data y axis */
+        msb = data[3];
+        lsb = data[2];
+        gyro->y = (int16_t)((msb << 8) | lsb);
+
+        /* Gyroscope data z axis */
+        msb = data[5];
+        lsb = data[4];
+        gyro->z = (int16_t)((msb << 8) | lsb);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API converts LSB value of accelerometer axes to form
+ * 'g' to 'mg' for self-test.
+ */
+static void convert_lsb_g(const struct bmi2_selftest_delta_limit* acc_data_diff,
+                          struct bmi2_selftest_delta_limit* acc_data_diff_mg, const struct bmi2_dev* dev)
+{
+    /* Variable to define LSB/g value of axes */
+    uint32_t lsb_per_g;
+
+    /* Range considered for self-test is +/-16g */
+    uint8_t range = BMI2_ACC_SELF_TEST_RANGE;
+
+    /* lsb_per_g for the respective resolution and 16g range */
+    lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range));
+
+    /* Accelerometer x value in mg */
+    acc_data_diff_mg->x = (acc_data_diff->x / (int32_t)lsb_per_g) * 1000;
+
+    /* Accelerometer y value in mg */
+    acc_data_diff_mg->y = (acc_data_diff->y / (int32_t)lsb_per_g) * 1000;
+
+    /* Accelerometer z value in mg */
+    acc_data_diff_mg->z = (acc_data_diff->z / (int32_t)lsb_per_g) * 1000;
+}
+
+/*!
+ * @brief This internal API is used to calculate the power of a value.
+ */
+static int32_t power(int16_t base, uint8_t resolution)
+{
+    /* Initialize loop */
+    uint8_t loop = 1;
+
+    /* Initialize variable to store the power of 2 value */
+    int32_t value = 1;
+
+    for (; loop <= resolution; loop++)
+    {
+        value = (int32_t)(value * base);
+    }
+
+    return value;
+}
+
+/*!
+ * @brief This internal API validates the accelerometer self-test data and
+ * decides the result of self-test operation.
+ */
+static int8_t validate_self_test(const struct bmi2_selftest_delta_limit* accel_data_diff)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* As per the data sheet, The actually measured signal differences should be significantly
+     * larger than the minimum differences for each axis in order for the self-test to pass.
+     */
+    if ((accel_data_diff->x > BMI2_ST_ACC_X_SIG_MIN_DIFF) && (accel_data_diff->y < BMI2_ST_ACC_Y_SIG_MIN_DIFF) &&
+        (accel_data_diff->z > BMI2_ST_ACC_Z_SIG_MIN_DIFF))
+    {
+        /* Self-test pass */
+        rslt = BMI2_OK;
+    }
+    else
+    {
+        /* Self-test fail*/
+        rslt = BMI2_E_SELF_TEST_FAIL;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the re-mapped x, y and z axes from the sensor.
+ */
+static int8_t get_remap_axes(struct bmi2_axes_remap* remap, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for axis re-mapping */
+    struct bmi2_feature_config remap_config = {0, 0, 0};
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
+        if (feat_found)
+        {
+            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for axis re-mapping */
+                idx = remap_config.start_addr;
+
+                /* Get the re-mapped x-axis */
+                remap->x_axis = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_X_AXIS);
+
+                /* Get the re-mapped x-axis polarity */
+                remap->x_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_X_AXIS_SIGN);
+
+                /* Get the re-mapped y-axis */
+                remap->y_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS);
+
+                /* Get the re-mapped y-axis polarity */
+                remap->y_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS_SIGN);
+
+                /* Get the re-mapped z-axis */
+                remap->z_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Z_AXIS);
+
+                /* Increment byte to fetch the next data */
+                idx++;
+
+                /* Get the re-mapped z-axis polarity */
+                remap->z_axis_sign = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the re-mapped x, y and z axes in the sensor.
+ */
+static int8_t set_remap_axes(const struct bmi2_axes_remap* remap, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define the register address */
+    uint8_t reg_addr = 0;
+
+    /* Variable to set the re-mapped x-axes in the sensor */
+    uint8_t x_axis = 0;
+
+    /* Variable to set the re-mapped y-axes in the sensor */
+    uint8_t y_axis = 0;
+
+    /* Variable to set the re-mapped z-axes in the sensor */
+    uint8_t z_axis = 0;
+
+    /* Variable to set the re-mapped x-axes sign in the sensor */
+    uint8_t x_axis_sign = 0;
+
+    /* Variable to set the re-mapped y-axes sign in the sensor */
+    uint8_t y_axis_sign = 0;
+
+    /* Variable to set the re-mapped z-axes sign in the sensor */
+    uint8_t z_axis_sign = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for axis re-mapping */
+    struct bmi2_feature_config remap_config = {0, 0, 0};
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis-re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where axis re-mapping feature resides */
+            rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = remap_config.start_addr;
+
+                /* Set the value of re-mapped x-axis */
+                x_axis = remap->x_axis & BMI2_X_AXIS_MASK;
+
+                /* Set the value of re-mapped x-axis sign */
+                x_axis_sign = ((remap->x_axis_sign << BMI2_X_AXIS_SIGN_POS) & BMI2_X_AXIS_SIGN_MASK);
+
+                /* Set the value of re-mapped y-axis */
+                y_axis = ((remap->y_axis << BMI2_Y_AXIS_POS) & BMI2_Y_AXIS_MASK);
+
+                /* Set the value of re-mapped y-axis sign */
+                y_axis_sign = ((remap->y_axis_sign << BMI2_Y_AXIS_SIGN_POS) & BMI2_Y_AXIS_SIGN_MASK);
+
+                /* Set the value of re-mapped z-axis */
+                z_axis = ((remap->z_axis << BMI2_Z_AXIS_POS) & BMI2_Z_AXIS_MASK);
+
+                /* Set the value of re-mapped z-axis sign */
+                z_axis_sign = remap->z_axis_sign & BMI2_Z_AXIS_SIGN_MASK;
+
+                /* Arrange axes in the first byte */
+                feat_config[idx] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis;
+
+                /* Increment the index */
+                idx++;
+
+                /* Cannot OR in the second byte since it holds
+                 * gyroscope self-offset correction bit
+                 */
+                feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN, z_axis_sign);
+
+                /* Update the register address */
+                reg_addr = BMI2_FEATURES_REG_ADDR + remap_config.start_addr;
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(reg_addr, &feat_config[remap_config.start_addr], 2, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API clips the gyroscope cross-axis sensitivity within signed 16-bit limit
+ */
+static int16_t saturate(int32_t value, uint16_t saturation_val)
+{
+    int16_t retval = (int16_t)value;
+
+    if (value > (int32_t)saturation_val)
+    {
+        retval = (int16_t)saturation_val;
+    }
+    else if (value < (-(int32_t)saturation_val - 1))
+    {
+        retval = -(int16_t)saturation_val - 1;
+    }
+
+    return retval;
+}
+
+/*!
+ * @brief This internal API corrects the gyroscope cross-axis sensitivity
+ * between the z and the x axis.
+ */
+static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data* gyr_data, const struct bmi2_dev* dev)
+{
+    uint16_t int16_max = UINT16_C(32767);
+
+    /* Get the compensated gyroscope x-axis */
+    gyr_data->x = saturate(
+        (int32_t)(gyr_data->x - (int16_t)(((int32_t)dev->gyr_cross_sens_zx * (int32_t)gyr_data->z) / 512)), int16_max);
+}
+
+/*!
+ * @brief This internal API is used to validate the boundary conditions.
+ */
+static int8_t check_boundary_val(uint8_t* val, uint8_t min, uint8_t max, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if (val != NULL)
+    {
+        /* Check if value is below minimum value */
+        if (*val < min)
+        {
+            /* Auto correct the invalid value to minimum value */
+            *val = min;
+            dev->info |= BMI2_I_MIN_VALUE;
+        }
+
+        /* Check if value is above maximum value */
+        if (*val > max)
+        {
+            /* Auto correct the invalid value to maximum value */
+            *val = max;
+            dev->info |= BMI2_I_MAX_VALUE;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saves the configurations before performing FOC.
+ */
+static int8_t save_accel_foc_config(struct bmi2_accel_config* acc_cfg, uint8_t* aps, uint8_t* acc_en,
+                                    struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Get accelerometer configurations to be saved */
+    rslt = get_accel_config(acc_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get accelerometer enable status to be saved */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        *acc_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_ACC_EN);
+
+        /* Get advance power save mode to be saved */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_adv_power_save(aps, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal sets configurations for performing accelerometer FOC.
+ */
+static int8_t set_accel_foc_config(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_ACCEL;
+
+    /* Variable to set the accelerometer configuration value */
+    uint8_t acc_conf_data = BMI2_FOC_ACC_CONF_VAL;
+
+    /* Disabling offset compensation */
+    rslt = bmi2_set_accel_offset_comp(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */
+        rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, &acc_conf_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set accelerometer to normal mode by enabling it */
+            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Disable advance power save mode */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API performs Fast Offset Compensation for accelerometer.
+ */
+static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value* accel_g_value,
+                                const struct bmi2_accel_config* acc_cfg, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_E_INVALID_STATUS;
+
+    /* Variable to define count */
+    uint8_t loop;
+
+    /* Variable to store status read from the status register */
+    uint8_t reg_status = 0;
+
+    /* Array of structure to store accelerometer data */
+    struct bmi2_sens_axes_data accel_value[128] = {{0}};
+
+    /* Structure to store accelerometer data temporarily */
+    struct bmi2_foc_temp_value temp = {0, 0, 0};
+
+    /* Structure to store the average of accelerometer data */
+    struct bmi2_sens_axes_data accel_avg = {0, 0, 0, 0};
+
+    /* Variable to define LSB per g value */
+    uint16_t lsb_per_g = 0;
+
+    /* Variable to define range */
+    uint8_t range = 0;
+
+    /* Structure to store accelerometer data deviation from ideal value */
+    struct bmi2_offset_delta delta = {0, 0, 0};
+
+    /* Structure to store accelerometer offset values */
+    struct bmi2_accel_offset offset = {0, 0, 0};
+
+    /* Variable tries max 5 times for interrupt then generates timeout */
+    uint8_t try_cnt;
+
+    for (loop = 0; loop < 128; loop++)
+    {
+        try_cnt = 5;
+        while (try_cnt && (!(reg_status & BMI2_DRDY_ACC)))
+        {
+            /* 20ms delay for 50Hz ODR */
+            dev->delay_us(20000, dev->intf_ptr);
+            rslt = bmi2_get_status(&reg_status, dev);
+            try_cnt--;
+        }
+
+        if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_ACC))
+        {
+            rslt = read_accel_xyz(&accel_value[loop], dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = read_accel_xyz(&accel_value[loop], dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Store the data in a temporary structure */
+            temp.x = temp.x + (int32_t)accel_value[loop].x;
+            temp.y = temp.y + (int32_t)accel_value[loop].y;
+            temp.z = temp.z + (int32_t)accel_value[loop].z;
+        }
+        else
+        {
+            break;
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Take average of x, y and z data for lesser noise */
+        accel_avg.x = (int16_t)(temp.x / 128);
+        accel_avg.y = (int16_t)(temp.y / 128);
+        accel_avg.z = (int16_t)(temp.z / 128);
+
+        /* Get the exact range value */
+        map_accel_range(acc_cfg->range, &range);
+
+        /* Get the smallest possible measurable acceleration level given the range and
+         * resolution */
+        lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range));
+
+        /* Compensate acceleration data against gravity */
+        comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta);
+
+        /* Scale according to offset register resolution */
+        scale_accel_offset(range, &delta, &offset);
+
+        /* Invert the accelerometer offset data */
+        invert_accel_offset(&offset);
+
+        /* Write offset data in the offset compensation register */
+        rslt = write_accel_offset(&offset, dev);
+
+        /* Enable offset compensation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_accel_offset_comp(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables the offset compensation for
+ * filtered and un-filtered accelerometer data.
+ */
+int8_t bmi2_set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t data = 0;
+
+    /* Enable/Disable offset compensation */
+    rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        data = BMI2_SET_BITS(data, BMI2_NV_ACC_OFFSET, offset_en);
+        rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads the accelerometer offset compensation value.
+ */
+int8_t bmi2_get_accel_offset_comp(uint8_t* accel_offset, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    uint8_t count = 0;
+
+    while (count < 3)
+    {
+        rslt = bmi2_get_regs(BMI2_ACC_OFF_COMP_0_ADDR + count, accel_offset + count, 1, dev);
+        if (rslt != BMI2_OK)
+        {
+            break;
+        }
+
+        count++;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API converts the accelerometer range value into
+ * corresponding integer value.
+ */
+static void map_accel_range(uint8_t range_in, uint8_t* range_out)
+{
+    switch (range_in)
+    {
+    case BMI2_ACC_RANGE_2G:
+        *range_out = 2;
+        break;
+    case BMI2_ACC_RANGE_4G:
+        *range_out = 4;
+        break;
+    case BMI2_ACC_RANGE_8G:
+        *range_out = 8;
+        break;
+    case BMI2_ACC_RANGE_16G:
+        *range_out = 16;
+        break;
+    default:
+
+        /* By default RANGE 8G is set */
+        *range_out = 8;
+        break;
+    }
+}
+
+/*!
+ * @brief This internal API compensate the accelerometer data against gravity.
+ */
+static void comp_for_gravity(uint16_t lsb_per_g, const struct bmi2_accel_foc_g_value* g_val,
+                             const struct bmi2_sens_axes_data* data, struct bmi2_offset_delta* comp_data)
+{
+    /* Array to store the accelerometer values in LSB */
+    int16_t accel_value_lsb[3] = {0};
+
+    /* Convert g-value to LSB */
+    accel_value_lsb[BMI2_X_AXIS] = (int16_t)(lsb_per_g * g_val->x);
+    accel_value_lsb[BMI2_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y);
+    accel_value_lsb[BMI2_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z);
+
+    /* Get the compensated values for X, Y and Z axis */
+    comp_data->x = (data->x - accel_value_lsb[BMI2_X_AXIS]);
+    comp_data->y = (data->y - accel_value_lsb[BMI2_Y_AXIS]);
+    comp_data->z = (data->z - accel_value_lsb[BMI2_Z_AXIS]);
+}
+
+/*!
+ * @brief This internal API scales the compensated accelerometer data according
+ * to the offset register resolution.
+ *
+ * @note The bit position is always greater than 0 since accelerometer data is
+ * 16 bit wide.
+ */
+static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta* comp_data, struct bmi2_accel_offset* data)
+{
+    /* Variable to store the position of bit having 3.9mg resolution */
+    int8_t bit_pos_3_9mg;
+
+    /* Variable to store the position previous of bit having 3.9mg resolution */
+    int8_t bit_pos_3_9mg_prev_bit;
+
+    /* Variable to store the round-off value */
+    uint8_t round_off;
+
+    /* Find the bit position of 3.9mg */
+    bit_pos_3_9mg = get_bit_pos_3_9mg(range);
+
+    /* Round off, consider if the next bit is high */
+    bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1;
+    round_off = (uint8_t)(power(2, ((uint8_t)bit_pos_3_9mg_prev_bit)));
+
+    /* Scale according to offset register resolution */
+    data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t)bit_pos_3_9mg)));
+    data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t)bit_pos_3_9mg)));
+    data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t)bit_pos_3_9mg)));
+}
+
+/*!
+ * @brief This internal API finds the bit position of 3.9mg according to given
+ * range and resolution.
+ */
+static int8_t get_bit_pos_3_9mg(uint8_t range)
+{
+    /* Variable to store the bit position of 3.9mg resolution */
+    int8_t bit_pos_3_9mg;
+
+    /* Variable to shift the bits according to the resolution  */
+    uint32_t divisor = 1;
+
+    /* Scaling factor to get the bit position of 3.9 mg resolution */
+    int16_t scale_factor = -1;
+
+    /* Variable to store temporary value */
+    uint16_t temp;
+
+    /* Shift left by the times of resolution */
+    divisor = divisor << 16;
+
+    /* Get the bit position to be shifted */
+    temp = (uint16_t)(divisor / (range * 256));
+
+    /* Get the scaling factor until bit position is shifted to last bit */
+    while (temp != 1)
+    {
+        scale_factor++;
+        temp = temp >> 1;
+    }
+
+    /* Scaling factor is the bit position of 3.9 mg resolution */
+    bit_pos_3_9mg = (int8_t)scale_factor;
+
+    return bit_pos_3_9mg;
+}
+
+/*!
+ * @brief This internal API inverts the accelerometer offset data.
+ */
+static void invert_accel_offset(struct bmi2_accel_offset* offset_data)
+{
+    /* Get the offset data */
+    offset_data->x = (uint8_t)((offset_data->x) * (-1));
+    offset_data->y = (uint8_t)((offset_data->y) * (-1));
+    offset_data->z = (uint8_t)((offset_data->z) * (-1));
+}
+
+/*!
+ * @brief This internal API writes the offset data in the offset compensation
+ * register.
+ */
+static int8_t write_accel_offset(const struct bmi2_accel_offset* offset, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to store the offset data */
+    uint8_t data_array[3] = {0};
+
+    data_array[0] = offset->x;
+    data_array[1] = offset->y;
+    data_array[2] = offset->z;
+
+    /* Offset values are written in the offset register */
+    rslt = bmi2_set_regs(BMI2_ACC_OFF_COMP_0_ADDR, data_array, 3, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API restores the configurations saved before performing
+ * accelerometer FOC.
+ */
+static int8_t restore_accel_foc_config(struct bmi2_accel_config* acc_cfg, uint8_t aps, uint8_t acc_en,
+                                       struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Restore the saved accelerometer configurations */
+    rslt = set_accel_config(acc_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Restore the saved accelerometer enable status */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_ACC_EN, acc_en);
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+
+            /* Restore the saved advance power save */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_adv_power_save(aps, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets accelerometer configurations like ODR,
+ * bandwidth, performance mode and g-range.
+ */
+static int8_t set_accel_config(struct bmi2_accel_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Array to store the default value of accelerometer configuration
+     * reserved registers
+     */
+    uint8_t data_array[2] = {0};
+
+    /* Validate bandwidth and performance mode */
+    rslt = validate_bw_perf_mode(&config->bwp, &config->filter_perf, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Validate ODR and range */
+        rslt = validate_odr_range(&config->odr, &config->range, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set accelerometer performance mode */
+            reg_data = BMI2_SET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE, config->filter_perf);
+
+            /* Set accelerometer bandwidth */
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_BW_PARAM, config->bwp);
+
+            /* Set accelerometer ODR */
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ACC_ODR, config->odr);
+
+            /* Copy the register data to the array */
+            data_array[0] = reg_data;
+
+            /* Set accelerometer range */
+            reg_data = BMI2_SET_BIT_POS0(data_array[1], BMI2_ACC_RANGE, config->range);
+
+            /* Copy the register data to the array */
+            data_array[1] = reg_data;
+
+            /* Write accelerometer configuration to ACC_CONFand
+             * ACC_RANGE registers simultaneously as they lie in consecutive places
+             */
+            rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
+
+            /* Get error status to check for invalid configurations */
+            if (rslt == BMI2_OK)
+            {
+                rslt = cfg_error_status(dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets gyroscope configurations like ODR, bandwidth,
+ * low power/high performance mode, performance mode and range. It also
+ * maps/un-maps data interrupts to that of hardware interrupt line.
+ */
+static int8_t set_gyro_config(struct bmi2_gyro_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store data */
+    uint8_t reg_data;
+
+    /* Array to store the default value of gyroscope configuration reserved registers  */
+    uint8_t data_array[2] = {0};
+
+    /* Validate gyroscope configurations */
+    rslt = validate_gyro_config(config, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set gyroscope performance mode */
+        reg_data = BMI2_SET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE, config->filter_perf);
+
+        /* Set gyroscope noise performance mode */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_NOISE_PERF_MODE, config->noise_perf);
+
+        /* Set gyroscope bandwidth */
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_BW_PARAM, config->bwp);
+
+        /* Set gyroscope ODR */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_ODR, config->odr);
+
+        /* Copy the register data to the array */
+        data_array[0] = reg_data;
+
+        /* Set gyroscope OIS range */
+        reg_data = BMI2_SET_BITS(data_array[1], BMI2_GYR_OIS_RANGE, config->ois_range);
+
+        /* Set gyroscope range */
+        reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_RANGE, config->range);
+
+        /* Copy the register data to the array */
+        data_array[1] = reg_data;
+
+        /* Write accelerometer configuration to GYR_CONF and GYR_RANGE
+         * registers simultaneously as they lie in consecutive places
+         */
+        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
+
+        /* Get error status to check for invalid configurations */
+        if (rslt == BMI2_OK)
+        {
+            rslt = cfg_error_status(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saves the configurations before performing gyroscope
+ * FOC.
+ */
+static int8_t save_gyro_config(struct bmi2_gyro_config* gyr_cfg, uint8_t* aps, uint8_t* gyr_en, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to get the status from PWR_CTRL register */
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Get gyroscope configurations to be saved */
+    rslt = get_gyro_config(gyr_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get gyroscope enable status to be saved */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        *gyr_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_GYR_EN);
+
+        /* Get advance power save mode to be saved */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_get_adv_power_save(aps, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal sets configurations for performing gyroscope FOC.
+ */
+static int8_t set_gyro_foc_config(struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_GYRO;
+
+    /* Array to set the gyroscope configuration value (ODR, Performance mode
+     * and bandwidth) and gyroscope range
+     */
+    uint8_t gyr_conf_data[2] = {BMI2_FOC_GYR_CONF_VAL, BMI2_GYR_RANGE_2000};
+
+    /* Disabling gyroscope offset compensation */
+    rslt = bmi2_set_gyro_offset_comp(BMI2_DISABLE, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Set gyroscope configurations to 25Hz, continuous mode,
+         * CIC mode, and 2000 dps range
+         */
+        rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, gyr_conf_data, 2, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Set gyroscope to normal mode by enabling it */
+            rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                /* Disable advance power save mode */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API inverts the gyroscope offset data.
+ */
+static void invert_gyro_offset(struct bmi2_sens_axes_data* offset_data)
+{
+    /* Invert the values */
+    offset_data->x = (int16_t)((offset_data->x) * (-1));
+    offset_data->y = (int16_t)((offset_data->y) * (-1));
+    offset_data->z = (int16_t)((offset_data->z) * (-1));
+}
+
+/*!
+ * @brief This internal API restores the gyroscope configurations saved
+ * before performing FOC.
+ */
+static int8_t restore_gyro_config(struct bmi2_gyro_config* gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t pwr_ctrl_data = 0;
+
+    /* Restore the saved gyroscope configurations */
+    rslt = set_gyro_config(gyr_cfg, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Restore the saved gyroscope enable status */
+        rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_GYR_EN, gyr_en);
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
+
+            /* Restore the saved advance power save */
+            if (rslt == BMI2_OK)
+            {
+                rslt = bmi2_set_adv_power_save(aps, dev);
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API saturates the gyroscope data value before writing to
+ * to 10 bit offset register.
+ */
+static void saturate_gyro_data(struct bmi2_sens_axes_data* gyr_off)
+{
+    if (gyr_off->x > 511)
+    {
+        gyr_off->x = 511;
+    }
+
+    if (gyr_off->x < -512)
+    {
+        gyr_off->x = -512;
+    }
+
+    if (gyr_off->y > 511)
+    {
+        gyr_off->y = 511;
+    }
+
+    if (gyr_off->y < -512)
+    {
+        gyr_off->y = -512;
+    }
+
+    if (gyr_off->z > 511)
+    {
+        gyr_off->z = 511;
+    }
+
+    if (gyr_off->z < -512)
+    {
+        gyr_off->z = -512;
+    }
+}
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is to get the status of st_status from gry_crt_conf register
+ */
+static int8_t get_st_running(uint8_t* st_status, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of crt running */
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*st_status) = BMI2_GET_BITS(reg_data, BMI2_GYR_CRT_RUNNING);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API enables/disables the CRT running.
+ */
+static int8_t set_st_running(uint8_t st_status, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_CRT_RUNNING, st_status);
+            rslt = bmi2_set_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the status of rdy for dl bit.
+ */
+static int8_t get_rdy_for_dl(uint8_t* rdy_for_dl, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t reg_data = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Get the status of rdy_fo_dl */
+        rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            (*rdy_for_dl) = BMI2_GET_BITS(reg_data, BMI2_GYR_RDY_FOR_DL);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API does the crt process if max burst length is not zero.
+ */
+static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t rdy_for_dl = 0;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_rdy_for_dl(&rdy_for_dl, dev);
+    }
+
+    /* Trigger next CRT command */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+    }
+
+    if ((!last_byte_flag) && (rslt == BMI2_OK))
+    {
+        rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, rdy_for_dl, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API to write the 2kb size of crt configuration
+ */
+static int8_t write_crt_config_file(uint16_t write_len, uint16_t config_file_size, uint16_t start_index,
+                                    struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint16_t index = 0;
+    uint8_t last_byte_flag = 0;
+    uint8_t remain = (uint8_t)(config_file_size % write_len);
+    uint16_t balance_byte = 0;
+
+    if (!remain)
+    {
+        /* Write the configuration file */
+        for (index = start_index; (index < (start_index + config_file_size)) && (rslt == BMI2_OK); index += write_len)
+        {
+            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+            if (index >= ((start_index + config_file_size) - (write_len)))
+            {
+                last_byte_flag = 1;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                rslt = process_crt_download(last_byte_flag, dev);
+            }
+        }
+    }
+    else
+    {
+        /* Get the balance bytes */
+        balance_byte = (uint16_t)start_index + (uint16_t)config_file_size - (uint16_t)remain;
+
+        /* Write the configuration file for the balance bytes */
+        for (index = start_index; (index < balance_byte) && (rslt == BMI2_OK); index += write_len)
+        {
+            rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+            if (rslt == BMI2_OK)
+            {
+                rslt = process_crt_download(last_byte_flag, dev);
+            }
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Write the remaining bytes in 2 bytes length */
+            write_len = 2;
+            rslt = set_maxburst_len(write_len, dev);
+
+            /* Write the configuration file for the remaining bytes */
+            for (index = balance_byte; (index < (start_index + config_file_size)) && (rslt == BMI2_OK);
+                 index += write_len)
+            {
+                rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
+                if (index < ((start_index + config_file_size) - write_len))
+                {
+                    last_byte_flag = 1;
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    rslt = process_crt_download(last_byte_flag, dev);
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to wait till the rdy for dl bit toggles after every pack of bytes.
+ */
+static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t dl_ready = 0;
+    uint8_t st_status = 0;
+
+    while ((rslt == BMI2_OK) && (retry_complete--))
+    {
+        rslt = get_rdy_for_dl(&dl_ready, dev);
+        if (download_ready != dl_ready)
+        {
+            break;
+        }
+
+        dev->delay_us(BMI2_CRT_READY_FOR_DOWNLOAD_US, dev->intf_ptr);
+    }
+
+    if ((rslt == BMI2_OK) && (download_ready == dl_ready))
+    {
+        rslt = BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT;
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_st_running(&st_status, dev);
+        if ((rslt == BMI2_OK) && (st_status == 0))
+        {
+            rslt = BMI2_E_ST_ALREADY_RUNNING;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to wait till crt status complete.
+ */
+static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev* dev)
+{
+    uint8_t st_status = 1;
+    int8_t rslt = BMI2_OK;
+
+    while (retry_complete--)
+    {
+        rslt = get_st_running(&st_status, dev);
+        if ((rslt == BMI2_OK) && (st_status == 0))
+        {
+            break;
+        }
+
+        dev->delay_us(BMI2_CRT_WAIT_RUNNING_US, dev->intf_ptr);
+    }
+
+    if ((rslt == BMI2_OK) && (st_status == 1))
+    {
+        rslt = BMI2_E_ST_ALREADY_RUNNING;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to perform gyroscope self-test.
+ */
+int8_t bmi2_do_gyro_st(struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    rslt = do_gtrigger_test(BMI2_SELECT_GYRO_SELF_TEST, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to run the CRT process for both max burst length 0 and non zero condition.
+ */
+int8_t bmi2_do_crt(struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    rslt = do_gtrigger_test(BMI2_SELECT_CRT, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to run the crt process for both max burst length 0 and non zero condition.
+ */
+static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t st_status = 0;
+    uint8_t max_burst_length = 0;
+    struct bmi2_gyro_self_test_status gyro_st_result = {0};
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Check if the variant supports this feature */
+        if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
+        {
+            /* Get status of advance power save mode */
+            aps_stat = dev->aps_status;
+            if (aps_stat == BMI2_ENABLE)
+            {
+                /* Disable advance power save if enabled */
+                rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+            }
+
+            /* Get max burst length */
+            if (rslt == BMI2_OK)
+            {
+                rslt = get_maxburst_len(&max_burst_length, dev);
+            }
+
+            /* Checking for CRT running status */
+            if (rslt == BMI2_OK)
+            {
+                rslt = get_st_running(&st_status, dev);
+            }
+
+            /* CRT is not running and Max burst length is zero */
+            if (st_status == 0)
+            {
+                rslt = gyro_crt_test(max_burst_length, gyro_st_crt, dev);
+            }
+            else
+            {
+                rslt = BMI2_E_ST_ALREADY_RUNNING;
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                if (gyro_st_crt == BMI2_SELECT_GYRO_SELF_TEST)
+                {
+                    rslt = gyro_self_test_completed(&gyro_st_result, dev);
+                }
+            }
+
+            /* Enable Advance power save if disabled while configuring and
+             * not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API to set up environment for processing the crt.
+ */
+static int8_t crt_prepare_setup(struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    /* Variable to select the sensor */
+    uint8_t sens_list = BMI2_GYRO;
+
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Disable gyroscope */
+        rslt = bmi2_sensor_disable(&sens_list, 1, dev);
+    }
+
+    /* Disable FIFO for all sensors */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        sens_list = BMI2_ACCEL;
+        rslt = bmi2_sensor_enable(&sens_list, 1, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Disable Abort after 1 msec */
+        dev->delay_us(1000, dev->intf_ptr);
+        rslt = abort_bmi2(BMI2_DISABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API is to update the CRT or gyro self-test final result.
+ */
+static int8_t crt_gyro_st_update_result(struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    struct bmi2_gyr_user_gain_status user_gain_stat = {0, 0, 0, 0};
+
+    rslt = null_ptr_check(dev);
+
+    /* CRT status has to be read from the config register map */
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_gyro_gain_update_status(&user_gain_stat, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        switch (user_gain_stat.g_trigger_status)
+        {
+        case BMI2_G_TRIGGER_NO_ERROR:
+
+            /* CRT is successful - Reset the Max Burst Length */
+            rslt = set_maxburst_len(0, dev);
+            break;
+
+        case BMI2_G_TRIGGER_DL_ERROR:
+
+            /* CRT is Download Error - Keep non zero value for Max Burst Length */
+            rslt = set_maxburst_len(dev->read_write_len, dev);
+            if (rslt == BMI2_OK)
+            {
+                rslt = BMI2_E_DL_ERROR;
+            }
+
+            break;
+        case BMI2_G_TRIGGER_ABORT_ERROR:
+
+            /* Command is aborted either by host via the block bit or due to motion
+             * detection. Keep non zero value for Max Burst Length
+             */
+            rslt = set_maxburst_len(dev->read_write_len, dev);
+            if (rslt == BMI2_OK)
+            {
+                rslt = BMI2_E_ABORT_ERROR;
+            }
+
+            break;
+
+        case BMI2_G_TRIGGER_PRECON_ERROR:
+
+            /* Pre-condition to start the feature was not completed. */
+            rslt = BMI2_E_PRECON_ERROR;
+            break;
+
+        default:
+            rslt = BMI2_E_INVALID_STATUS;
+
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the max burst length.
+ */
+static int8_t get_maxburst_len(uint8_t* max_burst_len, struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+    uint8_t idx = 0;
+    uint8_t feat_found = 0;
+    struct bmi2_feature_config maxburst_length_bytes = {0, 0, 0};
+    uint8_t aps_stat;
+
+    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
+    {
+        *max_burst_len = 0;
+
+        return BMI2_OK;
+    }
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for max burst length */
+        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
+        if (feat_found)
+        {
+            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for max burst length */
+                idx = maxburst_length_bytes.start_addr;
+
+                /* Get the max burst length */
+                *max_burst_len = feat_config[idx];
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets the max burst length.
+ */
+static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+    uint8_t idx = 0;
+    uint8_t reg_addr = 0;
+    uint8_t max_burst_len = 0;
+    uint8_t feat_found = 0;
+    struct bmi2_feature_config maxburst_length_bytes = {0, 0, 0};
+    uint8_t aps_stat;
+    uint16_t burst_len = write_len_byte / 2;
+
+    /* for variant that support crt outside fifo, do not modify the max burst len */
+    if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
+    {
+        return BMI2_OK;
+    }
+
+    /* Max burst length is only 1 byte */
+    if (burst_len > BMI2_CRT_MAX_BURST_WORD_LENGTH)
+    {
+        max_burst_len = UINT8_C(0xFF);
+    }
+    else
+    {
+        max_burst_len = (uint8_t)burst_len;
+    }
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for axis-re-mapping and extract its configuration details */
+        feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where axis
+             * re-mapping feature resides
+             */
+            rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes */
+                idx = maxburst_length_bytes.start_addr;
+
+                /* update Max burst length */
+                feat_config[idx] = max_burst_len;
+
+                /* Update the register address */
+                reg_addr = BMI2_FEATURES_REG_ADDR + maxburst_length_bytes.start_addr;
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(reg_addr, &feat_config[maxburst_length_bytes.start_addr], 2, dev);
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to trigger the preparation for system for NVM programming.
+ */
+static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    /* Initialize feature configuration for nvm preparation*/
+    struct bmi2_feature_config nvm_config = {0, 0, 0};
+
+    /* Search for bmi2 gyro self offset correction feature as nvm program preparation feature is
+     * present in the same Word and extract its configuration details
+     */
+    feat_found = bmi2_extract_input_feat_config(&nvm_config, BMI2_NVM_PROG_PREP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where nvm preparation feature enable feature
+         * resides */
+        rslt = bmi2_get_feat_config(nvm_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for nvm preparation feature enable */
+            idx = nvm_config.start_addr;
+
+            /* update nvm_prog_prep  enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_NVM_PREP_FEATURE_EN, nvm_prep);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + nvm_config.start_addr - 1;
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[nvm_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to enable the CRT.
+ */
+static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    uint8_t idx = 0;
+
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    struct bmi2_feature_config gyro_self_test_crt_config = {0, 0, 0};
+
+    /* Search for bmi2 crt gyro self-test feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyro_self_test_crt_config, BMI2_CRT_GYRO_SELF_TEST, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where gyro self-test and crt enable feature
+         * resides */
+        rslt = bmi2_get_feat_config(gyro_self_test_crt_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = gyro_self_test_crt_config.start_addr;
+
+            /* Update the gyro self-test crt enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_GYRO_SELF_TEST_CRT_EN, gyro_st_crt);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + (gyro_self_test_crt_config.start_addr - 1);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[gyro_self_test_crt_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to abort ongoing crt or gyro self-test.
+ */
+int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+    uint8_t aps_stat;
+    uint8_t st_running = 0;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    /* Checking for ST running status */
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_st_running(&st_running, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* ST is not running  */
+            if (st_running == 0)
+            {
+                rslt = BMI2_E_ST_NOT_RUNING;
+            }
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = abort_bmi2(BMI2_ENABLE, dev);
+    }
+
+    /* send the g trigger command */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* wait until st_status = 0 or time out is 2 seconds */
+        rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+    }
+
+    /* Check G trigger status for error */
+    if (rslt == BMI2_OK)
+    {
+        rslt = crt_gyro_st_update_result(dev);
+        if (rslt == BMI2_E_ABORT_ERROR)
+        {
+            rslt = BMI2_OK;
+        }
+        else
+        {
+            rslt = BMI2_E_ABORT_ERROR;
+        }
+    }
+
+    /* Enable Advance power save if disabled while configuring and
+     * not when already disabled
+     */
+    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is used to enable/disable abort.
+ */
+static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+    uint8_t reg_addr = 0;
+
+    /* Initialize feature configuration for blocking a feature */
+    struct bmi2_feature_config block_config = {0, 0, 0};
+
+    /* Search for bmi2 Abort feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&block_config, BMI2_ABORT_CRT_GYRO_SELF_TEST, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where abort(block) feature resides */
+        rslt = bmi2_get_feat_config(block_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = block_config.start_addr;
+
+            /* update the gyro self-test crt abort enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ABORT_FEATURE_EN, abort_enable);
+
+            /* Update the register address */
+            reg_addr = BMI2_FEATURES_REG_ADDR + (block_config.start_addr - 1);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(reg_addr, &feat_config[block_config.start_addr - 1], 2, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This api is use to wait till  gyro self-test is completed and update the status of gyro
+ * self-test.
+ */
+static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status* gyro_st_result, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    uint8_t reg_data;
+
+    rslt = bmi2_get_regs(BMI2_GYR_SELF_TEST_AXES_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        gyro_st_result->gyr_st_axes_done = BMI2_GET_BIT_POS0(reg_data, BMI2_GYR_ST_AXES_DONE);
+        if (gyro_st_result->gyr_st_axes_done == 0x01)
+        {
+            gyro_st_result->gyr_axis_x_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_X_OK);
+            gyro_st_result->gyr_axis_y_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Y_OK);
+            gyro_st_result->gyr_axis_z_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Z_OK);
+        }
+        else
+        {
+            rslt = BMI2_E_SELF_TEST_NOT_DONE;
+        }
+    }
+
+    return rslt;
+}
+
+/*! @brief This api is used for programming the non volatile memory(nvm) */
+int8_t bmi2_nvm_prog(struct bmi2_dev* dev)
+{
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat;
+    uint8_t status;
+    uint8_t cmd_rdy;
+    uint8_t reg_data;
+    uint8_t write_timeout = 100;
+
+    /* Get status of advance power save mode */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    /* Check the Write status and proceed only if there is no ongoing write cycle */
+    if (rslt == BMI2_OK)
+    {
+        rslt = bmi2_get_status(&status, dev);
+
+        cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
+        if (cmd_rdy)
+        {
+            rslt = set_nvm_prep_prog(BMI2_ENABLE, dev);
+            if (rslt == BMI2_OK)
+            {
+                dev->delay_us(40000, dev->intf_ptr);
+
+                /* Set the NVM_CONF.nvm_prog_en bit in order to enable the NVM
+                 * programming */
+                reg_data = BMI2_NVM_UNLOCK_ENABLE;
+                rslt = bmi2_set_regs(BMI2_NVM_CONF_ADDR, &reg_data, 1, dev);
+                if (rslt == BMI2_OK)
+                {
+                    /* Send NVM prog command to command register */
+                    reg_data = BMI2_NVM_PROG_CMD;
+                    rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &reg_data, 1, dev);
+                }
+
+                /* Wait till write operation is completed */
+                if (rslt == BMI2_OK)
+                {
+                    while (write_timeout--)
+                    {
+                        rslt = bmi2_get_status(&status, dev);
+                        if (rslt == BMI2_OK)
+                        {
+                            cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
+
+                            /* Nvm is complete once cmd_rdy is 1, break if 1 */
+                            if (cmd_rdy)
+                            {
+                                break;
+                            }
+
+                            /* Wait till cmd_rdy becomes 1 indicating
+                             * nvm process completes */
+                            dev->delay_us(20000, dev->intf_ptr);
+                        }
+                    }
+                }
+
+                if ((rslt == BMI2_OK) && (cmd_rdy != BMI2_TRUE))
+                {
+                    rslt = BMI2_E_WRITE_CYCLE_ONGOING;
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_WRITE_CYCLE_ONGOING;
+        }
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* perform soft reset */
+        rslt = bmi2_soft_reset(dev);
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API extract the identification feature from the DMR page
+ * and retrieve the config file major and minor version.
+ */
+static int8_t extract_config_file(uint8_t* config_major, uint8_t* config_minor, struct bmi2_dev* dev)
+{
+    /* Variable to define the result */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to define advance power save mode status */
+    uint8_t aps_stat;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Initialize feature configuration for config file identification */
+    struct bmi2_feature_config config_id = {0, 0, 0};
+
+    /* Check the power mode status */
+    aps_stat = dev->aps_status;
+    if (aps_stat == BMI2_ENABLE)
+    {
+        /* Disable advance power save if enabled */
+        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+    }
+
+    if (rslt == BMI2_OK)
+    {
+        /* Search for config file identification feature and extract its configuration
+         * details */
+        feat_found = bmi2_extract_input_feat_config(&config_id, BMI2_CONFIG_ID, dev);
+        if (feat_found)
+        {
+            /* Get the configuration from the page where config file identification
+             * feature resides */
+            rslt = bmi2_get_feat_config(config_id.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for config file identification */
+                idx = config_id.start_addr;
+
+                /* Get word to calculate config file identification */
+                lsb = (uint16_t)feat_config[idx++];
+                msb = ((uint16_t)feat_config[idx++] << 8);
+                lsb_msb = lsb | msb;
+
+                /* Get major and minor version */
+                *config_major = BMI2_GET_BITS(lsb_msb, BMI2_CONFIG_MAJOR);
+                *config_minor = BMI2_GET_BIT_POS0(lsb, BMI2_CONFIG_MINOR);
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ *@brief This internal API is used to map the interrupts to the sensor.
+ */
+static void extract_feat_int_map(struct bmi2_map_int* map_int, uint8_t type, const struct bmi2_dev* dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Search for the interrupts from the input configuration array */
+    while (loop < dev->sens_int_map)
+    {
+        if (dev->map_int[loop].type == type)
+        {
+            *map_int = dev->map_int[loop];
+            break;
+        }
+
+        loop++;
+    }
+}
+
+/*!
+ * @brief This internal API gets the saturation status for the gyroscope user
+ * gain update.
+ */
+static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status* user_gain_stat, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for gyroscope user gain status */
+    struct bmi2_feature_config user_gain_cfg = {0, 0, 0};
+
+    /* Search for gyroscope user gain status output feature and extract its
+     * configuration details
+     */
+    feat_found = extract_output_feat_config(&user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for gyroscope user gain  status */
+        rslt = bmi2_get_feat_config(user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for gyroscope user gain status */
+            idx = user_gain_cfg.start_addr;
+
+            /* Get the saturation status for x-axis */
+            user_gain_stat->sat_x = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_X);
+
+            /* Get the saturation status for y-axis */
+            user_gain_stat->sat_y = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Y);
+
+            /* Get the saturation status for z-axis */
+            user_gain_stat->sat_z = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Z);
+
+            /* Get g trigger status */
+            user_gain_stat->g_trigger_status = BMI2_GET_BITS(feat_config[idx], BMI2_G_TRIGGER_STAT);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @brief This internal API gets the cross sensitivity coefficient between
+ * gyroscope's X and Z axes.
+ */
+static int8_t get_gyro_cross_sense(int16_t* cross_sense, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    uint8_t corr_fact_zx;
+
+    /* Initialize feature output for gyroscope cross sensitivity */
+    struct bmi2_feature_config cross_sense_out_config = {0, 0, 0};
+
+    if (dev->variant_feature & BMI2_MAXIMUM_FIFO_VARIANT)
+    {
+        /* For maximum_fifo variant fetch the correction factor from GPIO0 */
+        rslt = bmi2_get_regs(BMI2_GYR_CAS_GPIO0_ADDR, &corr_fact_zx, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the gyroscope cross sensitivity coefficient */
+            if (corr_fact_zx & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
+            {
+                *cross_sense = (int16_t)(((int16_t)corr_fact_zx) - 128);
+            }
+            else
+            {
+                *cross_sense = (int16_t)(corr_fact_zx);
+            }
+        }
+    }
+    else
+    {
+        /* Search for gyroscope cross sensitivity feature and extract its configuration details */
+        feat_found = extract_output_feat_config(&cross_sense_out_config, BMI2_GYRO_CROSS_SENSE, dev);
+        if (feat_found)
+        {
+            /* Get the feature output configuration for gyroscope cross sensitivity
+             * feature */
+            rslt = bmi2_get_feat_config(cross_sense_out_config.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset in bytes for gyroscope cross sensitivity output */
+                idx = cross_sense_out_config.start_addr;
+
+                /* discard the MSB as GYR_CAS is of only 7 bit */
+                feat_config[idx] = feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_MASK;
+
+                /* Get the gyroscope cross sensitivity coefficient */
+                if (feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
+                {
+                    *cross_sense = (int16_t)(((int16_t)feat_config[idx]) - 128);
+                }
+                else
+                {
+                    *cross_sense = (int16_t)(feat_config[idx]);
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_SENSOR;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t* sens_list, uint8_t n_sens, uint64_t* sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+        case BMI2_ACCEL:
+            *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+            break;
+        case BMI2_GYRO:
+            *sensor_sel |= BMI2_GYRO_SENS_SEL;
+            break;
+        case BMI2_AUX:
+            *sensor_sel |= BMI2_AUX_SENS_SEL;
+            break;
+        case BMI2_TEMP:
+            *sensor_sel |= BMI2_TEMP_SENS_SEL;
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Enable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
+        }
+
+        /* Enable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
+        }
+
+        /* Enable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
+        }
+
+        /* Enable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API disables the selected sensors/features.
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to store register values */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Disable accelerometer */
+        if (sensor_sel & BMI2_ACCEL_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
+        }
+
+        /* Disable gyroscope */
+        if (sensor_sel & BMI2_GYRO_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
+        }
+
+        /* Disable auxiliary sensor */
+        if (sensor_sel & BMI2_AUX_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
+        }
+
+        /* Disable temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Enable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to test gyro CRT.
+ */
+static int8_t gyro_crt_test(uint8_t max_burst_length, uint8_t gyro_st_crt, struct bmi2_dev* dev)
+{
+    int8_t rslt;
+    int8_t rslt_crt = BMI2_OK;
+    uint8_t cmd = BMI2_G_TRIGGER_CMD;
+    uint8_t download_ready = 0;
+
+    rslt = set_st_running(BMI2_ENABLE, dev);
+
+    /* Preparing the setup */
+    if (rslt == BMI2_OK)
+    {
+        rslt = crt_prepare_setup(dev);
+    }
+
+    /* Enable the gyro self-test, CRT */
+    if (rslt == BMI2_OK)
+    {
+        rslt = select_self_test(gyro_st_crt, dev);
+    }
+
+    /* Check if FIFO is unchanged by checking the max burst length */
+    if ((rslt == BMI2_OK) && (max_burst_length == 0))
+    {
+        /* Trigger CRT */
+        rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Wait until st_status = 0 or time out is 2 seconds */
+            rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+
+            /* CRT Running wait & check is successful */
+            if (rslt == BMI2_OK)
+            {
+                rslt = crt_gyro_st_update_result(dev);
+            }
+        }
+    }
+    else
+    {
+        /* FIFO may be used */
+        if (rslt == BMI2_OK)
+        {
+            if (dev->read_write_len < 2)
+            {
+                dev->read_write_len = 2;
+            }
+
+            if (dev->read_write_len > (BMI2_CRT_MAX_BURST_WORD_LENGTH * 2))
+            {
+                dev->read_write_len = BMI2_CRT_MAX_BURST_WORD_LENGTH * 2;
+            }
+
+            /* Reset the max burst length to default value */
+            rslt = set_maxburst_len(dev->read_write_len, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            rslt = get_rdy_for_dl(&download_ready, dev);
+        }
+
+        /* Trigger CRT  */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
+        }
+
+        /* Wait till either ready for download toggle or crt running = 0 */
+        if (rslt == BMI2_OK)
+        {
+            rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, download_ready, dev);
+            if (rslt == BMI2_OK)
+            {
+                rslt = write_crt_config_file(dev->read_write_len, BMI2_CRT_CONFIG_FILE_SIZE, 0x1800, dev);
+            }
+
+            if (rslt == BMI2_OK)
+            {
+                rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
+                rslt_crt = crt_gyro_st_update_result(dev);
+                if (rslt == BMI2_OK)
+                {
+                    rslt = rslt_crt;
+                }
+            }
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API verifies and allows only the correct position to do Fast Offset Compensation for
+ * accelerometer.
+ */
+static int8_t verify_foc_position(uint8_t sens_list, const struct bmi2_accel_foc_g_value* accel_g_axis,
+                                  struct bmi2_dev* dev)
+{
+    /* Variable to store result of API */
+    int8_t rslt;
+
+    /* Structure to define accelerometer sensor axes */
+    struct bmi2_sens_axes_data avg_foc_data = {0};
+
+    /* Structure to store temporary accelerometer values */
+    struct bmi2_foc_temp_value temp_foc_data = {0};
+
+    rslt = get_average_of_sensor_data(sens_list, &temp_foc_data, dev);
+
+    if (rslt == BMI2_OK)
+    {
+        if (sens_list == BMI2_ACCEL)
+        {
+            /* Taking modulus to make negative values as positive */
+            if ((accel_g_axis->x == 1) && (accel_g_axis->sign == 1))
+            {
+                temp_foc_data.x = temp_foc_data.x * BMI2_FOC_INVERT_VALUE;
+            }
+            else if ((accel_g_axis->y == 1) && (accel_g_axis->sign == 1))
+            {
+                temp_foc_data.y = temp_foc_data.y * BMI2_FOC_INVERT_VALUE;
+            }
+            else if ((accel_g_axis->z == 1) && (accel_g_axis->sign == 1))
+            {
+                temp_foc_data.z = temp_foc_data.z * BMI2_FOC_INVERT_VALUE;
+            }
+        }
+
+        avg_foc_data.x = (int16_t)(temp_foc_data.x);
+        avg_foc_data.y = (int16_t)(temp_foc_data.y);
+        avg_foc_data.z = (int16_t)(temp_foc_data.z);
+
+        rslt = validate_foc_position(sens_list, accel_g_axis, avg_foc_data, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API reads and provides average for 128 samples of sensor data for accel FOC.
+ */
+static int8_t get_average_of_sensor_data(uint8_t sens_list, struct bmi2_foc_temp_value* temp_foc_data,
+                                         struct bmi2_dev* dev)
+{
+    /* Variable to store result of API */
+    int8_t rslt;
+
+    /* Structure to store sensor data */
+    struct bmi2_sens_data sensor_data;
+
+    uint8_t sample_count = 0;
+    uint8_t datardy_try_cnt;
+    uint8_t drdy_status = 0;
+
+    rslt = null_ptr_check(dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Read sensor values before FOC */
+        while (sample_count < BMI2_FOC_SAMPLE_LIMIT)
+        {
+            datardy_try_cnt = 5;
+            do
+            {
+                dev->delay_us(20000, dev->intf_ptr);
+                rslt = bmi2_get_status(&drdy_status, dev);
+                datardy_try_cnt--;
+            } while ((rslt == BMI2_OK) && (!(drdy_status)) && (datardy_try_cnt));
+
+            if ((rslt != BMI2_OK) || (datardy_try_cnt == 0))
+            {
+                rslt = BMI2_E_DATA_RDY_INT_FAILED;
+                break;
+            }
+
+            rslt = bmi2_get_sensor_data(&sensor_data, dev);
+
+            if (rslt == BMI2_OK)
+            {
+                if (sens_list == BMI2_ACCEL)
+                {
+                    temp_foc_data->x += sensor_data.acc.x;
+                    temp_foc_data->y += sensor_data.acc.y;
+                    temp_foc_data->z += sensor_data.acc.z;
+                }
+                else if (sens_list == BMI2_GYRO)
+                {
+                    temp_foc_data->x += sensor_data.gyr.x;
+                    temp_foc_data->y += sensor_data.gyr.y;
+                    temp_foc_data->z += sensor_data.gyr.z;
+                }
+            }
+            else
+            {
+                break;
+            }
+
+            sample_count++;
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            temp_foc_data->x = (temp_foc_data->x / BMI2_FOC_SAMPLE_LIMIT);
+            temp_foc_data->y = (temp_foc_data->y / BMI2_FOC_SAMPLE_LIMIT);
+            temp_foc_data->z = (temp_foc_data->z / BMI2_FOC_SAMPLE_LIMIT);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates accel FOC position as per the range
+ */
+static int8_t validate_foc_position(uint8_t sens_list, const struct bmi2_accel_foc_g_value* accel_g_axis,
+                                    struct bmi2_sens_axes_data avg_foc_data, struct bmi2_dev* dev)
+{
+    /* Variable to store result of API */
+    int8_t rslt = BMI2_E_INVALID_INPUT;
+
+    if (sens_list == BMI2_ACCEL)
+    {
+        if (accel_g_axis->x == 1)
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.x, dev);
+        }
+        else if (accel_g_axis->y == 1)
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.y, dev);
+        }
+        else
+        {
+            rslt = validate_foc_accel_axis(avg_foc_data.z, dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API validates accel FOC axis given as input
+ */
+static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev* dev)
+{
+    /* Variable to store result of API */
+    int8_t rslt;
+
+    /* Structure to store sensor configurations */
+    struct bmi2_sens_config sens_cfg = {0};
+
+    /* Variable to store accel range */
+    uint8_t range;
+
+    /* Assign the accel type */
+    sens_cfg.type = BMI2_ACCEL;
+
+    /* Get accel configurations */
+    rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
+
+    if (rslt == BMI2_OK)
+    {
+        /* Assign accel range to variable */
+        range = sens_cfg.cfg.acc.range;
+
+        /* Reference LSB value of 2G */
+        if ((range == BMI2_ACC_RANGE_2G) && (avg_foc_data > BMI2_ACC_2G_MIN_NOISE_LIMIT) &&
+            (avg_foc_data < BMI2_ACC_2G_MAX_NOISE_LIMIT))
+        {
+            rslt = BMI2_OK;
+        }
+        /* Reference LSB value of 4G */
+        else if ((range == BMI2_ACC_RANGE_4G) && (avg_foc_data > BMI2_ACC_4G_MIN_NOISE_LIMIT) &&
+                 (avg_foc_data < BMI2_ACC_4G_MAX_NOISE_LIMIT))
+        {
+            rslt = BMI2_OK;
+        }
+        /* Reference LSB value of 8G */
+        else if ((range == BMI2_ACC_RANGE_8G) && (avg_foc_data > BMI2_ACC_8G_MIN_NOISE_LIMIT) &&
+                 (avg_foc_data < BMI2_ACC_8G_MAX_NOISE_LIMIT))
+        {
+            rslt = BMI2_OK;
+        }
+        /* Reference LSB value of 16G */
+        else if ((range == BMI2_ACC_RANGE_16G) && (avg_foc_data > BMI2_ACC_16G_MIN_NOISE_LIMIT) &&
+                 (avg_foc_data < BMI2_ACC_16G_MAX_NOISE_LIMIT))
+        {
+            rslt = BMI2_OK;
+        }
+        else
+        {
+            rslt = BMI2_E_INVALID_FOC_POSITION;
+        }
+    }
+
+    return rslt;
+}
+
+/*! @endcond */
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi270.c b/platform/esp/idf_components/sensor_bmi270/src/bmi270.c
new file mode 100644
index 00000000..ed521189
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi270.c
@@ -0,0 +1,4481 @@
+/**
+ * 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.c
+ * @date       2023-05-03
+ * @version    v2.86.1
+ *
+ */
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270.h"
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270 */
+const uint8_t bmi270_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc,
+    0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22,
+    0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05,
+    0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00,
+    0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
+    0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
+    0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
+    0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
+    0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde,
+    0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2,
+    0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd,
+    0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
+    0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
+    0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
+    0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
+    0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05,
+    0x37, 0xfa, 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce,
+    0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
+    0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2,
+    0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f,
+    0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87,
+    0x0f, 0x8a, 0x0f, 0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5,
+    0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x50, 0x98, 0x2e,
+    0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00,
+    0x2e, 0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0xee, 0x00,
+    0x00, 0xb2, 0x07, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x07,
+    0xcc, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e, 0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1,
+    0x03, 0x2e, 0xe9, 0x00, 0x40, 0xb2, 0xf0, 0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x00,
+    0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1, 0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50,
+    0x98, 0x2e, 0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xf9, 0xb4, 0x98, 0x2e, 0x54, 0xb2, 0x98,
+    0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2,
+    0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b,
+    0x2f, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2, 0x02, 0x2f,
+    0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00, 0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7,
+    0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7b, 0x00,
+    0x00, 0xb2, 0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98,
+    0x2e, 0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30,
+    0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01,
+    0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30,
+    0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98,
+    0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41,
+    0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56, 0x4a, 0x0f, 0x0c, 0x2f, 0xd1,
+    0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
+    0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21,
+    0x2e, 0x5a, 0xf5, 0x18, 0x2d, 0xe1, 0x7f, 0x50, 0x30, 0x98, 0x2e, 0xfa, 0x03, 0x0f, 0x52, 0x07, 0x50, 0x50, 0x42,
+    0x70, 0x30, 0x0d, 0x54, 0x42, 0x42, 0x7e, 0x82, 0xe2, 0x6f, 0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0xd4,
+    0x00, 0x10, 0x30, 0x98, 0x2e, 0xc3, 0xb7, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x01, 0x2e, 0xd4, 0x00,
+    0x06, 0x90, 0x18, 0x2f, 0x01, 0x2e, 0x76, 0x00, 0x0b, 0x54, 0x07, 0x52, 0xe0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xe1,
+    0x6f, 0x08, 0x1a, 0x40, 0x30, 0x08, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x20, 0x30, 0x98, 0x2e, 0xaf, 0xb7, 0x50, 0x32,
+    0x98, 0x2e, 0xfa, 0x03, 0x05, 0x2d, 0x98, 0x2e, 0x38, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x00, 0x30, 0x21,
+    0x2e, 0x7c, 0x00, 0x18, 0x2d, 0x01, 0x2e, 0xd4, 0x00, 0x03, 0xaa, 0x01, 0x2f, 0x98, 0x2e, 0x45, 0x0e, 0x01, 0x2e,
+    0xd4, 0x00, 0x3f, 0x80, 0x03, 0xa2, 0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x5b, 0x0e, 0x30, 0x30, 0x98,
+    0x2e, 0xce, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x01, 0x2e, 0x77, 0x00,
+    0x00, 0xb2, 0x24, 0x2f, 0x98, 0x2e, 0xf5, 0xcb, 0x03, 0x2e, 0xd5, 0x00, 0x11, 0x54, 0x01, 0x0a, 0xbc, 0x84, 0x83,
+    0x86, 0x21, 0x2e, 0xc9, 0x01, 0xe0, 0x40, 0x13, 0x52, 0xc4, 0x40, 0x82, 0x40, 0xa8, 0xb9, 0x52, 0x42, 0x43, 0xbe,
+    0x53, 0x42, 0x04, 0x0a, 0x50, 0x42, 0xe1, 0x7f, 0xf0, 0x31, 0x41, 0x40, 0xf2, 0x6f, 0x25, 0xbd, 0x08, 0x08, 0x02,
+    0x0a, 0xd0, 0x7f, 0x98, 0x2e, 0xa8, 0xcf, 0x06, 0xbc, 0xd1, 0x6f, 0xe2, 0x6f, 0x08, 0x0a, 0x80, 0x42, 0x98, 0x2e,
+    0x58, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xee, 0x00, 0x21, 0x2e, 0x77, 0x00, 0x21, 0x2e, 0xdd, 0x00, 0x80, 0x2e, 0xf4,
+    0x01, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0xec, 0x01, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0xf3, 0x03, 0x57, 0x50,
+    0xfb, 0x6f, 0x01, 0x30, 0x71, 0x54, 0x11, 0x42, 0x42, 0x0e, 0xfc, 0x2f, 0xc0, 0x2e, 0x01, 0x42, 0xf0, 0x5f, 0x80,
+    0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x01,
+    0x34, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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+    0x30, 0x27, 0x2e, 0xd7, 0x00, 0x37, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0xd6, 0x00, 0x7a, 0x84, 0x17, 0x2c, 0x42, 0x42,
+    0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b,
+    0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0xd4, 0x00,
+    0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39,
+    0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f,
+    0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0xcb,
+    0x52, 0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08,
+    0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50, 0x03,
+    0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4, 0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a,
+    0x08, 0xb6, 0x89, 0x16, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01,
+    0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e,
+    0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
+    0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
+    0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54, 0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5,
+    0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00, 0x50, 0x42,
+    0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00,
+    0x30, 0x40, 0x42, 0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54, 0x40,
+    0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e,
+    0x82, 0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90,
+    0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77,
+    0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e,
+    0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc0,
+    0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40, 0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f,
+    0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e, 0x12, 0x42, 0xd3, 0x7f, 0xeb,
+    0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
+    0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41,
+    0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f, 0x94, 0x09,
+    0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
+    0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42, 0xc0, 0x5f, 0x50, 0x50,
+    0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01,
+    0x42, 0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52, 0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f,
+    0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f, 0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30, 0x98,
+    0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30,
+    0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e, 0x00, 0x2e, 0xd0,
+    0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e,
+    0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e, 0x5d, 0xc0, 0xed, 0x50, 0x98,
+    0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
+    0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b,
+    0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42,
+    0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc,
+    0x84, 0x0b, 0x40, 0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x58, 0xb7, 0xd1, 0x6f,
+    0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f, 0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62,
+    0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00,
+    0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff,
+    0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1};
+
+/*! @name  Global array that stores the feature input configuration of BMI270 */
+const struct bmi2_feature_config bmi270_feat_in[BMI270_MAX_FEAT_IN] = {
+    {.type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_CONFIG_ID_STRT_ADDR},
+    {.type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_MAX_BURST_LEN_STRT_ADDR},
+    {.type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR},
+    {.type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_ABORT_STRT_ADDR},
+    {.type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_AXIS_MAP_STRT_ADDR},
+    {.type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_SELF_OFF_STRT_ADDR},
+    {.type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_NVM_PROG_PREP_STRT_ADDR},
+    {.type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_GAIN_UPDATE_STRT_ADDR},
+    {.type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_ANY_MOT_STRT_ADDR},
+    {.type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_NO_MOT_STRT_ADDR},
+    {.type = BMI2_SIG_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_SIG_MOT_STRT_ADDR},
+    {.type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_STEP_CNT_1_STRT_ADDR},
+    {.type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR},
+    {.type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR},
+    {.type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR},
+    {.type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_6, .start_addr = BMI270_WRIST_GEST_STRT_ADDR},
+    {.type = BMI2_WRIST_WEAR_WAKE_UP, .page = BMI2_PAGE_7, .start_addr = BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR},
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_feat_out[BMI270_MAX_FEAT_OUT] = {
+    {.type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_CNT_OUT_STRT_ADDR},
+    {.type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_ACT_OUT_STRT_ADDR},
+    {.type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_0, .start_addr = BMI270_WRIST_GEST_OUT_STRT_ADDR},
+    {.type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYR_USER_GAIN_OUT_STRT_ADDR},
+    {.type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYRO_CROSS_SENSE_STRT_ADDR},
+    {.type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR},
+    {.type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR}};
+
+/*! @name  Global array that stores the feature interrupts of BMI270 */
+struct bmi2_map_int bmi270_map_int[BMI270_MAX_INT_MAP] = {
+    {.type = BMI2_SIG_MOTION, .sens_map_int = BMI270_INT_SIG_MOT_MASK},
+    {.type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_INT_STEP_COUNTER_MASK},
+    {.type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_INT_STEP_DETECTOR_MASK},
+    {.type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_INT_STEP_ACT_MASK},
+    {.type = BMI2_WRIST_GESTURE, .sens_map_int = BMI270_INT_WRIST_GEST_MASK},
+    {.type = BMI2_WRIST_WEAR_WAKE_UP, .sens_map_int = BMI270_INT_WRIST_WEAR_WAKEUP_MASK},
+    {.type = BMI2_ANY_MOTION, .sens_map_int = BMI270_INT_ANY_MOT_MASK},
+    {.type = BMI2_NO_MOTION, .sens_map_int = BMI270_INT_NO_MOT_MASK},
+};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t* sens_list, uint8_t n_sens, uint64_t* sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable any-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables any-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables any-motion.
+ * BMI2_ENABLE  | Enables any-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables no-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables no-motion.
+ * BMI2_ENABLE  | Enables no-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable sig-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables sig-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables sig-motion.
+ * BMI2_ENABLE  | Enables sig-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step activity.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step activity
+ * BMI2_ENABLE  | Enables step activity
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gives an option to enable offset correction
+ * feature of gyroscope, either internally or by the host.
+ *
+ * @param[in] enable    : Enables/Disables self-offset correction.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | gyroscope offset correction values are set internally
+ * BMI2_DISABLE | gyroscope offset correction values has to be set by host
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables the wrist gesture feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables wrist gesture.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables wrist gesture
+ * BMI2_ENABLE  | Enables wrist gesture
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables wrist wear wake up.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables wrist wear wake up
+ * BMI2_ENABLE  | Enables wrist wear wake up
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config      : Structure instance of bmi2_any_motion_config.
+ * @param[in, out] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config       : Structure instance of bmi2_no_motion_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0x90 = 70mg.
+ * -------------------------|---------------------------------------------------
+ *  x_sel, y_sel, z_sel     |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[in]      config        : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out] dev           : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_count_params_config(const uint16_t* step_count_params, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ *
+ * @param[in]       config    : Structure instance of bmi2_wrist_gest_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ * --------------------------------------------------------------------------------------------
+ *  bmi2_wrist_gest_config  |
+ *  Structure parameters    |               Description
+ * --------------------------------------------------------------------------------------------
+ *                          | Device in left (0) or right (1) arm. By default,
+ *  wearable_arm            | the wearable device is assumed to be in left arm
+ *                          | i.e. default value is 0.
+ * --------------------------------------------------------------------------------------------
+ *                          | Sine of the minimum tilt angle in portrait down
+ *                          | direction of the device when wrist is rolled away
+ *                          | (roll-out) from user.
+ *  min_flick_peak          | The configuration parameter is scaled by 2048
+ *                          | i.e. 2048 * sin(angle).
+ *                          | Range is 1448 to 1774. Default value is 1774.
+ * --------------------------------------------------------------------------------------------
+ *                          | Value of minimum time difference between wrist
+ *                          | roll-out and roll-in movement during flick gesture.
+ *  min_flick_samples       | Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds).
+ *                          | Default value is 4 (i.e. 0.08 seconds).
+ * --------------------------------------------------------------------------------------------
+ *                          | Maximum time within which gesture movement has to be completed.
+ *  max_duration            | Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds).
+ *                          | Default value is 200 (i.e. 4 seconds).
+ * --------------------------------------------------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration.
+ *
+ * @param[in]       config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ * bmi2_wrist_wear_wake_up_config   |
+ *  Structure parameters            |               Description
+ *----------------------------------|-------------------------------------------
+ *                                  | To set the wrist wear wake-up parameters like
+ *                                  | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wakeup_params        | max_tilt_lr, max_tilt_ll,
+ *                                  | max_tilt_pd and max_tilt_pu.
+ * ---------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out] config        : Structure instance of bmi2_any_motion_config.
+ * @param[in, out]  dev      : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_no_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0x90 = 70mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[out]      config    : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets step counter parameter configurations.
+ *
+ * @param[in] step_count_params : Array that stores parameters 1 to 25.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_count_params_config(uint16_t* step_count_params, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 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 gets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_wrist_gest_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ * --------------------------------------------------------------------------------------------
+ *  bmi2_wrist_gest_config  |
+ *  Structure parameters    |               Description
+ * --------------------------------------------------------------------------------------------
+ *                          | Device in left (0) or right (1) arm. By default,
+ *  wearable_arm            | the wearable device is assumed to be in left arm
+ *                          | i.e. default value is 0.
+ * --------------------------------------------------------------------------------------------
+ *                          | Sine of the minimum tilt angle in portrait down
+ *                          | direction of the device when wrist is rolled away
+ *                          | (roll-out) from user.
+ *  min_flick_peak          | The configuration parameter is scaled by 2048
+ *                          | i.e. 2048 * sin(angle).
+ *                          | Range is 1448 to 1774. Default value is 1774.
+ * --------------------------------------------------------------------------------------------
+ *                          | Value of minimum time difference between wrist
+ *                          | roll-out and roll-in movement during flick gesture.
+ *  min_flick_samples       | Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds).
+ *                          | Default value is 4 (i.e. 0.08 seconds).
+ * --------------------------------------------------------------------------------------------
+ *                          | Maximum time within which gesture movement has to be completed.
+ *  max_duration            | Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds).
+ *                          | Default value is 200 (i.e. 4 seconds).
+ * --------------------------------------------------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like
+ * output-configuration.
+ *
+ * @param[out]      config    : Structure instance of
+ *                              bmi2_wrist_wear_wake_up_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ * bmi2_wrist_wear_wake_up_config   |
+ *  Structure parameters            |               Description
+ *----------------------------------|-------------------------------------------
+ *                                  | To set the wrist wear wake-up parameters like
+ *                                  | min_angle_focus, min_angle_nonfocus,
+ *  wrist_wear_wakeup_params        | max_tilt_lr, max_tilt_ll,
+ *                                  | max_tilt_pd and max_tilt_pu.
+ * ---------------------------------|-------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of wrist gesture.
+ *
+ * @param[out] wrist_gest   : Pointer to the stored wrist gesture.
+ * @param[in]  dev          : Structure instance of bmi2_dev.
+ *
+ * *wrist_gest  |  Output
+ * -------------|------------
+ * 0x00         |  UNKNOWN
+ * 0x01         |  PUSH_ARM_DOWN
+ * 0x02         |  PIVOT_UP
+ * 0x03         |  WRIST_SHAKE_JIGGLE
+ * 0x04         |  FLICK_IN
+ * 0x05         |  FLICK_OUT
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_wrist_gest_status(uint8_t* wrist_gest, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ *
+ * @param[out] step_act         : Pointer to the stored step activity data.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * *step_act  |  Output
+ * -----------|------------
+ * 0x00       |  STILL
+ * 0x01       |  WALKING
+ * 0x02       |  RUNNING
+ * 0x03       |  UNKNOWN
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fails
+ */
+static int8_t get_step_activity_output(uint8_t* step_act, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t* step_count, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status* nvm_err_stat, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status* vfrm_err_stat, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t* status, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets feature configuration to the sensor.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       loop         : Variable to loop the sensor feature.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_feat_config(const struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets feature configuration from the sensor.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       loop         : Variable to loop the sensor feature.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, 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 sensor.
+ *  3) Writes the configuration file.
+ *  4) Updates the feature offset parameters in the device structure.
+ *  5) Updates the maximum number of pages, in the device structure.
+ */
+int8_t bmi270_init(struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if (rslt == BMI2_OK)
+    {
+        /* Assign chip id of BMI270 */
+        dev->chip_id = BMI270_CHIP_ID;
+
+        /* get the size of config array */
+        dev->config_size = sizeof(bmi270_config_file);
+
+        /* Enable the variant specific features if any */
+        dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
+
+        /* An extra dummy byte is read during SPI read */
+        if (dev->intf == BMI2_SPI_INTF)
+        {
+            dev->dummy_byte = 1;
+        }
+        else
+        {
+            dev->dummy_byte = 0;
+        }
+
+        /* If configuration file pointer is not assigned any address */
+        if (!dev->config_file_ptr)
+        {
+            /* Give the address of the configuration file array to
+             * the device pointer
+             */
+            dev->config_file_ptr = bmi270_config_file;
+        }
+
+        /* Initialize BMI2 sensor */
+        rslt = bmi2_sec_init(dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Assign the offsets of the feature input
+             * configuration to the device structure
+             */
+            dev->feat_config = bmi270_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors/
+             * features to device structure
+             */
+            dev->input_sens = BMI270_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors/
+             * features to device structure
+             */
+            dev->out_sens = BMI270_MAX_FEAT_OUT;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_MAX_INT_MAP;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_sensor_enable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Enable the selected sensors */
+            rslt = sensor_enable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be disabled.
+ */
+int8_t bmi270_sensor_disable(const uint8_t* sens_list, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint64_t sensor_sel = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_list != NULL))
+    {
+        /* Get the selected sensors */
+        rslt = select_sensor(sens_list, n_sens, &sensor_sel);
+        if (rslt == BMI2_OK)
+        {
+            /* Disable the selected sensors */
+            rslt = sensor_disable(sensor_sel, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API sets the sensor/feature configuration.
+ */
+int8_t bmi270_set_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if (aps_stat == BMI2_ENABLE)
+                {
+                    /* Disable advance power save if
+                     * enabled
+                     */
+                    rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    rslt = set_feat_config(sens_cfg, loop, dev);
+                }
+                /* Return error if any of the set configurations fail */
+                else
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_get_sensor_config(struct bmi2_sens_config* sens_cfg, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Variable to get the status of advance power save */
+    uint8_t aps_stat = 0;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_cfg != NULL))
+    {
+        /* Get status of advance power save mode */
+        aps_stat = dev->aps_status;
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
+                (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
+            {
+                rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
+            }
+            else
+            {
+                /* Disable Advance power save if enabled for auxiliary
+                 * and feature configurations
+                 */
+                if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
+                {
+                    if (aps_stat == BMI2_ENABLE)
+                    {
+                        /* Disable advance power save if
+                         * enabled
+                         */
+                        rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+                    }
+                }
+
+                if (rslt == BMI2_OK)
+                {
+                    rslt = get_feat_config(sens_cfg, loop, dev);
+                }
+                /* Return error if any of the get configurations fail */
+                else
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the feature data.
+ */
+int8_t bmi270_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_STEP_ACTIVITY:
+
+                        /* Get step activity output */
+                        rslt = get_step_activity_output(&feature_data[loop].sens_data.activity_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;
+                    case BMI2_WRIST_GESTURE:
+
+                        /* Get wrist gesture status  */
+                        rslt = get_wrist_gest_status(&feature_data[loop].sens_data.wrist_gesture_output, dev);
+                        break;
+                    default:
+                        rslt = BMI2_E_INVALID_SENSOR;
+                        break;
+                    }
+
+                    /* Return error if any of the get sensor data fails */
+                    if (rslt != BMI2_OK)
+                    {
+                        break;
+                    }
+                }
+            }
+
+            /* Enable Advance power save if disabled while
+             * configuring and not when already disabled
+             */
+            if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+            {
+                rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API updates the gyroscope user-gain.
+ */
+int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config* user_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = {BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE};
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data* gyr_usr_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config* sens_int, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+            case BMI2_SIG_MOTION:
+            case BMI2_WRIST_GESTURE:
+            case BMI2_ANY_MOTION:
+            case BMI2_NO_MOTION:
+            case BMI2_STEP_COUNTER:
+            case BMI2_STEP_DETECTOR:
+            case BMI2_STEP_ACTIVITY:
+            case BMI2_WRIST_WEAR_WAKE_UP:
+
+                rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
+                break;
+            default:
+                rslt = BMI2_E_INVALID_SENSOR;
+                break;
+            }
+
+            /* Return error if interrupt mapping fails */
+            if (rslt != BMI2_OK)
+            {
+                break;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/***************************************************************************/
+
+/*!         Local Function Definitions
+ ****************************************************************************/
+
+/*!
+ * @brief This internal API is used to validate the device structure pointer for
+ * null conditions.
+ */
+static int8_t null_ptr_check(const struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
+    {
+        /* Device structure pointer is not valid */
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API selects the sensor/features to be enabled or
+ * disabled.
+ */
+static int8_t select_sensor(const uint8_t* sens_list, uint8_t n_sens, uint64_t* sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Variable to define loop */
+    uint8_t count;
+
+    for (count = 0; count < n_sens; count++)
+    {
+        switch (sens_list[count])
+        {
+        case BMI2_ACCEL:
+            *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+            break;
+        case BMI2_GYRO:
+            *sensor_sel |= BMI2_GYRO_SENS_SEL;
+            break;
+        case BMI2_AUX:
+            *sensor_sel |= BMI2_AUX_SENS_SEL;
+            break;
+        case BMI2_TEMP:
+            *sensor_sel |= BMI2_TEMP_SENS_SEL;
+            break;
+        case BMI2_SIG_MOTION:
+            *sensor_sel |= BMI2_SIG_MOTION_SEL;
+            break;
+        case BMI2_ANY_MOTION:
+            *sensor_sel |= BMI2_ANY_MOT_SEL;
+            break;
+        case BMI2_NO_MOTION:
+            *sensor_sel |= BMI2_NO_MOT_SEL;
+            break;
+        case BMI2_STEP_DETECTOR:
+            *sensor_sel |= BMI2_STEP_DETECT_SEL;
+            break;
+        case BMI2_STEP_COUNTER:
+            *sensor_sel |= BMI2_STEP_COUNT_SEL;
+            break;
+        case BMI2_STEP_ACTIVITY:
+            *sensor_sel |= BMI2_STEP_ACT_SEL;
+            break;
+        case BMI2_GYRO_GAIN_UPDATE:
+            *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+            break;
+        case BMI2_GYRO_SELF_OFF:
+            *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL;
+            break;
+        case BMI2_WRIST_GESTURE:
+            *sensor_sel |= BMI2_WRIST_GEST_SEL;
+            break;
+        case BMI2_WRIST_WEAR_WAKE_UP:
+            *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
+            break;
+        default:
+            rslt = BMI2_E_INVALID_SENSOR;
+            break;
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to 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 any motion feature.
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Search for any-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of any-motion axes */
+            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Search for no-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any/no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of no-motion axes */
+            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_NO_MOT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = {0, 0, 0};
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            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 is used to enable/disable sig-motion feature.
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of sig-motion */
+            idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_SIG_MOTION_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step activity */
+    struct bmi2_feature_config step_act_config = {0, 0, 0};
+
+    /* Search for step activity feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-activity
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step activity */
+            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            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 gives an option to enable self-offset correction
+ * feature of gyroscope, either internally or by the host.
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for self-offset correction */
+    struct bmi2_feature_config self_off_corr_cfg = {0, 0, 0};
+
+    /* Search for self-offset correction and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where self-offset
+         * correction feature resides
+         */
+        rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of self-offset correction */
+            idx = self_off_corr_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the wrist gesture feature.
+ */
+static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_cfg = {0, 0, 0};
+
+    /* Search for wrist gesture and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_cfg, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature resides */
+        rslt = bmi2_get_feat_config(wrist_gest_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of wrist gesture */
+            idx = wrist_gest_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_GEST_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_WRIST_GEST_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_WRIST_GEST_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables the wrist wear wake up feature.
+ */
+static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake up */
+    struct bmi2_feature_config wrist_wake_up_cfg = {0, 0, 0};
+
+    /* Search for wrist wear wake up and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake up
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of wrist wear wake up */
+            idx = wrist_wake_up_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = {0, 0, 0};
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for any-motion select */
+            idx = any_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[any_mot_config.start_addr + index] =
+                    *((uint8_t*)data_p + any_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for no-motion select */
+            idx = no_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[no_mot_config.start_addr + index] = *((uint8_t*)data_p + no_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for sig-motion select */
+            idx = sig_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set parameter 1 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size);
+
+            /* Increment offset by 1 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) - sig_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[sig_mot_config.start_addr + index] =
+                    *((uint8_t*)data_p + sig_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets step counter parameter configurations.
+ */
+static int8_t set_step_count_params_config(const uint16_t* step_count_params, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter parameters */
+    struct bmi2_feature_config step_params_config = {0, 0, 0};
+
+    /* Variable to index the page number */
+    uint8_t page_idx;
+
+    /* Variable to define the start page */
+    uint8_t start_page;
+
+    /* Variable to define start address of the parameters */
+    uint8_t start_addr;
+
+    /* Variable to define number of bytes */
+    uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
+
+    /* Variable to store number of pages */
+    uint8_t n_pages = (n_bytes / 16);
+
+    /* Variable to define the end page */
+    uint8_t end_page;
+
+    /* Variable to define the remaining bytes to be read */
+    uint8_t remain_len;
+
+    /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
+    uint8_t max_len = 8;
+
+    /* Variable index bytes in a page */
+    uint8_t page_byte_idx;
+
+    /* Variable to index the parameters */
+    uint8_t param_idx = 0;
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for step counter parameter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
+    if (feat_found)
+    {
+        /* Get the start page for the step counter parameters */
+        start_page = step_params_config.page;
+
+        /* Get the end page for the step counter parameters */
+        end_page = start_page + n_pages;
+
+        /* Get the start address for the step counter parameters */
+        start_addr = step_params_config.start_addr;
+
+        /* Get the remaining length of bytes to be read */
+        remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
+        for (page_idx = start_page; page_idx <= end_page; page_idx++)
+        {
+            /* Get the configuration from the respective page */
+            rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Start from address 0x00 when switched to next page */
+                if (page_idx > start_page)
+                {
+                    start_addr = 0;
+                }
+
+                /* Remaining number of words to be read in the page  */
+                if (page_idx == end_page)
+                {
+                    max_len = (remain_len / 2);
+                }
+
+                /* Get offset in words since all the features are set in words length */
+                page_byte_idx = start_addr / 2;
+                for (; page_byte_idx < max_len;)
+                {
+                    /* Set parameters 1 to 25 */
+                    *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx), BMI2_STEP_COUNT_PARAMS,
+                                                                  step_count_params[param_idx]);
+
+                    /* Increment offset by 1 word to set to the next parameter */
+                    page_byte_idx++;
+
+                    /* Increment to next parameter */
+                    param_idx++;
+                }
+
+                /* Get total length in bytes to copy from local pointer to the array */
+                page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
+
+                /* Copy the bytes to be set back to the array */
+                for (index = 0; index < page_byte_idx; index++)
+                {
+                    feat_config[step_params_config.start_addr + index] =
+                        *((uint8_t*)data_p + step_params_config.start_addr + index);
+                }
+
+                /* Set the configuration back to the page */
+                rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr + index] =
+                    *((uint8_t*)data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ */
+static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature resides */
+        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for gesture select */
+            idx = wrist_gest_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set wearable arm */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_GEST_WEAR_ARM, config->wearable_arm);
+
+            /* Increment offset by 1 more word to set minimum tilt angle (min_flick_peak) */
+            idx++;
+            *(data_p + idx) = config->min_flick_peak;
+
+            /* Increment offset by 1 more word to set min_flick_samples */
+            idx++;
+            *(data_p + idx) = config->min_flick_samples;
+
+            /* Increment offset by 1 more word to set max time within gesture moment has to be completed */
+            idx++;
+            *(data_p + idx) = config->max_duration;
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - wrist_gest_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[wrist_gest_config.start_addr + index] =
+                    *((uint8_t*)data_p + wrist_gest_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets wrist wear wake-up configurations like
+ * output-configuration.
+ */
+static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Increment offset by 1 more word to set min_angle_focus */
+            idx++;
+
+            *(data_p + idx) = config->min_angle_focus;
+
+            /* Increment offset by 1 more word to set min_angle_nonfocus */
+            idx++;
+            *(data_p + idx) = config->min_angle_nonfocus;
+
+            /* Increment offset by 1 more word to set max_tilt_lr */
+            idx++;
+            *(data_p + idx) = config->max_tilt_lr;
+
+            /* Increment offset by 1 more word to set max_tilt_ll */
+            idx++;
+            *(data_p + idx) = config->max_tilt_ll;
+
+            /* Increment offset by 1 more word to set max_tilt_pd */
+            idx++;
+            *(data_p + idx) = config->max_tilt_pd;
+
+            /* Increment offset by 1 more word to set max_tilt_pu */
+            idx++;
+            *(data_p + idx) = config->max_tilt_pu;
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[wrist_wake_up_config.start_addr + index] =
+                    *((uint8_t*)data_p + wrist_wake_up_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb;
+
+    /* Variable to define MSB */
+    uint16_t msb;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for any-motion */
+            idx = any_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for no-motion */
+            idx = no_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for sig-motion */
+            idx = sig_mot_config.start_addr;
+
+            /* Get word to calculate parameter 1 */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 1  */
+            config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK;
+        }
+    }
+    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 wrist gesture configurations like wearable-arm,
+ * and output-configuration.
+ */
+static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist gesture */
+    struct bmi2_feature_config wrist_gest_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist gesture feature  resides */
+        rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist gesture select */
+            idx = wrist_gest_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Get wearable arm */
+            config->wearable_arm = (*(data_p + idx) & BMI2_WRIST_GEST_WEAR_ARM_MASK) >> BMI2_WRIST_GEST_WEAR_ARM_POS;
+
+            /* Increment the offset by 1 word to get min_flick_peak */
+            idx++;
+            config->min_flick_peak = *(data_p + idx);
+
+            /* Increment the offset by 1 word to get min_flick_samples */
+            idx++;
+            config->min_flick_samples = *(data_p + idx);
+
+            /* Increment the offset by 1 word to get max_duration */
+            idx++;
+            config->max_duration = *(data_p + idx);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets wrist wear wake-up configurations like
+ * output-configuration.
+ */
+static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for wrist wear wake-up */
+    struct bmi2_feature_config wrist_wake_up_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for wrist wear wake-up feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where wrist wear wake-up feature  resides */
+        rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist wear wake-up select */
+            idx = wrist_wake_up_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Increment the offset value by 1 word to get min_angle_focus */
+            idx++;
+
+            config->min_angle_focus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get min_angle_nonfocus */
+            idx++;
+            config->min_angle_nonfocus = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_lr */
+            idx++;
+            config->max_tilt_lr = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_ll */
+            idx++;
+            config->max_tilt_ll = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_pd */
+            idx++;
+            config->max_tilt_pd = *(data_p + idx);
+
+            /* Increment the offset value by 1 word to get max_tilt_pu */
+            idx++;
+            config->max_tilt_pu = *(data_p + idx);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of the wrist gesture.
+ */
+static int8_t get_wrist_gest_status(uint8_t* wrist_gest, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for wrist gesture */
+    struct bmi2_feature_config wrist_gest_out_config = {0, 0, 0};
+
+    /* Search for wrist gesture feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&wrist_gest_out_config, BMI2_WRIST_GESTURE, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for wrist gesture */
+        rslt = bmi2_get_feat_config(wrist_gest_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for wrist gesture output */
+            idx = wrist_gest_out_config.start_addr;
+
+            /* Get the wrist gesture output */
+            *wrist_gest = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t* step_count, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = {0, 0, 0};
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t)feat_config[idx++];
+            *step_count |= ((uint32_t)feat_config[idx++] << 8);
+            *step_count |= ((uint32_t)feat_config[idx++] << 16);
+            *step_count |= ((uint32_t)feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status* nvm_err_stat, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = {0, 0, 0};
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t* status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = {0, 0, 0};
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ */
+static int8_t get_step_activity_output(uint8_t* step_act, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step activity */
+    struct bmi2_feature_config step_act_out_config = {0, 0, 0};
+
+    /* Search for step activity output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-activity */
+        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step activity output */
+            idx = step_act_out_config.start_addr;
+
+            /* Get the step activity output */
+            *step_act = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status* vfrm_err_stat, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for VFRM error status */
+    struct bmi2_feature_config vfrm_err_cfg = {0, 0, 0};
+
+    /* Search for VFRM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for VFRM error status */
+        rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for VFRM error status */
+            idx = vfrm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Internal error while acquiring lock for FIFO */
+            vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
+
+            /* Internal error while writing byte into FIFO */
+            vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
+
+            /* Internal error while writing into FIFO */
+            vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @brief This internal API sets feature configuration to the sensor.
+ */
+static int8_t set_feat_config(const struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    switch (sens_cfg[loop].type)
+    {
+    /* Set any motion configuration */
+    case BMI2_ANY_MOTION:
+        rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+        break;
+
+    /* Set no motion configuration */
+    case BMI2_NO_MOTION:
+        rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+        break;
+
+    /* Set sig-motion configuration */
+    case BMI2_SIG_MOTION:
+        rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+        break;
+
+    /* Set the step counter parameters */
+    case BMI2_STEP_COUNTER_PARAMS:
+        rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+        break;
+
+    /* Set step counter/detector/activity configuration */
+    case BMI2_STEP_DETECTOR:
+    case BMI2_STEP_COUNTER:
+    case BMI2_STEP_ACTIVITY:
+        rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+        break;
+
+    /* Set the wrist gesture configuration */
+    case BMI2_WRIST_GESTURE:
+        rslt = set_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
+        break;
+
+    /* Set the wrist wear wake-up configuration */
+    case BMI2_WRIST_WEAR_WAKE_UP:
+        rslt = set_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
+        break;
+
+    default:
+        rslt = BMI2_E_INVALID_SENSOR;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets feature configuration from the sensor.
+ */
+static int8_t get_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    switch (sens_cfg[loop].type)
+    {
+    /* Get sig-motion configuration */
+    case BMI2_SIG_MOTION:
+        rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+        break;
+
+    /* Get any motion configuration */
+    case BMI2_ANY_MOTION:
+        rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+        break;
+
+    /* Get no motion configuration */
+    case BMI2_NO_MOTION:
+        rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+        break;
+
+    /* Set the step counter parameters */
+    case BMI2_STEP_COUNTER_PARAMS:
+        rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
+        break;
+
+    /* Get step counter/detector/activity configuration */
+    case BMI2_STEP_DETECTOR:
+    case BMI2_STEP_COUNTER:
+    case BMI2_STEP_ACTIVITY:
+        rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+        break;
+
+    /* Get the wrist gesture configuration */
+    case BMI2_WRIST_GESTURE:
+        rslt = get_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
+        break;
+
+    /* Get the wrist wear wake-up configuration */
+    case BMI2_WRIST_WEAR_WAKE_UP:
+        rslt = get_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev);
+        break;
+
+    default:
+        rslt = BMI2_E_INVALID_SENSOR;
+        break;
+    }
+
+    return 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 sig-motion feature */
+    if (sensor_sel & BMI2_SIG_MOTION_SEL)
+    {
+        rslt = set_sig_motion(BMI2_ENABLE, dev);
+    }
+
+    /* Enable any motion feature */
+    if (sensor_sel & BMI2_ANY_MOT_SEL)
+    {
+        rslt = set_any_motion(BMI2_ENABLE, dev);
+    }
+
+    /* Enable no motion feature */
+    if (sensor_sel & BMI2_NO_MOT_SEL)
+    {
+        rslt = set_no_motion(BMI2_ENABLE, dev);
+    }
+
+    /* 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 step activity feature */
+    if (sensor_sel & BMI2_STEP_ACT_SEL)
+    {
+        rslt = set_step_activity(BMI2_ENABLE, dev);
+    }
+
+    /* Enable gyroscope user gain */
+    if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+    {
+        rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+    }
+
+    /* Enable gyroscope self-offset correction feature */
+    if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+    {
+        rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev);
+    }
+
+    /* Enable wrist gesture feature for wearable variant */
+    if (sensor_sel & BMI2_WRIST_GEST_SEL)
+    {
+        rslt = set_wrist_gesture(BMI2_ENABLE, dev);
+    }
+
+    /* Enable wrist wear wake-up feature */
+    if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
+    {
+        rslt = set_wrist_wear_wake_up(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 temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    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;
+
+    /* Disable sig-motion feature */
+    if (sensor_sel & BMI2_SIG_MOTION_SEL)
+    {
+        rslt = set_sig_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable any-motion feature */
+    if (sensor_sel & BMI2_ANY_MOT_SEL)
+    {
+        rslt = set_any_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable no-motion feature */
+    if (sensor_sel & BMI2_NO_MOT_SEL)
+    {
+        rslt = set_no_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step detector feature */
+    if (sensor_sel & BMI2_STEP_DETECT_SEL)
+    {
+        rslt = set_step_detector(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step counter feature */
+    if (sensor_sel & BMI2_STEP_COUNT_SEL)
+    {
+        rslt = set_step_counter(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step activity feature */
+    if (sensor_sel & BMI2_STEP_ACT_SEL)
+    {
+        rslt = set_step_activity(BMI2_DISABLE, dev);
+    }
+
+    /* Disable gyroscope user gain */
+    if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+    {
+        rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+    }
+
+    /* Disable gyroscope self-offset correction feature */
+    if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+    {
+        rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev);
+    }
+
+    /* Disable wrist gesture feature for wearable variant*/
+    if (sensor_sel & BMI2_WRIST_GEST_SEL)
+    {
+        rslt = set_wrist_gesture(BMI2_DISABLE, dev);
+    }
+
+    /* Enable wrist wear wake-up feature */
+    if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
+    {
+        rslt = set_wrist_wear_wake_up(BMI2_DISABLE, dev);
+    }
+
+    return rslt;
+}
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi270_context.c b/platform/esp/idf_components/sensor_bmi270/src/bmi270_context.c
new file mode 100644
index 00000000..2819a46a
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi270_context.c
@@ -0,0 +1,2858 @@
+/**
+ * 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,
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+    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;
+}
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi270_legacy.c b/platform/esp/idf_components/sensor_bmi270/src/bmi270_legacy.c
new file mode 100644
index 00000000..f40c6bc4
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi270_legacy.c
@@ -0,0 +1,5926 @@
+/**
+ * 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.c
+ * @date       2023-05-03
+ * @version    v2.86.1
+ *
+ */
+
+/* BMI270_legacy offers same low-power features as in BMI160 */
+
+/***************************************************************************/
+
+/*!             Header files
+ ****************************************************************************/
+#include "bmi270_legacy.h"
+
+/******************************************************************************/
+/*!  @name         Structure Declaration                                      */
+/******************************************************************************/
+
+/*! @name Structure to define tap configuration */
+struct bmi2_tap_config* bmi270_legacy_config;
+
+/***************************************************************************/
+
+/*!              Global Variable
+ ****************************************************************************/
+
+/*! @name  Global array that stores the configuration file of BMI270_LEGACY */
+const uint8_t bmi270_legacy_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3c, 0xb2, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9b, 0x03, 0x80, 0x2e, 0xa4,
+    0xb3, 0x80, 0x2e, 0xb8, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xc4, 0xb2, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x4a, 0xf1, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xe5, 0x01, 0x00, 0x5d, 0x01, 0x00, 0x22,
+    0x00, 0x77, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0x45, 0xf5, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
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+    0x83, 0x40, 0xd8, 0x08, 0xa1, 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, 0x95, 0x52, 0x00, 0x30, 0x40, 0x42, 0x7c, 0x86, 0x71, 0x52, 0x09, 0x2e, 0x62, 0x0f, 0x77, 0x54, 0xc4,
+    0x42, 0xd3, 0x86, 0x54, 0x40, 0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0x6e, 0x01, 0x42, 0x40, 0x25, 0x2e,
+    0xfd, 0xf3, 0xc0, 0x42, 0x7e, 0x82, 0x05, 0x2e, 0xd7, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27,
+    0xbd, 0x2f, 0xb9, 0x80, 0x90, 0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x63, 0x0f, 0x14, 0x30,
+    0x1c, 0x09, 0x05, 0x2e, 0x77, 0xf7, 0x75, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xa3,
+    0x54, 0x50, 0x42, 0x4a, 0x0e, 0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xa1, 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, 0x78, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x78,
+    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, 0xa7,
+    0x58, 0xc2, 0x6f, 0x94, 0x09, 0xa9, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xa5, 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, 0xbb, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30,
+    0x02, 0x80, 0x23, 0x33, 0x01, 0x42, 0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd5, 0x00, 0x33, 0x52, 0xe2,
+    0x7f, 0xd3, 0x7f, 0xc0, 0x7f, 0x98, 0x2e, 0x9c, 0x0e, 0xd1, 0x6f, 0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f,
+    0x01, 0x33, 0x12, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01,
+    0x2e, 0x80, 0x03, 0x51, 0x30, 0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0x91, 0x03,
+    0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0, 0x7f, 0x70,
+    0x30, 0x04, 0x2f, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e,
+    0x5d, 0xc0, 0xab, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xad, 0x50, 0x98, 0x2e, 0xfc, 0xc5, 0x5d, 0x50, 0x98, 0x2e, 0x64,
+    0xcf, 0xb1, 0x50, 0x21, 0x2e, 0x7e, 0x01, 0xaf, 0x56, 0xb3, 0x52, 0x27, 0x2e, 0x7f, 0x01, 0x23, 0x2e, 0x80, 0x01,
+    0xb5, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0xb7, 0x50, 0x98, 0x2e, 0x44, 0xcb, 0x10, 0x30, 0x98, 0x2e, 0x0d, 0xb6, 0x20,
+    0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xeb, 0x33, 0x0b, 0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37,
+    0xbd, 0x52, 0xc1, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42, 0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xbf, 0x54, 0xe3,
+    0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc, 0x84, 0x0b, 0x40, 0x33, 0x30, 0x83, 0x42, 0x0b, 0x42,
+    0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x0c, 0x02, 0xd1, 0x6f, 0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f, 0xb9,
+    0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62, 0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f,
+    0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0,
+    0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00,
+    0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
+    0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
+    0x2e, 0x00, 0xc1};
+
+/*! @name  Global array that stores the feature input configuration of BMI270_LEGACY */
+const struct bmi2_feature_config bmi270_legacy_feat_in[BMI270_LEGACY_MAX_FEAT_IN] = {
+    {.type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_CONFIG_ID_STRT_ADDR},
+    {.type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_MAX_BURST_LEN_STRT_ADDR},
+    {.type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_CRT_GYRO_SELF_TEST_STRT_ADDR},
+    {.type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_ABORT_STRT_ADDR},
+    {.type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_AXIS_MAP_STRT_ADDR},
+    {.type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_GYRO_SELF_OFF_STRT_ADDR},
+    {.type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_NVM_PROG_PREP_STRT_ADDR},
+    {.type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_ANY_MOT_STRT_ADDR},
+    {.type = BMI2_NO_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_NO_MOT_STRT_ADDR},
+    {.type = BMI2_ORIENTATION, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_ORIENT_STRT_ADDR},
+    {.type = BMI2_HIGH_G, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_HIGH_G_STRT_ADDR},
+    {.type = BMI2_LOW_G, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_LOW_G_STRT_ADDR},
+    {.type = BMI2_FLAT, .page = BMI2_PAGE_3, .start_addr = BMI270_LEGACY_FLAT_STRT_ADDR},
+    {.type = BMI2_SIG_MOTION, .page = BMI2_PAGE_3, .start_addr = BMI270_LEGACY_SIG_MOT_STRT_ADDR},
+    {.type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR},
+    {.type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR},
+    {.type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR},
+    {.type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_GYRO_USERGAIN_UPDATE_STRT_ADDR},
+    {.type = BMI2_SINGLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR},
+    {.type = BMI2_DOUBLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR},
+    {.type = BMI2_TRIPLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR},
+    {.type = BMI2_TAP_DETECTOR_1, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR},
+    {.type = BMI2_TAP_DETECTOR_2, .page = BMI2_PAGE_6, .start_addr = BMI270_LEGACY_TAP_DETECT_2_STRT_ADDR},
+};
+
+/*! @name  Global array that stores the feature output configuration */
+const struct bmi2_feature_config bmi270_legacy_feat_out[BMI270_LEGACY_MAX_FEAT_OUT] = {
+    {.type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_STEP_CNT_OUT_STRT_ADDR},
+    {.type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_STEP_ACT_OUT_STRT_ADDR},
+    {.type = BMI2_ORIENTATION, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_ORIENT_HIGH_G_OUT_STRT_ADDR},
+    {.type = BMI2_HIGH_G, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_ORIENT_HIGH_G_OUT_STRT_ADDR},
+    {.type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_GYR_USER_GAIN_OUT_STRT_ADDR},
+    {.type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_GYRO_CROSS_SENSE_STRT_ADDR},
+    {.type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_NVM_VFRM_OUT_STRT_ADDR},
+    {.type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_NVM_VFRM_OUT_STRT_ADDR}};
+
+/*! @name  Global array that stores the feature interrupts of BMI270_LEGACY */
+struct bmi2_map_int bmi270_legacy_map_int[BMI270_LEGACY_MAX_INT_MAP] = {
+    {.type = BMI2_SIG_MOTION, .sens_map_int = BMI270_LEGACY_INT_SIG_MOT_MASK},
+    {.type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_LEGACY_INT_STEP_COUNTER_MASK},
+    {.type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_LEGACY_INT_STEP_DETECTOR_MASK},
+    {.type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_LEGACY_INT_STEP_ACTIVITY_MASK},
+    {.type = BMI2_HIGH_G, .sens_map_int = BMI270_LEGACY_INT_HIGH_G_MASK},
+    {.type = BMI2_LOW_G, .sens_map_int = BMI270_LEGACY_INT_LOW_G_MASK},
+    {.type = BMI2_TAP, .sens_map_int = BMI270_LEGACY_INT_TAP_MASK},
+    {.type = BMI2_FLAT, .sens_map_int = BMI270_LEGACY_INT_FLAT_MASK},
+    {.type = BMI2_NO_MOTION, .sens_map_int = BMI270_LEGACY_INT_NO_MOT_MASK},
+    {.type = BMI2_ANY_MOTION, .sens_map_int = BMI270_LEGACY_INT_ANY_MOT_MASK},
+    {.type = BMI2_ORIENTATION, .sens_map_int = BMI270_LEGACY_INT_ORIENT_MASK},
+    {.type = BMI2_SINGLE_TAP, .sens_map_int = BMI270_LEGACY_INT_SINGLE_TAP_MASK},
+    {.type = BMI2_DOUBLE_TAP, .sens_map_int = BMI270_LEGACY_INT_DOUBLE_TAP_MASK},
+    {.type = BMI2_TRIPLE_TAP, .sens_map_int = BMI270_LEGACY_INT_TRIPLE_TAP_MASK}};
+
+/******************************************************************************/
+
+/*!         Local Function Prototypes
+ ******************************************************************************/
+
+/*!
+ * @brief This internal API gets tap configurations like data register enable,
+ * tap sensitivity threshold, max gesture duration, quite time after gesture,
+ * axis selection and wait for timeout.
+ *
+ * @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 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_tap_config(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API gets tap configurations like data register enable,
+ * tap sensitivity threshold, max gesture duration and quite time after gesture
+ * from primary page of tap detector.
+ *
+ * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_tap_config       |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *                          | By enabling this bit, accel data according to the
+ *  data_reg_en             | user defined accel configuration is taken for tap
+ *                          | detector feature.
+ * -------------------------|---------------------------------------------------
+ *  tap_sens_thres          | Scaling factor of additional threshold increment
+ *                          | for detection of positive and negative peak of tap.
+ * -------------------------|---------------------------------------------------
+ *  max_gest_dur            | Maximum duration after the first tap within which the
+ *                          | second and/or third tap have to be performed for being
+ *                          | detected as double-tap.
+ * -------------------------|---------------------------------------------------
+ *  quite_time_after_gest   | Minimum quite time between the two gesture detection.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_config_page_primary(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API gets tap configurations like time out and
+ * axis selection from secondary page of tap detector.
+ *
+ * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_tap_config       |
+ *  Structure parameters    |               Description
+ * -------------------------|---------------------------------------------------
+ *  wait_for_timeout        | Wait for the duration set by max_gest_dur after the
+ *                          | first tap and report the tap-gesture based on number
+ *                          | of taps detected.
+ * -------------------------|---------------------------------------------------
+ *                          | Selection of axis from 3D-acceleration signal vector
+ *  axis_sel                | for tap detection.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_config_page_secondary(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API sets tap configurations like data register enable,
+ * tap sensitivity threshold, max gesture duration, quite time after gesture,
+ * axis selection and wait for timeout.
+ *
+ * @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 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_tap_config(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API sets tap configurations like data register enable,
+ * tap sensitivity threshold, max gesture duration and quite time after gesture
+ * from primary page of tap detector.
+ *
+ * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_tap_config       |
+ *  Structure parameters    |               Description
+ *--------------------------|--------------------------------------------------
+ *                          | By enabling this bit, accel data according to the
+ *  data_reg_en             | user defined accel configuration is taken for tap
+ *                          | detector feature.
+ * -------------------------|---------------------------------------------------
+ *  tap_sens_thres          | Scaling factor of additional threshold increment
+ *                          | for detection of positive and negative peak of tap.
+ * -------------------------|---------------------------------------------------
+ *  max_gest_dur            | Maximum duration after the first tap within which the
+ *                          | second and/or third tap have to be performed for being
+ *                          | detected as double-tap.
+ * -------------------------|---------------------------------------------------
+ *  quite_time_after_gest   | Minimum quite time between the two gesture detection.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_config_page_primary(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API sets the tap configurations like time out and
+ * axis selection to secondary page of tap detector.
+ *
+ * @param[out]      tap        : Void pointer to store bmi2_tap_config structure.
+ * @param[in, out]  bmi2_dev   : Void pointer to store bmi2_dev structure.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_tap_config       |
+ *  Structure parameters    |               Description
+ * -------------------------|---------------------------------------------------
+ *  wait_for_timeout        | Wait for the duration set by max_gest_dur after the
+ *                          | first tap and report the tap-gesture based on number
+ *                          | of taps detected.
+ * -------------------------|---------------------------------------------------
+ *                          | Selection of axis from 3D-acceleration signal vector
+ *  axis_sel                | for tap detection.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_config_page_secondary(void* tap, void* bmi2_dev);
+
+/*!
+ * @brief This internal API is used to validate the device pointer for
+ * null conditions.
+ *
+ * @param[in] dev : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t null_ptr_check(const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API disables the selected sensor/features.
+ *
+ * @param[in]       sensor_sel    : Selects the desired sensor.
+ * @param[in, out]  dev           : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API selects the sensors/features to be enabled or
+ * disabled.
+ *
+ * @param[in]  sens_list    : Pointer to select the sensor.
+ * @param[in]  n_sens       : Number of sensors selected.
+ * @param[out] sensor_sel   : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t select_sensor(const uint8_t* sens_list, uint8_t n_sens, uint64_t* sensor_sel);
+
+/*!
+ * @brief This internal API is used to enable/disable any-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables any-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables any-motion.
+ * BMI2_ENABLE  | Enables any-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables no-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables no-motion.
+ * BMI2_ENABLE  | Enables no-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable sig-motion feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables sig-motion.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables sig-motion.
+ * BMI2_ENABLE  | Enables sig-motion.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step-detector.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step detector
+ * BMI2_ENABLE  | Enables step detector
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step counter feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step counter.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step counter
+ * BMI2_ENABLE  | Enables step counter
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_counter(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * single tap.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables single tap.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables single tap.
+ * BMI2_ENABLE  | Enables single tap
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_single_tap(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * double tap.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables double tap.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables double tap.
+ * BMI2_ENABLE  | Enables double tap
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_double_tap(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * triple tap.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables triple tap.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables triple tap.
+ * BMI2_ENABLE  | Enables triple tap
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_triple_tap(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable orientation feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables orientation.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables orientation
+ * BMI2_ENABLE  | Enables orientation
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_orientation(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable high-g feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables high-g.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables high-g
+ * BMI2_ENABLE  | Enables high-g
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_high_g(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable low-g feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables low-g.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables low-g
+ * BMI2_ENABLE  | Enables low-g
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_low_g(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable flat feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables flat.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables flat
+ * BMI2_ENABLE  | Enables flat
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_flat(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gives an option to enable offset correction
+ * feature of gyroscope, either internally or by the host.
+ *
+ * @param[in] enable    : Enables/Disables self-offset correction.
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | gyroscope offset correction values are set internally
+ * BMI2_DISABLE | gyroscope offset correction values has to be set by host
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables gyroscope user gain.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables gyroscope user gain
+ * BMI2_ENABLE  | Enables gyroscope user gain
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config      : Structure instance of bmi2_any_motion_config.
+ * @param[in, out] dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[in]      config       : Structure instance of bmi2_no_motion_config.
+ * @param[in, out] dev          : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for no-motion detection.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0x90 = 70mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[in]      config        : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out] dev           : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets step counter/detector/activity configurations.
+ *
+ * @param[in] config      : Structure instance of bmi2_step_config.
+ * @param[in] dev         : Structure instance of bmi2_dev.
+ *
+ *---------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ *  step_buffer_size        | Step counter buffer size
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_config(const struct bmi2_step_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets tap configurations like sensitivity,
+ * single, double and triple tap enable and output-configuration.
+ *
+ * @param[in]      config         : Structure instance of bmi2_tap_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_tap_detector_config(struct bmi2_tap_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets orientation configurations like upside/down
+ * detection, symmetrical modes, blocking mode, theta, hysteresis and output
+ * configuration.
+ *
+ * @param[in]      config         : Structure instance of bmi2_orient_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_orient_config    |
+ *   Structure parameters   |               Description
+ *--------------------------|--------------------------------------------------
+ *  upside/down             |  Enables upside/down detection, if set to 1.
+ *  detection               |
+ * -------------------------|---------------------------------------------------
+ *                          | Sets the mode:
+ *      mode                | Values 0 or 3 - symmetrical.
+ *                          | Value 1       - high asymmetrical
+ *                          | Value 2       - low asymmetrical
+ * -------------------------|---------------------------------------------------
+ *                          | Enable - no orientation interrupt will be set.
+ *      blocking            | Default value: 3, the most restrictive blocking.
+ * -------------------------|---------------------------------------------------
+ *                          | Threshold angle used in blocking mode.
+ *      theta               | Theta = 64 * (tan(angle)^2)
+ *                          | Default value: 40, equivalent to 38 degrees angle.
+ * -------------------------|---------------------------------------------------
+ *                          | Acceleration hysteresis for Orientation detection
+ *                          | is expressed in 5.11g format.
+ *      hysteresis          | Default value is 128 = 0.0625g.
+ *                          | Range is 0 to 1g.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_orient_config(const struct bmi2_orient_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets high-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ *
+ * @param[in]      config         : Structure instance of bmi2_high_g_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *      bmi2_high_g_config  |
+ *      Structure parameter |               Description
+ *--------------------------|--------------------------------------------------
+ *      threshold           |  The acceleration threshold above which the
+ *                          |  high_g motion is signaled.
+ *                          |  Threshold value for high_g feature.
+ *                          |  Range is 0 to 16g.
+ *                          |  Default value is 10000 = 4.9g.
+ * -------------------------|---------------------------------------------------
+ *                          | Hysteresis value for high_g feature.
+ *      hysteresis          | Range is 0 to 2g.
+ *                          | Default value is 1000 = 0.49g.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 200 Hz samples (5 ms) for
+ *                          | which the threshold has to be exceeded.
+ *      duration            | Default value 4 = 20 msec.
+ *                          | Range is 0 to 20sec.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_high_g_config(const struct bmi2_high_g_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets low-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ *
+ * @param[in]      config         : Structure instance of bmi2_low_g_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_low_g_config     |
+ *   Structure parameters   |               Description
+ *--------------------------|--------------------------------------------------
+ *  threshold               |  The acceleration threshold above which the
+ *                          |  low-g motion is signaled.
+ *                          |  Range is 0 to 1g.
+ *                          |  Default value is 512 = 0.25g.
+ * -------------------------|---------------------------------------------------
+ *                          | Hysteresis value for low_g feature.
+ *                          | Range is 0 to 0.5g.
+ *  hysteresis              | Default value is 256 = 0.125g.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 50 Hz samples (20 ms) for
+ *                          | which the threshold has to be exceeded.
+ *  duration                | Range is 0 to 82 sec.
+ *                          | Default value is 0 = 0 ms.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_low_g_config(const struct bmi2_low_g_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets flat configurations like theta, blocking,
+ * hold-time, hysteresis, and output configuration.
+ *
+ * @param[in]      config         : Structure instance of bmi2_flat_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *      bmi2_flat_config    |
+ *      Structure parameters|               Description
+ *--------------------------|--------------------------------------------------
+ *                          | Sets the theta angle, used for detecting flat
+ *                          | position.
+ *      theta               | Theta = 64 * (tan(angle)^2);
+ *                          | Default value is 8, equivalent to 20 degrees angle
+ * -------------------------|---------------------------------------------------
+ *                          | Hysteresis for Theta Flat detection.
+ *      hysteresis          | Default value is 9 = 2.5 degrees, corresponding
+ *                          | to the default Theta angle of 20 degrees.
+ * -------------------------|---------------------------------------------------
+ *                          | Sets the blocking mode. If blocking is set, no
+ *                          | Flat interrupt will be triggered.
+ *      blocking            | Default value is 2, the most restrictive blocking
+ *                          | mode.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 50Hz samples for which the
+ *                          | condition has to be respected.
+ *      hold-time           | Default value is 32 = 640 msec.
+ *                          | Range is 0 to 5.1 sec.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_flat_config(const struct bmi2_flat_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out] config        : Structure instance of bmi2_any_motion_config.
+ * @param[in, out]  dev      : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_any_motion_config  |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for in 5.11g format.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0xAA = 83mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_no_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *  bmi2_no_motion_config   |
+ *  Structure parameters    |                   Description
+ *--------------------------|--------------------------------------------------
+ *                          | Defines the number of  consecutive data points for
+ *                          | which the threshold condition must be respected,
+ *                          | for interrupt assertion. It is expressed in  50 Hz
+ *  duration                | samples (20 msec).
+ *                          | Range is 0 to 163sec.
+ *                          | Default value is 5 = 100ms.
+ * -------------------------|---------------------------------------------------
+ *                          | Slope threshold value for no-motion detection.
+ *  threshold               | Range is 0 to 1g.
+ *                          | Default value is 0x90 = 70mg.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ *
+ * @param[out]      config    : Structure instance of bmi2_sig_motion_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ *----------------------------------------------------------------------------
+ *  bmi2_sig_motion_config  |
+ *  Structure parameters    |                   Description
+ * -------------------------|---------------------------------------------------
+ *                          | Defines the duration after which the significant
+ *  block_size              | motion interrupt is triggered. It is expressed in
+ *                          | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
+ *--------------------------|---------------------------------------------------
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ *
+ * @param[out] config      : Structure instance of bmi2_step_config.
+ * @param[in]  dev         : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *    bmi2_step_config      |
+ *  Structure parameters    |                 Description
+ *--------------------------|--------------------------------------------------
+ *                          | The Step-counter will trigger output every time
+ *                          | the number of steps are counted. Holds implicitly
+ *  water-mark level        | a 20x factor, so the range is 0 to 10230,
+ *                          | with resolution of 20 steps.
+ * -------------------------|---------------------------------------------------
+ *  reset counter           | Flag to reset the counted steps.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_config(struct bmi2_step_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets tap configurations like sensitivity,
+ * single, double and triple tap enable and output-configuration.
+ *
+ * @param[out]      config    : Structure instance of bmi2_tap_config.
+ * @param[in, out]  dev       : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_tap_detector_config(struct bmi2_tap_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets orientation configurations like upside/down
+ * detection, symmetrical modes, blocking mode, theta, hysteresis and output
+ * configuration.
+ *
+ * @param[out]     config         : Structure instance of bmi2_orient_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *    bmi2_orient_config    |
+ *   Structure parameters   |               Description
+ *--------------------------|--------------------------------------------------
+ *  upside/down             |  Enables upside/down detection, if set to 1.
+ *  detection               |
+ * -------------------------|---------------------------------------------------
+ *                          | Sets the mode:
+ *      mode                | Values 0 or 3 - symmetrical.
+ *                          | Value 1       - high asymmetrical
+ *                          | Value 2       - low asymmetrical
+ * -------------------------|---------------------------------------------------
+ *                          | Enable - no orientation interrupt will be set.
+ *      blocking            | Default value: 3, the most restrictive blocking.
+ * -------------------------|---------------------------------------------------
+ *                          | Threshold angle used in blocking mode.
+ *      theta               | Theta = 64 * (tan(angle)^2)
+ *                          | Default value: 40, equivalent to 38 degrees angle.
+ * -------------------------|---------------------------------------------------
+ *                          | Acceleration hysteresis for Orientation detection
+ *                          | is expressed in 5.11g format.
+ *      hysteresis          | Default value is 128 = 0.0625g.
+ *                          | Range is 0 to 1g.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_orient_config(struct bmi2_orient_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets high-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ *
+ * @param[out]     config         : Structure instance of bmi2_high_g_config.
+ * @param[in, out] dev            : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *-----------------------------------------------------------------------------
+ *      bmi2_high_g_config  |
+ *      Structure parameter |               Description
+ *--------------------------|--------------------------------------------------
+ *      threshold           |  The acceleration threshold above which the
+ *                          |  high_g motion is signaled.
+ *                          |  Holds threshold in 5.11 g format.
+ *                          |  Default is 3072 = 1.5 g.
+ *                          |  Range is 0 to 16g.
+ * -------------------------|---------------------------------------------------
+ *                          | Acceleration hysteresis for high-g detection
+ *                          | is expressed in 1.11g format.
+ *      hysteresis          | Default value is 256 = 0.125 g.
+ *                          | Range is 0 to 2g.
+ *                          | Should be smaller than threshold.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 200 Hz samples (5 ms) for
+ *                          | which the threshold has to be exceeded.
+ *      duration            |Default value 4 = 20 msec.
+ *                          | Range is 0 to 20sec.
+ * -------------------------|---------------------------------------------------
+ *  select_x, select_y,     |
+ *       select_z           |  Selects the feature on a per-axis basis
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_high_g_config(struct bmi2_high_g_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets low-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ *
+ * @param[out]     config     : Structure instance of bmi2_low_g_config.
+ * @param[in, out] dev        : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *    bmi2_low_g_config     |
+ *   Structure parameters   |               Description
+ *--------------------------|--------------------------------------------------
+ *  threshold               |  The acceleration threshold above which the
+ *                          |  low-g motion is signaled.
+ *                          |  Holds threshold in 5.11 g format.
+ *                          |  Default is 3072 = 1.5 g.
+ * -------------------------|---------------------------------------------------
+ *                          |  Acceleration hysteresis for low-g detection
+ *  hysteresis              | is expressed in 1.11g format.
+ *                          | Default value is 512 = 0.250 g.
+ *                          | Should be smaller than threshold.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 50 Hz samples (20 ms) for
+ *                          | which the threshold has to be exceeded.
+ *  duration                | Default value 0 = 1 validation sample = (0+1)*20
+ *                          | = 20 ms.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_low_g_config(struct bmi2_low_g_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets flat configurations like theta, blocking,
+ * hold-time, hysteresis, and output configuration.
+ *
+ * @param[out]     config           : Structure instance of bmi2_flat_config.
+ * @param[in, out] dev              : Structure instance of bmi2_dev.
+ *
+ * @verbatim
+ *----------------------------------------------------------------------------
+ *      bmi2_flat_config    |
+ *      Structure parameters|               Description
+ *--------------------------|--------------------------------------------------
+ *                          | Theta angle, used for detecting flat
+ *                          | position.
+ *      theta               | Theta = 64 * (tan(angle)^2);
+ *                          | Default value is 8, equivalent to 20 degrees angle
+ * -------------------------|---------------------------------------------------
+ *                          | Hysteresis for Theta Flat detection.
+ *      hysteresis          | Default value is 9 = 2.5 degrees, corresponding
+ *                          | to the default Theta angle of 20 degrees.
+ * -------------------------|---------------------------------------------------
+ *                          | Sets the blocking mode. If blocking is set, no
+ *                          | Flat interrupt will be triggered.
+ *      blocking            | Default value is 2, the most restrictive blocking
+ *                          | mode.
+ * -------------------------|---------------------------------------------------
+ *                          | Holds the duration in 50Hz samples for which the
+ *                          | condition has to be respected.
+ *      hold-time           | Default value is 32 = 640 m-sec.
+ *                          | Range is 0 to 5.1 sec.
+ * -------------------------|---------------------------------------------------
+ * @endverbatim
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_flat_config(struct bmi2_flat_config* config, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of high-g.
+ *
+ * @param[out] high_g_out       : Pointer to the stored high-g output.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_high_g_output(uint8_t* high_g_out, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ *
+ * @param[out] step_act         : Pointer to the stored step activity data.
+ * @param[in]  dev      : Structure instance of bmi2_dev.
+ *
+ * *step_act  |  Output
+ * -----------|------------
+ * 0x00       |  STILL
+ * 0x01       |  WALKING
+ * 0x02       |  RUNNING
+ * 0x03       |  UNKNOWN
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_activity_output(uint8_t* step_act, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of orientation: portrait-
+ * landscape and face up-down.
+ *
+ * @param[out] orient_out      : Structure pointer to the orientation data.
+ * @param[in]  dev             : Structure instance of bmi2_dev.
+ *
+ *
+ * portrait   |
+ * landscape  |  Output
+ * -----------|------------
+ * 0x00       |  PORTRAIT UPRIGHT
+ * 0x01       |  LANDSCAPE LEFT
+ * 0x02       |  PORTRAIT UPSIDE DOWN
+ * 0x03       |  LANDSCAPE RIGHT
+ *
+ * Face       |
+ * up-down    |  Output
+ * -----------|------------
+ * 0x00       |  FACE-UP
+ * 0x01       |  FACE-DOWN
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_orient_output(struct bmi2_orientation_output* orient_out, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ *
+ * @param[out] step_count       : Pointer to the stored step counter data.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_step_counter_output(uint32_t* step_count, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ *
+ * @param[out] nvm_err_stat     : Stores the NVM error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status* nvm_err_stat, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets the error status related to virtual frames.
+ *
+ * @param[out] vfrm_err_stat    : Stores the VFRM related error status.
+ * @param[in]  dev              : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status* vfrm_err_stat, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ *
+ * @param[out] status         : Stores status of gyroscope user gain update.
+ * @param[in]  dev            : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_user_gain_upd_status(uint8_t* status, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ *
+ * @param[in] enable    : Enables/Disables gain compensation
+ * @param[in] dev       : Structure instance of bmi2_dev.
+ *
+ *  enable      |  Description
+ * -------------|---------------
+ * BMI2_ENABLE  | Enable gain compensation.
+ * BMI2_DISABLE | Disable gain compensation.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details like page and start address from the look-up table.
+ *
+ * @param[out] feat_output      : Structure that stores output feature
+ *                              configurations.
+ * @param[in] type              : Type of feature or sensor.
+ * @param[in] dev               : Structure instance of bmi2_dev.
+ *
+ * @return Returns the feature found flag.
+ *
+ * @retval  BMI2_FALSE : Feature not found
+ *          BMI2_TRUE  : Feature found
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API is used to enable/disable step activity detection.
+ *
+ * @param[in] dev            : Structure instance of bmi2_dev.
+ * @param[in] enable         : Enables/Disables step activity.
+ *
+ * Enable       |  Description
+ * -------------|---------------
+ * BMI2_DISABLE | Disables step activity
+ * BMI2_ENABLE  | Enables step activity
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API sets feature configuration to the sensor.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       loop         : Variable to loop the sensor feature.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t set_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev);
+
+/*!
+ * @brief This internal API gets feature configuration from the sensor.
+ *
+ * @param[in]       sens_cfg     : Structure instance of bmi2_sens_config.
+ * @param[in]       loop         : Variable to loop the sensor feature.
+ * @param[in, out]  dev          : Structure instance of bmi2_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t get_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, 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]  count        : Number of sensors selected.
+ * @param[in] sensor_sel    : Gets the selected sensor.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ */
+static int8_t sens_select(const uint8_t* sens_list, uint8_t count, uint64_t* sensor_sel);
+
+/*!
+ * @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_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.
+ */
+int8_t bmi270_legacy_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_LEGACY */
+        dev->chip_id = BMI270_LEGACY_CHIP_ID;
+
+        /* Get the size of config array */
+        dev->config_size = sizeof(bmi270_legacy_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_legacy_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_legacy_feat_in;
+
+            /* Assign the offsets of the feature output to
+             * the device structure
+             */
+            dev->feat_output = bmi270_legacy_feat_out;
+
+            /* Assign the maximum number of pages to the
+             * device structure
+             */
+            dev->page_max = BMI270_LEGACY_MAX_PAGE_NUM;
+
+            /* Assign maximum number of input sensors
+             * features to device structure
+             */
+            dev->input_sens = BMI270_LEGACY_MAX_FEAT_IN;
+
+            /* Assign maximum number of output sensors
+             * features to device structure
+             */
+            dev->out_sens = BMI270_LEGACY_MAX_FEAT_OUT;
+
+            /* Assign the tap get configurations to function pointer */
+            dev->get_tap_config = get_tap_config;
+
+            /* Assign the tap set configurations to function pointer */
+            dev->set_tap_config = set_tap_config;
+
+            /* Assign the offsets of the feature interrupt
+             * to the device structure
+             */
+            dev->map_int = bmi270_legacy_map_int;
+
+            /* Assign maximum number of feature interrupts
+             * to device structure
+             */
+            dev->sens_int_map = BMI270_LEGACY_MAX_INT_MAP;
+
+            /* Get the gyroscope cross axis sensitivity */
+            rslt = bmi2_get_gyro_cross_sense(dev);
+        }
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API selects the sensors/features to be enabled.
+ */
+int8_t bmi270_legacy_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_legacy_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_legacy_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)
+                {
+                    rslt = set_feat_config(sens_cfg, loop, dev);
+                }
+                /* Return error if any of the set configurations fail */
+                else
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the sensor/feature configuration.
+ */
+int8_t bmi270_legacy_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)
+                {
+                    rslt = get_feat_config(sens_cfg, loop, dev);
+                }
+                /* Return error if any of the get configurations fail */
+                else
+                {
+                    break;
+                }
+            }
+        }
+
+        /* Enable Advance power save if disabled while configuring and
+         * not when already disabled
+         */
+        if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API gets the feature data.
+ */
+int8_t bmi270_legacy_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_STEP_ACTIVITY:
+
+                        /* Get step activity output */
+                        rslt = get_step_activity_output(&feature_data[loop].sens_data.activity_output, dev);
+                        break;
+
+                    case BMI2_ORIENTATION:
+
+                        /* Get orientation output */
+                        rslt = get_orient_output(&feature_data[loop].sens_data.orient_output, dev);
+                        break;
+
+                    case BMI2_HIGH_G:
+
+                        /* Get high-g output */
+                        rslt = get_high_g_output(&feature_data[loop].sens_data.high_g_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 updates the gyroscope user-gain.
+ */
+int8_t bmi270_legacy_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config* user_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to select sensor */
+    uint8_t sens_sel[2] = {BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE};
+
+    /* Structure to define sensor configurations */
+    struct bmi2_sens_config sens_cfg;
+
+    /* Variable to store status of user-gain update module */
+    uint8_t status = 0;
+
+    /* Variable to define count */
+    uint8_t count = 100;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (user_gain != NULL))
+    {
+        /* Select type of feature */
+        sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
+
+        /* Get the user gain configurations */
+        rslt = bmi270_legacy_get_sensor_config(&sens_cfg, 1, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Get the user-defined ratio */
+            sens_cfg.cfg.gyro_gain_update = *user_gain;
+
+            /* Set rate ratio for all axes */
+            rslt = bmi270_legacy_set_sensor_config(&sens_cfg, 1, dev);
+        }
+
+        /* Disable gyroscope */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_legacy_sensor_disable(&sens_sel[0], 1, dev);
+        }
+
+        /* Enable gyroscope user-gain update module */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi270_legacy_sensor_enable(&sens_sel[1], 1, dev);
+        }
+
+        /* Set the command to trigger the computation */
+        if (rslt == BMI2_OK)
+        {
+            rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Poll until enable bit of user-gain update is 0 */
+            while (count--)
+            {
+                rslt = get_user_gain_upd_status(&status, dev);
+                if ((rslt == BMI2_OK) && (status == 0))
+                {
+                    /* Enable compensation of gain defined
+                     * in the GAIN register
+                     */
+                    rslt = enable_gyro_gain(BMI2_ENABLE, dev);
+
+                    /* Enable gyroscope */
+                    if (rslt == BMI2_OK)
+                    {
+                        rslt = bmi270_legacy_sensor_enable(&sens_sel[0], 1, dev);
+                    }
+
+                    break;
+                }
+
+                dev->delay_us(10000, dev->intf_ptr);
+            }
+
+            /* Return error if user-gain update is failed */
+            if ((rslt == BMI2_OK) && (status != 0))
+            {
+                rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API reads the compensated gyroscope user-gain values.
+ */
+int8_t bmi270_legacy_read_gyro_user_gain(struct bmi2_gyro_user_gain_data* gyr_usr_gain, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data[3] = {0};
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
+    {
+        /* Get the gyroscope compensated gain values */
+        rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Gyroscope user gain correction X-axis */
+            gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
+
+            /* Gyroscope user gain correction Y-axis */
+            gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
+
+            /* Gyroscope user gain correction z-axis */
+            gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
+ */
+int8_t bmi270_legacy_map_feat_int(const struct bmi2_sens_int_config* sens_int, uint8_t n_sens, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define loop */
+    uint8_t loop;
+
+    /* Null-pointer check */
+    rslt = null_ptr_check(dev);
+    if ((rslt == BMI2_OK) && (sens_int != NULL))
+    {
+        for (loop = 0; loop < n_sens; loop++)
+        {
+            switch (sens_int[loop].type)
+            {
+            case BMI2_SIG_MOTION:
+            case BMI2_TAP:
+            case BMI2_ORIENTATION:
+            case BMI2_HIGH_G:
+            case BMI2_LOW_G:
+            case BMI2_FLAT:
+            case BMI2_ANY_MOTION:
+            case BMI2_NO_MOTION:
+            case BMI2_STEP_COUNTER:
+            case BMI2_STEP_DETECTOR:
+            case BMI2_STEP_ACTIVITY:
+
+                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 get the tap configurations.
+ */
+static int8_t get_tap_config(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    rslt = get_config_page_primary(tap, bmi2_dev);
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = get_config_page_secondary(tap, bmi2_dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get the tap configurations
+ * from primary page.
+ */
+static int8_t get_config_page_primary(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Structure to define BMI2 sensor configurations */
+    struct bmi2_dev* dev = (struct bmi2_dev*)bmi2_dev;
+
+    /* 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 */
+    uint8_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint8_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 tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Structure to define tap configurations */
+    bmi270_legacy_config = (struct bmi2_tap_config*)tap;
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_1, dev);
+
+    if (feat_found == BMI2_TRUE)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for tap select */
+            idx = tap_config.start_addr;
+
+            /* Get word to calculate single tap, double tap, triple tap, data register
+             * enable and output configuration
+             */
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Get filtered tap data */
+            bmi270_legacy_config->data_reg_en = (lsb_msb & BMI2_TAP_DATA_REG_EN_MASK) >> BMI2_TAP_DATA_REG_EN_POS;
+
+            /* Get word to calculate tap_sens_thres */
+            idx = 4;
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Get scaling factor of threshold */
+            bmi270_legacy_config->tap_sens_thres = lsb_msb;
+
+            /* Get word to calculate max_gest_dur */
+            idx = 6;
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Get maximum duration between each taps */
+            bmi270_legacy_config->max_gest_dur = lsb_msb;
+
+            /* Get word to calculate quite_time_after_gest */
+            idx = 14;
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Get minimum quite time between the two gesture detection */
+            bmi270_legacy_config->quite_time_after_gest = lsb_msb;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get the tap configurations
+ * from secondary page.
+ */
+static int8_t get_config_page_secondary(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Structure to define BMI2 sensor configurations */
+    struct bmi2_dev* dev = (struct bmi2_dev*)bmi2_dev;
+
+    /* 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 */
+    uint8_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint8_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 tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_2, dev);
+
+    /* Structure to define tap configurations */
+    bmi270_legacy_config = (struct bmi2_tap_config*)tap;
+
+    if (feat_found == BMI2_TRUE)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for tap select */
+            idx = tap_config.start_addr;
+
+            /* Get word to calculate wait_for_timeout */
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Get number of taps detected based on wait time */
+            bmi270_legacy_config->wait_for_timeout = lsb_msb;
+
+            idx = 4;
+
+            /* Get word to calculate axis_sel */
+            lsb = feat_config[idx++];
+            msb = feat_config[idx++];
+            lsb_msb = ((uint16_t)msb << 8) | lsb;
+
+            /* Select axis for tap detection */
+            bmi270_legacy_config->axis_sel = (lsb_msb & BMI2_TAP_AXIS_SEL_MASK);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set the tap configurations.
+ */
+static int8_t set_tap_config(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    rslt = set_config_page_primary(tap, bmi2_dev);
+
+    if (rslt == BMI2_OK)
+    {
+        rslt = set_config_page_secondary(tap, bmi2_dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to set the tap configurations
+ * to primary page.
+ */
+static int8_t set_config_page_primary(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Structure to define BMI2 sensor configurations */
+    struct bmi2_dev* dev = (struct bmi2_dev*)bmi2_dev;
+
+    /* Initialize feature configuration for tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Structure to define tap configurations */
+    bmi270_legacy_config = (struct bmi2_tap_config*)tap;
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_1, dev);
+
+    if (feat_found == BMI2_TRUE)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for tap select */
+            idx = tap_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set filtered tap data */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_TAP_DATA_REG_EN, bmi270_legacy_config->data_reg_en);
+
+            /* Starting address of tap_sens_thres represented in word length */
+            idx = 2;
+
+            /* Set scaling factor of threshold */
+            *(data_p + idx) = bmi270_legacy_config->tap_sens_thres;
+
+            /* Starting address of max_gest_dur represented in word length */
+            idx = 3;
+
+            /* Set maximum duration between each taps */
+            *(data_p + idx) = bmi270_legacy_config->max_gest_dur;
+
+            /* Starting address of quite_time_after_gest represented in word length */
+            idx = 7;
+
+            /* Set minimum quite time between the two gesture detection */
+            *(data_p + idx) = bmi270_legacy_config->quite_time_after_gest;
+
+            /* 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) - tap_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index <= idx; index++)
+            {
+                feat_config[tap_config.start_addr + index] = *((uint8_t*)data_p + tap_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 is used to set the tap configurations
+ * to secondary page.
+ */
+static int8_t set_config_page_secondary(void* tap, void* bmi2_dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Structure to define BMI2 sensor configurations */
+    struct bmi2_dev* dev = (struct bmi2_dev*)bmi2_dev;
+
+    /* Initialize feature configuration for tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Structure to define tap configurations */
+    bmi270_legacy_config = (struct bmi2_tap_config*)tap;
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_2, dev);
+
+    if (feat_found == BMI2_TRUE)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for tap select */
+            idx = tap_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set wait time */
+            *(data_p + idx) = bmi270_legacy_config->wait_for_timeout;
+
+            /* Starting address of axis_sel represented in word length */
+            idx = 2;
+
+            /* Select axis for tap detection */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_TAP_AXIS_SEL, bmi270_legacy_config->axis_sel);
+
+            /* 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) - tap_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[tap_config.start_addr + index] = *((uint8_t*)data_p + tap_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 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;)
+    {
+        if (sens_list[count] == BMI2_ACCEL)
+        {
+            *sensor_sel |= BMI2_ACCEL_SENS_SEL;
+            count++;
+        }
+
+        if (sens_list[count] == BMI2_GYRO)
+        {
+            *sensor_sel |= BMI2_GYRO_SENS_SEL;
+            count++;
+        }
+
+        if (sens_list[count] == BMI2_AUX)
+        {
+            *sensor_sel |= BMI2_AUX_SENS_SEL;
+            count++;
+        }
+
+        if (sens_list[count] == BMI2_TEMP)
+        {
+            *sensor_sel |= BMI2_TEMP_SENS_SEL;
+            count++;
+        }
+
+        if (count < n_sens)
+        {
+            rslt = sens_select(sens_list, count, sensor_sel);
+            count++;
+        }
+    }
+
+    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 any motion feature.
+ */
+static int8_t set_any_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Search for any-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of any-motion axes */
+            idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable no-motion feature.
+ */
+static int8_t set_no_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Search for no-motion feature and extract its configurations details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any/no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of no-motion axes */
+            idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_NO_MOT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable step detector feature.
+ */
+static int8_t set_step_detector(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step detector */
+    struct bmi2_feature_config step_det_config = {0, 0, 0};
+
+    /* Search for step detector feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step detector feature resides */
+        rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step detector */
+            idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            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 is used to enable/disable step activity detection.
+ */
+static int8_t set_step_activity(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step activity */
+    struct bmi2_feature_config step_act_config = {0, 0, 0};
+
+    /* Search for step activity feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step-activity
+         * feature resides
+         */
+        rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of step activity */
+            idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            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 is used to enable/disable sig-motion feature.
+ */
+static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of sig-motion */
+            idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_SIG_MOTION_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * single tap.
+ */
+static int8_t set_single_tap(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 tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_SINGLE_TAP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of tap */
+            idx = tap_config.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_TAP_SINGLE_TAP_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_SINGLE_TAP_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_SINGLE_TAP_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * double tap.
+ */
+static int8_t set_double_tap(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 tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_DOUBLE_TAP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of tap */
+            idx = tap_config.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_TAP_DOUBLE_TAP_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_DOUBLE_TAP_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_DOUBLE_TAP_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable tap feature through
+ * triple tap.
+ */
+static int8_t set_triple_tap(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 tap */
+    struct bmi2_feature_config tap_config = {0, 0, 0};
+
+    /* Search for tap feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TRIPLE_TAP, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where tap feature resides */
+        rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of tap */
+            idx = tap_config.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_TAP_TRIPLE_TAP_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_TRIPLE_TAP_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_TRIPLE_TAP_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable orientation feature.
+ */
+static int8_t set_orientation(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 orientation */
+    struct bmi2_feature_config orient_config = {0, 0, 0};
+
+    /* Search for orientation feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where orientation feature resides */
+        rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of orientation */
+            idx = orient_config.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ORIENT_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_ORIENT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_ORIENT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable high-g feature.
+ */
+static int8_t set_high_g(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 high-g */
+    struct bmi2_feature_config high_g_config = {0, 0, 0};
+
+    /* Search for high-g feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where high-g feature resides */
+        rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of high-g */
+            idx = high_g_config.start_addr + BMI2_HIGH_G_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_HIGH_G_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_HIGH_G_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_HIGH_G_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable low-g feature.
+ */
+static int8_t set_low_g(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 low-g */
+    struct bmi2_feature_config low_g_config = {0, 0, 0};
+
+    /* Search for low-g feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where low-g feature resides */
+        rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of low-g */
+            idx = low_g_config.start_addr + BMI2_LOW_G_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_LOW_G_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_LOW_G_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_LOW_G_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable flat feature.
+ */
+static int8_t set_flat(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 flat */
+    struct bmi2_feature_config flat_config = {0, 0, 0};
+
+    /* Search for flat feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where flat feature resides */
+        rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of flat */
+            idx = flat_config.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_FLAT_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_FLAT_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_FLAT_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gives an option to enable self-offset correction
+ * feature of gyroscope, either internally or by the host.
+ */
+static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for self-offset correction */
+    struct bmi2_feature_config self_off_corr_cfg = {0, 0, 0};
+
+    /* Search for self-offset correction and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where self-offset
+         * correction feature resides
+         */
+        rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of self-offset correction */
+            idx = self_off_corr_cfg.start_addr;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to enable/disable gyroscope user gain
+ * feature.
+ */
+static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = {0, 0, 0};
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where user gain feature resides */
+        rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for enable/disable of user gain */
+            idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+            /* Set the feature enable bit */
+            feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+
+            if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE))
+            {
+                dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
+            }
+            else
+            {
+                dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_any_motion_config(const struct bmi2_any_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for any-motion select */
+            idx = any_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[any_mot_config.start_addr + index] =
+                    *((uint8_t*)data_p + any_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t set_no_motion_config(const struct bmi2_no_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define count */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for no-motion select */
+            idx = no_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 word to set threshold and output configuration */
+            idx++;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[no_mot_config.start_addr + index] = *((uint8_t*)data_p + no_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for sig-motion select */
+            idx = sig_mot_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set parameter 1 */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size);
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[sig_mot_config.start_addr + index] =
+                    *((uint8_t*)data_p + sig_mot_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets step counter configurations like water-mark
+ * level, reset-counter and output-configuration step detector and activity.
+ */
+static int8_t set_step_config(const struct bmi2_step_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define index */
+    uint8_t index = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter 4 */
+    struct bmi2_feature_config step_count_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for step counter feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes */
+            idx = step_count_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set water-mark level */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
+
+            /* Set reset-counter */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
+
+            /* Increment offset by 1 word  to set output
+             * configuration of step detector and step activity
+             */
+            idx++;
+
+            /* Set step buffer size */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[step_count_config.start_addr + index] =
+                    *((uint8_t*)data_p + step_count_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/* @brief This internal API sets tap configurations like sensitivity,
+ * single, double and triple tap enable and output-configuration.
+ */
+static int8_t set_tap_detector_config(struct bmi2_tap_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    rslt = dev->set_tap_config(config, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API sets orientation configurations like upside/down
+ * detection, symmetrical modes, blocking mode, theta, hysteresis and output
+ * configuration.
+ */
+static int8_t set_orient_config(const struct bmi2_orient_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 orient */
+    struct bmi2_feature_config orient_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for orient feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where orient feature resides */
+        rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for orient select */
+            idx = orient_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set upside/down detection */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_UP_DOWN, config->ud_en);
+
+            /* Set symmetrical modes */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_SYMM_MODE, config->mode);
+
+            /* Set blocking mode */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_BLOCK_MODE, config->blocking);
+
+            /* Set theta */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_THETA, config->theta);
+
+            /* Increment offset by 1 more word to set hysteresis and output configuration */
+            idx++;
+
+            /* Set hysteresis */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ORIENT_HYST, config->hysteresis);
+
+            /* 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) - orient_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[orient_config.start_addr + index] = *((uint8_t*)data_p + orient_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 high-g configurations like threshold,
+ * hysteresis, duration, and out0put configuration.
+ */
+static int8_t set_high_g_config(const struct bmi2_high_g_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 high-g */
+    struct bmi2_feature_config high_g_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for high-g feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where high-g feature resides */
+        rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for high-g select */
+            idx = high_g_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to set hysteresis */
+            idx++;
+
+            /* Set hysteresis */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_HYST, config->hysteresis);
+
+            /* Set x-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_X_SEL, config->select_x);
+
+            /* Set y-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_Y_SEL, config->select_y);
+
+            /* Set z-select */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_Z_SEL, config->select_z);
+
+            /* Increment offset by 1 more word to set duration and output configuration */
+            idx++;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_DUR, config->duration);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - high_g_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[high_g_config.start_addr + index] = *((uint8_t*)data_p + high_g_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 low-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ */
+static int8_t set_low_g_config(const struct bmi2_low_g_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 low-g */
+    struct bmi2_feature_config low_g_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for low-g feature and extract its configuration details  */
+    feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where low-g feature resides */
+        rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for low-g select */
+            idx = low_g_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set threshold */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_THRES, config->threshold);
+
+            /* Increment offset by 1 more word to set hysteresis */
+            idx++;
+
+            /* Set hysteresis */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_HYST, config->hysteresis);
+
+            /* Increment offset by 1 more word to set duration and output configuration */
+            idx++;
+
+            /* Set duration */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_DUR, config->duration);
+
+            /* Increment offset by 1 more word to get the total length in words */
+            idx++;
+
+            /* Get total length in bytes to copy from local pointer to the array */
+            idx = (uint8_t)(idx * 2) - low_g_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[low_g_config.start_addr + index] = *((uint8_t*)data_p + low_g_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 flat configurations like theta, blocking,
+ * hold-time, hysteresis, and output configuration.
+ */
+static int8_t set_flat_config(const struct bmi2_flat_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 flat */
+    struct bmi2_feature_config flat_config = {0, 0, 0};
+
+    /* Copy the feature configuration address to a local pointer */
+    uint16_t* data_p = (uint16_t*)(void*)feat_config;
+
+    /* Search for flat feature and extract its configuration details  */
+    feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where flat feature resides */
+        rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for flat select */
+            idx = flat_config.start_addr;
+
+            /* Get offset in words since all the features are set in words length */
+            idx = idx / 2;
+
+            /* Set theta */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_THETA, config->theta);
+
+            /* Set blocking */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_BLOCK, config->blocking);
+
+            /* Increment offset by 1 more word to set hysteresis and hold-time */
+            idx++;
+
+            /* Set hysteresis */
+            *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_FLAT_HYST, config->hysteresis);
+
+            /* Set hold-time */
+            *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_HOLD_TIME, config->hold_time);
+
+            /* 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) - flat_config.start_addr;
+
+            /* Copy the bytes to be set back to the array */
+            for (index = 0; index < idx; index++)
+            {
+                feat_config[flat_config.start_addr + index] = *((uint8_t*)data_p + flat_config.start_addr + index);
+            }
+
+            /* Set the configuration back to the page */
+            rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets any-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_any_motion_config(struct bmi2_any_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb;
+
+    /* Variable to define MSB */
+    uint16_t msb;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for any-motion */
+    struct bmi2_feature_config any_mot_config = {0, 0, 0};
+
+    /* Search for any-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where any-motion feature resides */
+        rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for any-motion */
+            idx = any_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets no-motion configurations like axes select,
+ * duration, threshold and output-configuration.
+ */
+static int8_t get_no_motion_config(struct bmi2_no_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for no-motion */
+    struct bmi2_feature_config no_mot_config = {0, 0, 0};
+
+    /* Search for no-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where no-motion feature resides */
+        rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for no-motion */
+            idx = no_mot_config.start_addr;
+
+            /* Get word to calculate duration, x, y and z select */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
+
+            /* Get x-select */
+            config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
+
+            /* Get y-select */
+            config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
+
+            /* Get z-select */
+            config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
+
+            /* Get word to calculate threshold, output configuration from the same word */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets sig-motion configurations like block-size,
+ * output-configuration and other parameters.
+ */
+static int8_t get_sig_motion_config(struct bmi2_sig_motion_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration sig-motion */
+    struct bmi2_feature_config sig_mot_config = {0, 0, 0};
+
+    /* Search for sig-motion feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where sig-motion feature resides */
+        rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for sig-motion */
+            idx = sig_mot_config.start_addr;
+
+            /* Get word to calculate parameter 1 */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get parameter 1  */
+            config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets step counter/detector/activity configurations.
+ */
+static int8_t get_step_config(struct bmi2_step_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to define LSB */
+    uint16_t lsb = 0;
+
+    /* Variable to define MSB */
+    uint16_t msb = 0;
+
+    /* Variable to define a word */
+    uint16_t lsb_msb = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature configuration for step counter */
+    struct bmi2_feature_config step_count_config = {0, 0, 0};
+
+    /* Search for step counter 4 feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where step counter 4 parameter resides */
+        rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset for feature enable for step counter/detector/activity */
+            idx = step_count_config.start_addr;
+
+            /* Get word to calculate water-mark level and reset counter */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get water-mark level */
+            config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
+
+            /* Get reset counter */
+            config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
+
+            /* Get word to calculate output configuration of step detector and activity */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets tap configurations like sensitivity,
+ * single, double and triple tap enable and output-configuration.
+ */
+static int8_t get_tap_detector_config(struct bmi2_tap_config* config, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    rslt = dev->get_tap_config(config, dev);
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets orientation configurations like upside/down
+ * detection, symmetrical modes, blocking mode, theta, hysteresis and output
+ * configuration.
+ */
+static int8_t get_orient_config(struct bmi2_orient_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 orient */
+    struct bmi2_feature_config orient_config = {0, 0, 0};
+
+    /* Search for orient feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where orient feature resides */
+        rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for orient select */
+            idx = orient_config.start_addr;
+
+            /* Get word to calculate upside/down detection,
+             * symmetrical modes, blocking mode and theta
+             */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get upside/down detection */
+            config->ud_en = (lsb_msb & BMI2_ORIENT_UP_DOWN_MASK) >> BMI2_ORIENT_UP_DOWN_POS;
+
+            /* Get symmetrical modes */
+            config->mode = (lsb_msb & BMI2_ORIENT_SYMM_MODE_MASK) >> BMI2_ORIENT_SYMM_MODE_POS;
+
+            /* Get blocking mode */
+            config->blocking = (lsb_msb & BMI2_ORIENT_BLOCK_MODE_MASK) >> BMI2_ORIENT_BLOCK_MODE_POS;
+
+            /* Get theta */
+            config->theta = (lsb_msb & BMI2_ORIENT_THETA_MASK) >> BMI2_ORIENT_THETA_POS;
+
+            /* Get the next word to calculate hysteresis and output configuration */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get hysteresis */
+            config->hysteresis = lsb_msb & BMI2_ORIENT_HYST_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets high-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ */
+static int8_t get_high_g_config(struct bmi2_high_g_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 high-g */
+    struct bmi2_feature_config high_g_config = {0, 0, 0};
+
+    /* Search for high-g feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where high-g feature resides */
+        rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for high-g select */
+            idx = high_g_config.start_addr;
+
+            /* Get word to calculate threshold */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_HIGH_G_THRES_MASK;
+
+            /* Get word to calculate hysteresis */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get hysteresis */
+            config->hysteresis = lsb_msb & BMI2_HIGH_G_HYST_MASK;
+
+            /* Get x_select */
+            config->select_x = (lsb_msb & BMI2_HIGH_G_X_SEL_MASK) >> BMI2_HIGH_G_X_SEL_POS;
+
+            /* Get y_select */
+            config->select_y = (lsb_msb & BMI2_HIGH_G_Y_SEL_MASK) >> BMI2_HIGH_G_Y_SEL_POS;
+
+            /* Get z_select */
+            config->select_z = (lsb_msb & BMI2_HIGH_G_Z_SEL_MASK) >> BMI2_HIGH_G_Z_SEL_POS;
+
+            /* Get word to calculate duration and output configuration */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_HIGH_G_DUR_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets low-g configurations like threshold,
+ * hysteresis, duration, and output configuration.
+ */
+static int8_t get_low_g_config(struct bmi2_low_g_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 low-g */
+    struct bmi2_feature_config low_g_config = {0, 0, 0};
+
+    /* Search for low-g feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where low-g feature resides */
+        rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for low-g select */
+            idx = low_g_config.start_addr;
+
+            /* Get word to calculate threshold */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get threshold */
+            config->threshold = lsb_msb & BMI2_LOW_G_THRES_MASK;
+
+            /* Get word to calculate hysteresis */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get hysteresis */
+            config->hysteresis = lsb_msb & BMI2_LOW_G_HYST_MASK;
+
+            /* Get word to calculate duration and output configuration */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get duration */
+            config->duration = lsb_msb & BMI2_LOW_G_DUR_MASK;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets flat configurations like theta, blocking,
+ * hold-time, hysteresis, and output configuration.
+ */
+static int8_t get_flat_config(struct bmi2_flat_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 flat */
+    struct bmi2_feature_config flat_config = {0, 0, 0};
+
+    /* Search for flat feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev);
+    if (feat_found)
+    {
+        /* Get the configuration from the page where flat feature resides */
+        rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for flat select */
+            idx = flat_config.start_addr;
+
+            /* Get word to calculate theta, blocking mode and output configuration */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get theta */
+            config->theta = (lsb_msb & BMI2_FLAT_THETA_MASK) >> BMI2_FLAT_THETA_POS;
+
+            /* Get blocking mode */
+            config->blocking = (lsb_msb & BMI2_FLAT_BLOCK_MASK) >> BMI2_FLAT_BLOCK_POS;
+
+            /* Get word to calculate hysteresis and hold-time */
+            lsb = (uint16_t)feat_config[idx++];
+            msb = ((uint16_t)feat_config[idx++] << 8);
+            lsb_msb = lsb | msb;
+
+            /* Get hysteresis */
+            config->hysteresis = lsb_msb & BMI2_FLAT_HYST_MASK;
+
+            /* Get hold-time */
+            config->hold_time = (lsb_msb & BMI2_FLAT_HOLD_TIME_MASK) >> BMI2_FLAT_HOLD_TIME_POS;
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of high-g.
+ */
+static int8_t get_high_g_output(uint8_t* high_g_out, 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 high-g */
+    struct bmi2_feature_config high_g_out_config = {0, 0, 0};
+
+    /* Search for high-g output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&high_g_out_config, BMI2_HIGH_G, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for high-g */
+        rslt = bmi2_get_feat_config(high_g_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for high-g output */
+            idx = high_g_out_config.start_addr;
+
+            /* Get the high-g output byte */
+            *high_g_out = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step counter.
+ */
+static int8_t get_step_counter_output(uint32_t* step_count, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step counter */
+    struct bmi2_feature_config step_cnt_out_config = {0, 0, 0};
+
+    /* Search for step counter output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-counter */
+        rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step counter output */
+            idx = step_cnt_out_config.start_addr;
+
+            /* Get the step counter output in 4 bytes */
+            *step_count = (uint32_t)feat_config[idx++];
+            *step_count |= ((uint32_t)feat_config[idx++] << 8);
+            *step_count |= ((uint32_t)feat_config[idx++] << 16);
+            *step_count |= ((uint32_t)feat_config[idx++] << 24);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the error status related to NVM.
+ */
+static int8_t get_nvm_error_status(struct bmi2_nvm_err_status* nvm_err_stat, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for NVM error status */
+    struct bmi2_feature_config nvm_err_cfg = {0, 0, 0};
+
+    /* Search for NVM error status feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for NVM error status */
+        rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for NVM error status */
+            idx = nvm_err_cfg.start_addr;
+
+            /* Increment index to get the error status */
+            idx++;
+
+            /* Error when NVM load action fails */
+            nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
+
+            /* Error when NVM program action fails */
+            nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
+
+            /* Error when NVM erase action fails */
+            nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
+
+            /* Error when NVM program limit is exceeded */
+            nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
+
+            /* Error when NVM privilege mode is not acquired */
+            nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to get enable status of gyroscope user gain
+ * update.
+ */
+static int8_t get_user_gain_upd_status(uint8_t* status, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variable to define the array offset */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Variable to check APS status */
+    uint8_t aps_stat = 0;
+
+    /* Initialize feature configuration for gyroscope user gain */
+    struct bmi2_feature_config gyr_user_gain_cfg = {0, 0, 0};
+
+    /* Search for user gain feature and extract its configuration details */
+    feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
+    if (feat_found)
+    {
+        /* Disable advance power save */
+        aps_stat = dev->aps_status;
+        if (aps_stat == BMI2_ENABLE)
+        {
+            rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
+        }
+
+        if (rslt == BMI2_OK)
+        {
+            /* Get the configuration from the page where user gain feature resides */
+            rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
+            if (rslt == BMI2_OK)
+            {
+                /* Define the offset for enable/disable of user gain */
+                idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
+
+                /* Set the feature enable status */
+                *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
+            }
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    /* Enable Advance power save if disabled while configuring and not when already disabled */
+    if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
+    {
+        rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of step activity.
+ */
+static int8_t get_step_activity_output(uint8_t* step_act, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Array to define the feature configuration */
+    uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = {0};
+
+    /* Variables to define index */
+    uint8_t idx = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found;
+
+    /* Initialize feature output for step activity */
+    struct bmi2_feature_config step_act_out_config = {0, 0, 0};
+
+    /* Search for step activity output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for step-activity */
+        rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for step activity output */
+            idx = step_act_out_config.start_addr;
+
+            /* Get the step activity output */
+            *step_act = feat_config[idx];
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets the output values of orientation: portrait-
+ * landscape and face up-down.
+ */
+static int8_t get_orient_output(struct bmi2_orientation_output* orient_out, 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 orientation */
+    struct bmi2_feature_config orient_out_config = {0, 0, 0};
+
+    /* Search for orientation output feature and extract its configuration details */
+    feat_found = extract_output_feat_config(&orient_out_config, BMI2_ORIENTATION, dev);
+    if (feat_found)
+    {
+        /* Get the feature output configuration for orientation */
+        rslt = bmi2_get_feat_config(orient_out_config.page, feat_config, dev);
+        if (rslt == BMI2_OK)
+        {
+            /* Define the offset in bytes for orientation output */
+            idx = orient_out_config.start_addr;
+
+            /* Get the output value of the orientation detection feature */
+            orient_out->portrait_landscape = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ORIENT_DETECT);
+
+            /* Get the output value of the orientation face up-down feature */
+            orient_out->faceup_down = BMI2_GET_BITS(feat_config[idx], BMI2_ORIENT_FACE_UP_DWN);
+        }
+    }
+    else
+    {
+        rslt = BMI2_E_INVALID_SENSOR;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API enables/disables compensation of the gain defined
+ * in the GAIN register.
+ */
+static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    /* Variable to define register data */
+    uint8_t reg_data = 0;
+
+    rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    if (rslt == BMI2_OK)
+    {
+        reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
+        rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to extract the output feature configuration
+ * details from the look-up table.
+ */
+static uint8_t extract_output_feat_config(struct bmi2_feature_config* feat_output, uint8_t type,
+                                          const struct bmi2_dev* dev)
+{
+    /* Variable to define loop */
+    uint8_t loop = 0;
+
+    /* Variable to set flag */
+    uint8_t feat_found = BMI2_FALSE;
+
+    /* Search for the output feature from the output configuration array */
+    while (loop < dev->out_sens)
+    {
+        if (dev->feat_output[loop].type == type)
+        {
+            *feat_output = dev->feat_output[loop];
+            feat_found = BMI2_TRUE;
+            break;
+        }
+
+        loop++;
+    }
+
+    /* Return flag */
+    return feat_found;
+}
+
+/*!
+ * @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 sets feature configuration to the sensor.
+ */
+static int8_t set_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    switch (sens_cfg[loop].type)
+    {
+    /* Set any-motion configuration */
+    case BMI2_ANY_MOTION:
+        rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+        break;
+
+    /* Set no-motion configuration */
+    case BMI2_NO_MOTION:
+        rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+        break;
+
+    /* Set sig-motion configuration */
+    case BMI2_SIG_MOTION:
+        rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+        break;
+
+    /* Set step counter/detector/activity configuration */
+    case BMI2_STEP_DETECTOR:
+    case BMI2_STEP_COUNTER:
+    case BMI2_STEP_ACTIVITY:
+        rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+        break;
+
+    /* Set tap configuration */
+    case BMI2_TAP:
+        rslt = set_tap_detector_config(&sens_cfg[loop].cfg.tap_conf, dev);
+        break;
+
+    /* Set orientation configuration */
+    case BMI2_ORIENTATION:
+        rslt = set_orient_config(&sens_cfg[loop].cfg.orientation, dev);
+        break;
+
+    /* Set high-g configuration */
+    case BMI2_HIGH_G:
+        rslt = set_high_g_config(&sens_cfg[loop].cfg.high_g, dev);
+        break;
+
+    /* Set low-g configuration */
+    case BMI2_LOW_G:
+        rslt = set_low_g_config(&sens_cfg[loop].cfg.low_g, dev);
+        break;
+
+    /* Set flat configuration */
+    case BMI2_FLAT:
+        rslt = set_flat_config(&sens_cfg[loop].cfg.flat, dev);
+        break;
+
+    default:
+        rslt = BMI2_E_INVALID_SENSOR;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API gets feature configuration from the sensor.
+ */
+static int8_t get_feat_config(struct bmi2_sens_config* sens_cfg, uint8_t loop, struct bmi2_dev* dev)
+{
+    /* Variable to define error */
+    int8_t rslt;
+
+    switch (sens_cfg[loop].type)
+    {
+    /* Get sig-motion configuration */
+    case BMI2_SIG_MOTION:
+        rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
+        break;
+
+    /* Get any motion configuration */
+    case BMI2_ANY_MOTION:
+        rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
+        break;
+
+    /* Get no motion configuration */
+    case BMI2_NO_MOTION:
+        rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
+        break;
+
+    /* Get step counter/detector/activity configuration */
+    case BMI2_STEP_DETECTOR:
+    case BMI2_STEP_COUNTER:
+    case BMI2_STEP_ACTIVITY:
+        rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
+        break;
+
+    /* Get tap configuration */
+    case BMI2_TAP:
+        rslt = get_tap_detector_config(&sens_cfg[loop].cfg.tap_conf, dev);
+        break;
+
+    /* Get orientation configuration */
+    case BMI2_ORIENTATION:
+        rslt = get_orient_config(&sens_cfg[loop].cfg.orientation, dev);
+        break;
+
+    /* Get high-g configuration */
+    case BMI2_HIGH_G:
+        rslt = get_high_g_config(&sens_cfg[loop].cfg.high_g, dev);
+        break;
+
+    /* Get low-g configuration */
+    case BMI2_LOW_G:
+        rslt = get_low_g_config(&sens_cfg[loop].cfg.low_g, dev);
+        break;
+
+    /* Get flat configuration */
+    case BMI2_FLAT:
+        rslt = get_flat_config(&sens_cfg[loop].cfg.flat, dev);
+        break;
+
+    default:
+        rslt = BMI2_E_INVALID_SENSOR;
+        break;
+    }
+
+    return rslt;
+}
+
+/*!
+ * @brief This internal API is used to select the sensor feature.
+ */
+static int8_t sens_select(const uint8_t* sens_list, uint8_t count, uint64_t* sensor_sel)
+{
+    /* Variable to define error */
+    int8_t rslt = BMI2_OK;
+
+    switch (sens_list[count])
+    {
+    case BMI2_SIG_MOTION:
+        *sensor_sel |= BMI2_SIG_MOTION_SEL;
+        break;
+    case BMI2_ANY_MOTION:
+        *sensor_sel |= BMI2_ANY_MOT_SEL;
+        break;
+    case BMI2_NO_MOTION:
+        *sensor_sel |= BMI2_NO_MOT_SEL;
+        break;
+    case BMI2_STEP_DETECTOR:
+        *sensor_sel |= BMI2_STEP_DETECT_SEL;
+        break;
+    case BMI2_STEP_COUNTER:
+        *sensor_sel |= BMI2_STEP_COUNT_SEL;
+        break;
+    case BMI2_STEP_ACTIVITY:
+        *sensor_sel |= BMI2_STEP_ACT_SEL;
+        break;
+    case BMI2_GYRO_GAIN_UPDATE:
+        *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
+        break;
+    case BMI2_SINGLE_TAP:
+        *sensor_sel |= BMI2_SINGLE_TAP_SEL;
+        break;
+    case BMI2_DOUBLE_TAP:
+        *sensor_sel |= BMI2_DOUBLE_TAP_SEL;
+        break;
+    case BMI2_TRIPLE_TAP:
+        *sensor_sel |= BMI2_TRIPLE_TAP_SEL;
+        break;
+    case BMI2_ORIENTATION:
+        *sensor_sel |= BMI2_ORIENT_SEL;
+        break;
+    case BMI2_HIGH_G:
+        *sensor_sel |= BMI2_HIGH_G_SEL;
+        break;
+    case BMI2_LOW_G:
+        *sensor_sel |= BMI2_LOW_G_SEL;
+        break;
+    case BMI2_FLAT:
+        *sensor_sel |= BMI2_FLAT_SEL;
+        break;
+    case BMI2_GYRO_SELF_OFF:
+        *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL;
+        break;
+    default:
+        rslt = BMI2_E_INVALID_SENSOR;
+        break;
+    }
+
+    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 sig-motion feature */
+    if (sensor_sel & BMI2_SIG_MOTION_SEL)
+    {
+        rslt = set_sig_motion(BMI2_ENABLE, dev);
+    }
+
+    /* Enable any motion feature */
+    if (sensor_sel & BMI2_ANY_MOT_SEL)
+    {
+        rslt = set_any_motion(BMI2_ENABLE, dev);
+    }
+
+    /* Enable no motion feature */
+    if (sensor_sel & BMI2_NO_MOT_SEL)
+    {
+        rslt = set_no_motion(BMI2_ENABLE, dev);
+    }
+
+    /* 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 step activity feature */
+    if (sensor_sel & BMI2_STEP_ACT_SEL)
+    {
+        rslt = set_step_activity(BMI2_ENABLE, dev);
+    }
+
+    /* Enable gyroscope user gain */
+    if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+    {
+        rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
+    }
+
+    /* Enable single tap feature */
+    if (sensor_sel & BMI2_SINGLE_TAP_SEL)
+    {
+        rslt = set_single_tap(BMI2_ENABLE, dev);
+    }
+
+    /* Enable double tap feature */
+    if (sensor_sel & BMI2_DOUBLE_TAP_SEL)
+    {
+        rslt = set_double_tap(BMI2_ENABLE, dev);
+    }
+
+    /* Enable triple tap feature */
+    if (sensor_sel & BMI2_TRIPLE_TAP_SEL)
+    {
+        rslt = set_triple_tap(BMI2_ENABLE, dev);
+    }
+
+    /* Enable orientation feature */
+    if (sensor_sel & BMI2_ORIENT_SEL)
+    {
+        rslt = set_orientation(BMI2_ENABLE, dev);
+    }
+
+    /* Enable high-g feature */
+    if (sensor_sel & BMI2_HIGH_G_SEL)
+    {
+        rslt = set_high_g(BMI2_ENABLE, dev);
+    }
+
+    /* Enable low-g feature */
+    if (sensor_sel & BMI2_LOW_G_SEL)
+    {
+        rslt = set_low_g(BMI2_ENABLE, dev);
+    }
+
+    /* Enable flat feature */
+    if (sensor_sel & BMI2_FLAT_SEL)
+    {
+        rslt = set_flat(BMI2_ENABLE, dev);
+    }
+
+    /* Enable gyroscope self-offset correction feature */
+    if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+    {
+        rslt = set_gyro_self_offset_corr(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 temperature sensor */
+        if (sensor_sel & BMI2_TEMP_SENS_SEL)
+        {
+            reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
+        }
+
+        /* Disable the sensors that are set in the power control register */
+        if (sensor_sel & BMI2_MAIN_SENSORS)
+        {
+            rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
+        }
+    }
+
+    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;
+
+    /* Disable sig-motion feature */
+    if (sensor_sel & BMI2_SIG_MOTION_SEL)
+    {
+        rslt = set_sig_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable any-motion feature */
+    if (sensor_sel & BMI2_ANY_MOT_SEL)
+    {
+        rslt = set_any_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable no-motion feature */
+    if (sensor_sel & BMI2_NO_MOT_SEL)
+    {
+        rslt = set_no_motion(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step detector feature */
+    if (sensor_sel & BMI2_STEP_DETECT_SEL)
+    {
+        rslt = set_step_detector(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step counter feature */
+    if (sensor_sel & BMI2_STEP_COUNT_SEL)
+    {
+        rslt = set_step_counter(BMI2_DISABLE, dev);
+    }
+
+    /* Disable step activity feature */
+    if (sensor_sel & BMI2_STEP_ACT_SEL)
+    {
+        rslt = set_step_activity(BMI2_DISABLE, dev);
+    }
+
+    /* Disable gyroscope user gain */
+    if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
+    {
+        rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
+    }
+
+    /* Disable single tap feature */
+    if (sensor_sel & BMI2_SINGLE_TAP_SEL)
+    {
+        rslt = set_single_tap(BMI2_DISABLE, dev);
+    }
+
+    /* Disable double tap feature */
+    if (sensor_sel & BMI2_DOUBLE_TAP_SEL)
+    {
+        rslt = set_double_tap(BMI2_DISABLE, dev);
+    }
+
+    /* Disable triple tap feature */
+    if (sensor_sel & BMI2_TRIPLE_TAP_SEL)
+    {
+        rslt = set_triple_tap(BMI2_DISABLE, dev);
+    }
+
+    /* Disable orientation feature */
+    if (sensor_sel & BMI2_ORIENT_SEL)
+    {
+        rslt = set_orientation(BMI2_DISABLE, dev);
+    }
+
+    /* Disable high-g feature */
+    if (sensor_sel & BMI2_HIGH_G_SEL)
+    {
+        rslt = set_high_g(BMI2_DISABLE, dev);
+    }
+
+    /* Disable low-g feature */
+    if (sensor_sel & BMI2_LOW_G_SEL)
+    {
+        rslt = set_low_g(BMI2_DISABLE, dev);
+    }
+
+    /* Disable flat feature */
+    if (sensor_sel & BMI2_FLAT_SEL)
+    {
+        rslt = set_flat(BMI2_DISABLE, dev);
+    }
+
+    /* Disable gyroscope self-offset correction feature */
+    if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
+    {
+        rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev);
+    }
+
+    return rslt;
+}
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi270_maximum_fifo.c b/platform/esp/idf_components/sensor_bmi270/src/bmi270_maximum_fifo.c
new file mode 100644
index 00000000..2ab6c61d
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi270_maximum_fifo.c
@@ -0,0 +1,207 @@
+/**
+ * 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;
+}
diff --git a/platform/esp/idf_components/sensor_bmi270/src/bmi2_ois.c b/platform/esp/idf_components/sensor_bmi270/src/bmi2_ois.c
new file mode 100644
index 00000000..606c796e
--- /dev/null
+++ b/platform/esp/idf_components/sensor_bmi270/src/bmi2_ois.c
@@ -0,0 +1,407 @@
+/**
+ * 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 */
diff --git a/platform/nrf52/arduino_common/include/ble/ble_manager.h b/platform/nrf52/arduino_common/include/ble/ble_manager.h
index 8b3b4303..9be0181c 100644
--- a/platform/nrf52/arduino_common/include/ble/ble_manager.h
+++ b/platform/nrf52/arduino_common/include/ble/ble_manager.h
@@ -9,6 +9,16 @@
 namespace ble
 {
 
+struct BlePairingStatus
+{
+    bool available = false;
+    bool requires_passkey = false;
+    bool is_fixed_pin = false;
+    bool is_pairing_active = false;
+    bool is_connected = false;
+    uint32_t passkey = 0;
+};
+
 class BleService
 {
   public:
@@ -16,6 +26,11 @@ class BleService
     virtual void start() = 0;
     virtual void stop() = 0;
     virtual void update() = 0;
+    virtual bool getPairingStatus(BlePairingStatus* out) const
+    {
+        (void)out;
+        return false;
+    }
 };
 
 class BleManager
@@ -29,6 +44,7 @@ class BleManager
     bool isEnabled() const;
     void update();
     void applyProtocol(chat::MeshProtocol protocol);
+    bool getPairingStatus(BlePairingStatus* out) const;
 
   private:
     void restartService(chat::MeshProtocol protocol);
diff --git a/platform/nrf52/arduino_common/include/ble/meshcore_ble.h b/platform/nrf52/arduino_common/include/ble/meshcore_ble.h
index aa3659ca..d1c09192 100644
--- a/platform/nrf52/arduino_common/include/ble/meshcore_ble.h
+++ b/platform/nrf52/arduino_common/include/ble/meshcore_ble.h
@@ -2,8 +2,8 @@
 
 #include "app/app_facades.h"
 #include "ble_manager.h"
-#include "chat/domain/chat_types.h"
 #include "chat/ble/meshcore_phone_core.h"
+#include "chat/domain/chat_types.h"
 #include "chat/ports/i_node_store.h"
 #include "chat/usecase/chat_service.h"
 
diff --git a/platform/nrf52/arduino_common/include/ble/meshtastic_ble.h b/platform/nrf52/arduino_common/include/ble/meshtastic_ble.h
index 48c3f682..761c96c8 100644
--- a/platform/nrf52/arduino_common/include/ble/meshtastic_ble.h
+++ b/platform/nrf52/arduino_common/include/ble/meshtastic_ble.h
@@ -2,8 +2,8 @@
 
 #include "app/app_facades.h"
 #include "ble_manager.h"
-#include "chat/domain/chat_types.h"
 #include "chat/ble/meshtastic_phone_session.h"
+#include "chat/domain/chat_types.h"
 #include "chat/ports/i_node_store.h"
 #include "chat/usecase/chat_service.h"
 #include "meshtastic/admin.pb.h"
@@ -14,6 +14,7 @@
 #include "meshtastic/mesh.pb.h"
 #include "meshtastic/module_config.pb.h"
 #include "meshtastic/telemetry.pb.h"
+#include <atomic>
 #include <bluefruit.h>
 #include <deque>
 #include <memory>
@@ -39,8 +40,12 @@ class MeshtasticBleService final : public BleService,
     void onIncomingText(const chat::MeshIncomingText& msg) override;
     bool handleToRadio(const uint8_t* data, size_t len);
     bool popToPhone(MeshtasticBleFrame* out);
-    void handleConnectEvent();
-    void handleDisconnectEvent();
+    void handleConnectEvent(uint16_t conn_handle);
+    void handleDisconnectEvent(uint16_t conn_handle);
+    void handlePairPasskeyDisplay(uint16_t conn_handle, const uint8_t passkey[6], bool match_request);
+    void handlePairComplete(uint16_t conn_handle, uint8_t auth_status);
+    void handleSecured(uint16_t conn_handle);
+    bool getPairingStatus(BlePairingStatus* out) const override;
 
     bool isBleConnected() const override;
     void notifyFromNum(uint32_t from_num) override;
@@ -53,6 +58,9 @@ class MeshtasticBleService final : public BleService,
 
   private:
     void syncMqttProxySettings();
+    void applyBleSecurity();
+    void requestPairingIfNeeded(uint16_t conn_handle);
+    uint32_t effectivePasskey() const;
 
     app::IAppBleFacade& ctx_;
     std::string device_name_;
@@ -66,6 +74,7 @@ class MeshtasticBleService final : public BleService,
     meshtastic_Config_BluetoothConfig ble_config_ = meshtastic_Config_BluetoothConfig_init_zero;
     meshtastic_LocalModuleConfig module_config_ = meshtastic_LocalModuleConfig_init_zero;
     std::unique_ptr<MeshtasticPhoneSession> phone_session_;
+    std::atomic<uint32_t> pending_passkey_{0};
 };
 
 } // namespace ble
diff --git a/platform/nrf52/arduino_common/src/ble/ble_manager.cpp b/platform/nrf52/arduino_common/src/ble/ble_manager.cpp
index 29499e79..05f6f8fd 100644
--- a/platform/nrf52/arduino_common/src/ble/ble_manager.cpp
+++ b/platform/nrf52/arduino_common/src/ble/ble_manager.cpp
@@ -1,8 +1,8 @@
 #include "../../include/ble/ble_manager.h"
 
-#include "app/app_config.h"
 #include "../../include/ble/meshcore_ble.h"
 #include "../../include/ble/meshtastic_ble.h"
+#include "app/app_config.h"
 #include "chat/infra/mesh_protocol_utils.h"
 #include "chat/runtime/self_identity_policy.h"
 
@@ -79,6 +79,16 @@ void BleManager::applyProtocol(chat::MeshProtocol protocol)
     }
 }
 
+bool BleManager::getPairingStatus(BlePairingStatus* out) const
+{
+    if (!out)
+    {
+        return false;
+    }
+    *out = BlePairingStatus{};
+    return service_ ? service_->getPairingStatus(out) : false;
+}
+
 void BleManager::restartService(chat::MeshProtocol protocol)
 {
     if (service_)
diff --git a/platform/nrf52/arduino_common/src/ble/meshtastic_ble.cpp b/platform/nrf52/arduino_common/src/ble/meshtastic_ble.cpp
index 35b168c1..2ca132dc 100644
--- a/platform/nrf52/arduino_common/src/ble/meshtastic_ble.cpp
+++ b/platform/nrf52/arduino_common/src/ble/meshtastic_ble.cpp
@@ -6,6 +6,7 @@
 #include "platform/nrf52/arduino_common/chat/infra/meshtastic/meshtastic_radio_adapter.h"
 
 #include <Arduino.h>
+#include <cstdio>
 #include <cstring>
 
 namespace ble
@@ -13,6 +14,7 @@ namespace ble
 namespace
 {
 constexpr const char* kDefaultMqttRoot = "msh";
+constexpr uint32_t kDefaultBleFixedPin = 654321;
 
 platform::nrf52::arduino_common::chat::meshtastic::MeshtasticRadioAdapter* getMeshtasticBackend(app::IAppBleFacade& ctx)
 {
@@ -56,23 +58,68 @@ std::string channelDisplayName(const app::IAppBleFacade& ctx, uint8_t idx)
                : std::string("Custom");
 }
 
+uint32_t parsePasskeyDigits(const uint8_t passkey[6])
+{
+    if (!passkey)
+    {
+        return 0;
+    }
+
+    char digits[7] = {};
+    for (size_t i = 0; i < 6; ++i)
+    {
+        const uint8_t ch = passkey[i];
+        if (ch < '0' || ch > '9')
+        {
+            return 0;
+        }
+        digits[i] = static_cast<char>(ch);
+    }
+    return static_cast<uint32_t>(std::strtoul(digits, nullptr, 10));
+}
+
 MeshtasticBleService* s_active_service = nullptr;
 
-void onBleConnect(uint16_t)
+void onBleConnect(uint16_t conn_handle)
 {
     if (s_active_service)
     {
-        s_active_service->handleConnectEvent();
+        s_active_service->handleConnectEvent(conn_handle);
     }
 }
 
-void onBleDisconnect(uint16_t, uint8_t)
+void onBleDisconnect(uint16_t conn_handle, uint8_t)
 {
     if (!s_active_service)
     {
         return;
     }
-    s_active_service->handleDisconnectEvent();
+    s_active_service->handleDisconnectEvent(conn_handle);
+}
+
+bool onPairPasskeyDisplay(uint16_t conn_handle, uint8_t const passkey[6], bool match_request)
+{
+    if (s_active_service)
+    {
+        s_active_service->handlePairPasskeyDisplay(conn_handle, passkey, match_request);
+    }
+    return true;
+}
+
+void onPairComplete(uint16_t conn_handle, uint8_t auth_status)
+{
+    if (s_active_service)
+    {
+        s_active_service->handlePairComplete(conn_handle, auth_status);
+    }
+}
+
+void onSecured(uint16_t conn_handle)
+{
+    if (s_active_service)
+    {
+        s_active_service->handleSecured(conn_handle);
+    }
 }
 
 void prepareBluefruit(const std::string& device_name)
@@ -166,7 +213,7 @@ MeshtasticBleService::MeshtasticBleService(app::IAppBleFacade& ctx, const std::s
 {
     ble_config_ = meshtastic_Config_BluetoothConfig_init_zero;
     ble_config_.enabled = ctx_.isBleEnabled();
-    ble_config_.mode = meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN;
+    ble_config_.mode = meshtastic_Config_BluetoothConfig_PairingMode_RANDOM_PIN;
     ble_config_.fixed_pin = 0;
 
     std::memset(&module_config_, 0, sizeof(module_config_));
@@ -186,31 +233,41 @@ void MeshtasticBleService::start()
 {
     s_active_service = this;
     prepareBluefruit(device_name_);
+    applyBleSecurity();
 
     service_.begin();
 
     to_radio_.setProperties(CHR_PROPS_WRITE);
-    to_radio_.setPermission(SECMODE_OPEN, SECMODE_OPEN);
+    to_radio_.setPermission(ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN
+                                                                                                     : SECMODE_ENC_WITH_MITM,
+                            ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN
+                                                                                                     : SECMODE_ENC_WITH_MITM);
     to_radio_.setFixedLen(0);
     to_radio_.setMaxLen(meshtastic_ToRadio_size);
     to_radio_.setWriteCallback(onToRadioWrite, false);
     to_radio_.begin();
 
     from_radio_.setProperties(CHR_PROPS_READ);
-    from_radio_.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
+    from_radio_.setPermission(ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN
+                                                                                                       : SECMODE_ENC_WITH_MITM,
+                              SECMODE_NO_ACCESS);
     from_radio_.setFixedLen(0);
     from_radio_.setMaxLen(meshtastic_FromRadio_size);
     from_radio_.setReadAuthorizeCallback(onFromRadioAuthorize, false);
     from_radio_.begin();
 
     from_num_.setProperties(CHR_PROPS_NOTIFY | CHR_PROPS_READ);
-    from_num_.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
+    from_num_.setPermission(ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN
+                                                                                                     : SECMODE_ENC_WITH_MITM,
+                            SECMODE_NO_ACCESS);
     from_num_.setFixedLen(4);
     from_num_.write32(0);
     from_num_.begin();
 
     log_radio_.setProperties(CHR_PROPS_NOTIFY | CHR_PROPS_READ);
-    log_radio_.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
+    log_radio_.setPermission(ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN
+                                                                                                      : SECMODE_ENC_WITH_MITM,
+                             SECMODE_NO_ACCESS);
     log_radio_.setFixedLen(0);
     log_radio_.setMaxLen(96);
     log_radio_.begin();
@@ -218,6 +275,7 @@ void MeshtasticBleService::start()
     ctx_.getChatService().addIncomingTextObserver(this);
     startAdvertising(service_);
     active_ = true;
+    pending_passkey_.store(0);
     syncMqttProxySettings();
 }
 
@@ -232,6 +290,7 @@ void MeshtasticBleService::stop()
     }
     active_ = false;
     connected_ = false;
+    pending_passkey_.store(0);
     if (s_active_service == this)
     {
         s_active_service = nullptr;
@@ -276,18 +335,62 @@ bool MeshtasticBleService::popToPhone(MeshtasticBleFrame* out)
     return phone_session_ ? phone_session_->popToPhone(out) : false;
 }
 
-void MeshtasticBleService::handleConnectEvent()
+void MeshtasticBleService::handleConnectEvent(uint16_t conn_handle)
 {
     connected_ = true;
+    requestPairingIfNeeded(conn_handle);
 }
 
-void MeshtasticBleService::handleDisconnectEvent()
+void MeshtasticBleService::handleDisconnectEvent(uint16_t conn_handle)
 {
     connected_ = false;
     if (phone_session_)
     {
         phone_session_->close();
     }
+    pending_passkey_.store(0);
+    Serial2.printf("[BLE][nrf52][mt] disconnected conn=%u\n", static_cast<unsigned>(conn_handle));
+}
+
+void MeshtasticBleService::handlePairPasskeyDisplay(uint16_t conn_handle, const uint8_t passkey[6], bool match_request)
+{
+    const uint32_t parsed = parsePasskeyDigits(passkey);
+    pending_passkey_.store(parsed);
+    Serial2.printf("[BLE][nrf52][mt] pairing passkey=%06lu match=%u conn=%u\n",
+                   static_cast<unsigned long>(parsed),
+                   match_request ? 1U : 0U,
+                   static_cast<unsigned>(conn_handle));
+}
+
+void MeshtasticBleService::handlePairComplete(uint16_t conn_handle, uint8_t auth_status)
+{
+    Serial2.printf("[BLE][nrf52][mt] pair complete status=%u conn=%u\n",
+                   static_cast<unsigned>(auth_status),
+                   static_cast<unsigned>(conn_handle));
+    pending_passkey_.store(0);
+}
+
+void MeshtasticBleService::handleSecured(uint16_t conn_handle)
+{
+    Serial2.printf("[BLE][nrf52][mt] secured conn=%u\n", static_cast<unsigned>(conn_handle));
+    pending_passkey_.store(0);
+}
+
+bool MeshtasticBleService::getPairingStatus(BlePairingStatus* out) const
+{
+    if (!out)
+    {
+        return false;
+    }
+
+    *out = BlePairingStatus{};
+    out->available = ble_config_.enabled;
+    out->requires_passkey = ble_config_.mode != meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN;
+    out->is_fixed_pin = ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_FIXED_PIN;
+    out->is_connected = isBleConnected();
+    out->passkey = effectivePasskey();
+    out->is_pairing_active = out->requires_passkey && out->passkey != 0;
+    return true;
 }
 
 bool MeshtasticBleService::isBleConnected() const
@@ -322,7 +425,7 @@ bool MeshtasticBleService::loadDeviceConnectionStatus(meshtastic_DeviceConnectio
     meshtastic_DeviceConnectionStatus status = meshtastic_DeviceConnectionStatus_init_zero;
     *out = status;
     out->has_bluetooth = true;
-    out->bluetooth.pin = 0;
+    out->bluetooth.pin = effectivePasskey();
     out->bluetooth.rssi = 0;
     out->bluetooth.is_connected = isBleConnected();
     return true;
@@ -380,4 +483,91 @@ void MeshtasticBleService::syncMqttProxySettings()
     mt->setMqttProxySettings(settings);
 }
 
+void MeshtasticBleService::applyBleSecurity()
+{
+    pending_passkey_.store(0);
+
+    if (ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN)
+    {
+        Bluefruit.Security.setMITM(false);
+        Bluefruit.Security.setIOCaps(false, false, false);
+        Bluefruit.Security.setPairPasskeyCallback(nullptr);
+        Bluefruit.Security.setPairCompleteCallback(nullptr);
+        Bluefruit.Security.setSecuredCallback(nullptr);
+        Serial2.printf("[BLE][nrf52][mt] security mode=no_pin\n");
+        return;
+    }
+
+    Bluefruit.Security.setIOCaps(true, false, false);
+    Bluefruit.Security.setMITM(true);
+    Bluefruit.Security.setPairPasskeyCallback(onPairPasskeyDisplay);
+    Bluefruit.Security.setPairCompleteCallback(onPairComplete);
+    Bluefruit.Security.setSecuredCallback(onSecured);
+
+    if (ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_FIXED_PIN)
+    {
+        const uint32_t fixed_pin = ble_config_.fixed_pin != 0 ? ble_config_.fixed_pin : kDefaultBleFixedPin;
+        ble_config_.fixed_pin = fixed_pin;
+        char digits[7] = {};
+        std::snprintf(digits, sizeof(digits), "%06lu", static_cast<unsigned long>(fixed_pin));
+        (void)Bluefruit.Security.setPIN(digits);
+        Serial2.printf("[BLE][nrf52][mt] security mode=fixed pin=%s\n", digits);
+        return;
+    }
+
+    Serial2.printf("[BLE][nrf52][mt] security mode=random_pin\n");
+}
+
+void MeshtasticBleService::requestPairingIfNeeded(uint16_t conn_handle)
+{
+    if (ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN)
+    {
+        return;
+    }
+
+    if (conn_handle == BLE_CONN_HANDLE_INVALID)
+    {
+        for (uint8_t index = 0; index < BLE_MAX_CONNECTION; ++index)
+        {
+            if (!Bluefruit.connected(index))
+            {
+                continue;
+            }
+            BLEConnection* connection = Bluefruit.Connection(index);
+            if (connection)
+            {
+                const bool ok = connection->requestPairing();
+                Serial2.printf("[BLE][nrf52][mt] requestPairing conn=%u ok=%u\n",
+                               static_cast<unsigned>(index),
+                               ok ? 1U : 0U);
+            }
+        }
+        return;
+    }
+
+    BLEConnection* connection = Bluefruit.Connection(conn_handle);
+    if (!connection)
+    {
+        return;
+    }
+    const bool ok = connection->requestPairing();
+    Serial2.printf("[BLE][nrf52][mt] requestPairing conn=%u ok=%u\n",
+                   static_cast<unsigned>(conn_handle),
+                   ok ? 1U : 0U);
+}
+
+uint32_t MeshtasticBleService::effectivePasskey() const
+{
+    const uint32_t pending = pending_passkey_.load();
+    if (pending != 0)
+    {
+        return pending;
+    }
+    if (ble_config_.mode == meshtastic_Config_BluetoothConfig_PairingMode_FIXED_PIN)
+    {
+        return ble_config_.fixed_pin;
+    }
+    return 0;
+}
+
 } // namespace ble
diff --git a/platform/nrf52/arduino_common/src/chat/infra/blob_file_store.cpp b/platform/nrf52/arduino_common/src/chat/infra/blob_file_store.cpp
index 184ff5b8..8f2f0e34 100644
--- a/platform/nrf52/arduino_common/src/chat/infra/blob_file_store.cpp
+++ b/platform/nrf52/arduino_common/src/chat/infra/blob_file_store.cpp
@@ -1,8 +1,8 @@
 #include "platform/nrf52/arduino_common/chat/infra/blob_file_store.h"
 
 #include "chat/infra/contact_store_core.h"
-#include "chat/infra/node_store_core.h"
 #include "chat/infra/node_store_blob_format.h"
+#include "chat/infra/node_store_core.h"
 
 #include <InternalFileSystem.h>
 
diff --git a/platform/nrf52/arduino_common/src/chat/infra/meshcore/meshcore_radio_adapter.cpp b/platform/nrf52/arduino_common/src/chat/infra/meshcore/meshcore_radio_adapter.cpp
index cc2b86a1..7cd3cd59 100644
--- a/platform/nrf52/arduino_common/src/chat/infra/meshcore/meshcore_radio_adapter.cpp
+++ b/platform/nrf52/arduino_common/src/chat/infra/meshcore/meshcore_radio_adapter.cpp
@@ -82,7 +82,7 @@ MeshCoreRadioAdapter::MeshCoreRadioAdapter(const ::chat::runtime::SelfIdentityPr
 }
 
 bool MeshCoreRadioAdapter::sendText(::chat::ChannelId channel, const std::string& text,
-                                   ::chat::MessageId* out_msg_id, ::chat::NodeId peer)
+                                    ::chat::MessageId* out_msg_id, ::chat::NodeId peer)
 {
     if (!out_msg_id)
     {
@@ -112,10 +112,10 @@ bool MeshCoreRadioAdapter::pollIncomingText(::chat::MeshIncomingText* out)
 }
 
 bool MeshCoreRadioAdapter::sendAppData(::chat::ChannelId channel, uint32_t portnum,
-                                      const uint8_t* payload, size_t len,
-                                      ::chat::NodeId dest, bool want_ack,
-                                      ::chat::MessageId packet_id,
-                                      bool want_response)
+                                       const uint8_t* payload, size_t len,
+                                       ::chat::NodeId dest, bool want_ack,
+                                       ::chat::MessageId packet_id,
+                                       bool want_response)
 {
     (void)channel;
     (void)packet_id;
@@ -420,8 +420,8 @@ bool MeshCoreRadioAdapter::sendSelfAdvert(bool broadcast)
 }
 
 bool MeshCoreRadioAdapter::sendPeerRequestType(const uint8_t* pubkey, size_t len, uint8_t req_type,
-                                              uint32_t* out_tag, uint32_t* out_est_timeout,
-                                              bool* out_sent_flood)
+                                               uint32_t* out_tag, uint32_t* out_est_timeout,
+                                               bool* out_sent_flood)
 {
     uint8_t payload[9] = {};
     payload[0] = req_type;
@@ -438,10 +438,10 @@ bool MeshCoreRadioAdapter::sendPeerRequestType(const uint8_t* pubkey, size_t len
 }
 
 bool MeshCoreRadioAdapter::sendPeerRequestPayload(const uint8_t* pubkey, size_t len,
-                                                 const uint8_t* payload, size_t payload_len,
-                                                 bool force_flood,
-                                                 uint32_t* out_tag, uint32_t* out_est_timeout,
-                                                 bool* out_sent_flood)
+                                                  const uint8_t* payload, size_t payload_len,
+                                                  bool force_flood,
+                                                  uint32_t* out_tag, uint32_t* out_est_timeout,
+                                                  bool* out_sent_flood)
 {
     if (!pubkey || len != sizeof(public_key_) || !payload || payload_len == 0)
     {
@@ -528,9 +528,9 @@ bool MeshCoreRadioAdapter::sendPeerRequestPayload(const uint8_t* pubkey, size_t
 }
 
 bool MeshCoreRadioAdapter::sendAnonRequestPayload(const uint8_t* pubkey, size_t len,
-                                                 const uint8_t* payload, size_t payload_len,
-                                                 uint32_t* out_est_timeout,
-                                                 bool* out_sent_flood)
+                                                  const uint8_t* payload, size_t payload_len,
+                                                  uint32_t* out_est_timeout,
+                                                  bool* out_sent_flood)
 {
     if (!pubkey || len != sizeof(public_key_) || !payload || payload_len == 0)
     {
@@ -609,8 +609,8 @@ bool MeshCoreRadioAdapter::sendAnonRequestPayload(const uint8_t* pubkey, size_t
 }
 
 bool MeshCoreRadioAdapter::sendTracePath(const uint8_t* path, size_t path_len,
-                                        uint32_t tag, uint32_t auth, uint8_t flags,
-                                        uint32_t* out_est_timeout)
+                                         uint32_t tag, uint32_t auth, uint8_t flags,
+                                         uint32_t* out_est_timeout)
 {
     if (!path || path_len == 0 || path_len > 64)
     {
@@ -673,8 +673,8 @@ bool MeshCoreRadioAdapter::sendControlData(const uint8_t* payload, size_t payloa
 }
 
 bool MeshCoreRadioAdapter::sendRawData(const uint8_t* path, size_t path_len,
-                                      const uint8_t* payload, size_t payload_len,
-                                      uint32_t* out_est_timeout)
+                                       const uint8_t* payload, size_t payload_len,
+                                       uint32_t* out_est_timeout)
 {
     if (!payload || payload_len == 0 || path_len > 64 || (path_len > 0 && !path))
     {
diff --git a/platform/nrf52/arduino_common/src/chat/infra/meshtastic/meshtastic_radio_adapter.cpp b/platform/nrf52/arduino_common/src/chat/infra/meshtastic/meshtastic_radio_adapter.cpp
index caa5e796..f47b739c 100644
--- a/platform/nrf52/arduino_common/src/chat/infra/meshtastic/meshtastic_radio_adapter.cpp
+++ b/platform/nrf52/arduino_common/src/chat/infra/meshtastic/meshtastic_radio_adapter.cpp
@@ -15,10 +15,10 @@
 
 #include <algorithm>
 #include <array>
-#include <cstdarg>
 #include <cmath>
-#include <ctime>
+#include <cstdarg>
 #include <cstring>
+#include <ctime>
 #include <string>
 
 namespace platform::nrf52::arduino_common::chat::meshtastic
@@ -34,11 +34,11 @@ constexpr uint32_t kRetransmitIntervalMs = 1500;
 constexpr ::chat::NodeId kBroadcastNode = 0xFFFFFFFFUL;
 constexpr uint8_t kDefaultPskIndex = 1;
 
+using ::chat::meshtastic::expandShortPsk;
 using ::chat::meshtastic::fillDecodedPacketCommon;
+using ::chat::meshtastic::isZeroKey;
 using ::chat::meshtastic::makeEncryptedPacketFromWire;
 using ::chat::meshtastic::readPbString;
-using ::chat::meshtastic::expandShortPsk;
-using ::chat::meshtastic::isZeroKey;
 
 void logMeshtasticRx(const char* format, ...)
 {
@@ -1221,7 +1221,7 @@ bool MeshtasticRadioAdapter::hasRelayer(const PacketHistoryEntry& entry, uint8_t
 }
 
 MeshtasticRadioAdapter::HistoryResult MeshtasticRadioAdapter::updatePacketHistory(const ::chat::meshtastic::PacketHeaderWire& header,
-                                                                                   bool allow_update)
+                                                                                  bool allow_update)
 {
     HistoryResult result{};
     if (header.id == 0)
diff --git a/platform/nrf52/arduino_common/src/chat/infra/store/internal_fs_store.cpp b/platform/nrf52/arduino_common/src/chat/infra/store/internal_fs_store.cpp
index 69b38f4e..83785c5b 100644
--- a/platform/nrf52/arduino_common/src/chat/infra/store/internal_fs_store.cpp
+++ b/platform/nrf52/arduino_common/src/chat/infra/store/internal_fs_store.cpp
@@ -14,7 +14,7 @@ using Adafruit_LittleFS_Namespace::FILE_O_READ;
 using Adafruit_LittleFS_Namespace::FILE_O_WRITE;
 
 constexpr const char* kTempSuffix = ".tmp";
-}
+} // namespace
 
 InternalFsStore::InternalFsStore(const char* path)
     : path_(path)
@@ -57,8 +57,8 @@ std::vector<::chat::ChatMessage> InternalFsStore::loadRecent(const ::chat::Conve
 }
 
 std::vector<::chat::ConversationMeta> InternalFsStore::loadConversationPage(size_t offset,
-                                                                             size_t limit,
-                                                                             size_t* total)
+                                                                            size_t limit,
+                                                                            size_t* total)
 {
     std::vector<::chat::ConversationMeta> list;
     list.reserve(conversations_.size());
diff --git a/platform/nrf52/arduino_common/src/platform_ui_time_runtime.cpp b/platform/nrf52/arduino_common/src/platform_ui_time_runtime.cpp
index d9e1746c..09a970d1 100644
--- a/platform/nrf52/arduino_common/src/platform_ui_time_runtime.cpp
+++ b/platform/nrf52/arduino_common/src/platform_ui_time_runtime.cpp
@@ -1,5 +1,5 @@
-#include "platform/ui/time_runtime.h"
 #include "platform/ui/settings_store.h"
+#include "platform/ui/time_runtime.h"
 #include "sys/clock.h"
 
 #include <ctime>
diff --git a/platform/nrf52/arduino_common/src/ui/fonts/fusion_pixel_8_font_data.cpp b/platform/nrf52/arduino_common/src/ui/fonts/fusion_pixel_8_font_data.cpp
index 6c29296f..0d4c130c 100644
--- a/platform/nrf52/arduino_common/src/ui/fonts/fusion_pixel_8_font_data.cpp
+++ b/platform/nrf52/arduino_common/src/ui/fonts/fusion_pixel_8_font_data.cpp
@@ -4,3573 +4,57070 @@ namespace ui::mono_128x64
 {
 
 static const uint8_t kFusionPixel8Bitmap[] = {
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x40, 0x40, 0x40, 0x00, 0x40, 0x00,
-    0x00, 0xA0, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA0, 0xE0, 0xA0, 0xA0, 0xE0, 0xA0, 0x00,
-    0x00, 0x40, 0xE0, 0xC0, 0x60, 0x60, 0xC0, 0x40, 0x00, 0x00, 0xA0, 0x20, 0x40, 0x80, 0xA0, 0x00,
-    0x00, 0x40, 0xA0, 0x40, 0xA0, 0x80, 0x60, 0x00, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x20, 0x40, 0x40, 0x40, 0x40, 0x40, 0x20, 0x00, 0x80, 0x40, 0x40, 0x40, 0x40, 0x40, 0x80,
-    0x00, 0x00, 0x40, 0xE0, 0x40, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0xE0, 0x40, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x80, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x20, 0x20, 0x40, 0x40, 0x40, 0x80, 0x80,
-    0x00, 0x60, 0xA0, 0xA0, 0xA0, 0xA0, 0xC0, 0x00, 0x00, 0x40, 0xC0, 0x40, 0x40, 0x40, 0xE0, 0x00,
-    0x00, 0xC0, 0x20, 0x20, 0x40, 0x80, 0xE0, 0x00, 0x00, 0xC0, 0x20, 0x40, 0x20, 0x20, 0xC0, 0x00,
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+    0xAC,
+    0xFC,
+    0xBE,
+    0xDE,
+    0xFA,
+    0x00,
+    0x5E,
+    0x72,
+    0xDC,
+    0xF8,
+    0xBE,
+    0xD4,
+    0xEE,
+    0x00,
+    0x24,
+    0xFE,
+    0x28,
+    0x2A,
+    0x2C,
+    0x5A,
+    0x8E,
+    0x00,
+    0x24,
+    0xFE,
+    0x2A,
+    0x5C,
+    0xFE,
+    0x00,
+    0xC6,
+    0x00,
+    0x10,
+    0xEE,
+    0x3C,
+    0xFE,
+    0x2A,
+    0x5C,
+    0x8E,
+    0x00,
+    0x38,
+    0xC8,
+    0x7C,
+    0x54,
+    0x7C,
+    0x12,
+    0x0E,
+    0x00,
+    0x10,
+    0x28,
+    0xFE,
+    0xAA,
+    0xFE,
+    0x7C,
+    0x54,
+    0x00,
+    0x40,
+    0x40,
+    0x40,
+    0x40,
+    0x40,
+    0x00,
+    0x40,
+    0x00,
+    0x04,
+    0x08,
+    0x10,
+    0x10,
+    0x10,
+    0x08,
+    0x04,
+    0x00,
+    0x40,
+    0x20,
+    0x10,
+    0x10,
+    0x10,
+    0x20,
+    0x40,
+    0x00,
+    0x00,
+    0x60,
+    0x60,
+    0x00,
+    0x60,
+    0x60,
+    0x00,
+    0xFF,
+    0x81,
+    0x81,
+    0x81,
+    0x81,
+    0x81,
+    0x81,
+    0xFF,
 };
 
 static const uint16_t kFusionPixel8Codepoints[] = {
diff --git a/platformio.ini b/platformio.ini
index 525ebf61..c59067c6 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -69,6 +69,7 @@ build_flags =
 lib_extra_dirs = 
 	${PROJECT_DIR}/modules
 	${PROJECT_DIR}/apps
+	${PROJECT_DIR}/boards
 	${PROJECT_DIR}/platform/esp
 	${PROJECT_DIR}/platform/esp/boards
 	${PROJECT_DIR}/third_party
diff --git a/tools/vscode/run_idf_task.ps1 b/tools/vscode/run_idf_task.ps1
index bab7e4bd..f8e29591 100644
--- a/tools/vscode/run_idf_task.ps1
+++ b/tools/vscode/run_idf_task.ps1
@@ -22,7 +22,7 @@ function Get-WorkspaceSettings([string]$RepoRoot) {
         return Get-Content $settingsPath -Raw | ConvertFrom-Json
     }
     catch {
-        Write-Warning "Failed to parse $settingsPath: $_"
+        Write-Warning "Failed to parse ${settingsPath}: $_"
         return $null
     }
 }
@@ -82,6 +82,29 @@ function Resolve-PythonExe($Settings) {
     throw 'Unable to resolve Python executable for ESP-IDF.'
 }
 
+function Resolve-NinjaExe() {
+    $candidates = @()
+    $toolsRoot = 'C:\ProgramData\Espressif\tools\ninja'
+    if (Test-Path $toolsRoot) {
+        $candidates += (Get-ChildItem $toolsRoot -Directory | Sort-Object Name -Descending | ForEach-Object { Join-Path $_.FullName 'ninja.exe' })
+    }
+    $candidates += 'ninja.exe'
+
+    foreach ($candidate in $candidates) {
+        try {
+            $command = Get-Command $candidate -ErrorAction Stop
+            return $command.Source
+        }
+        catch {
+            if (Test-Path $candidate) {
+                return $candidate
+            }
+        }
+    }
+
+    return $null
+}
+
 function Resolve-Port($Settings, [string]$RequestedPort) {
     if ($RequestedPort) {
         return $RequestedPort
@@ -104,11 +127,25 @@ $repoRoot = Get-RepoRoot
 $settings = Get-WorkspaceSettings $repoRoot
 $idfPath = Resolve-IdfPath $repoRoot $settings
 $pythonExe = Resolve-PythonExe $settings
+$ninjaExe = Resolve-NinjaExe
 $portValue = Resolve-Port $settings $Port
 if (-not $BuildDir) {
     $BuildDir = "build.$Target"
 }
 
+$env:IDF_PATH = $idfPath
+$env:IDF_PYTHON_ENV_PATH = Split-Path -Parent (Split-Path -Parent $pythonExe)
+if ($ninjaExe) {
+    $env:PATH = "$(Split-Path -Parent $ninjaExe);$env:PATH"
+}
+$espRomElfRoot = 'C:\ProgramData\Espressif\tools\esp-rom-elfs'
+if ((-not $env:ESP_ROM_ELF_DIR) -and (Test-Path $espRomElfRoot)) {
+    $latestRomDir = Get-ChildItem $espRomElfRoot -Directory | Sort-Object Name -Descending | Select-Object -First 1
+    if ($latestRomDir) {
+        $env:ESP_ROM_ELF_DIR = $latestRomDir.FullName
+    }
+}
+
 $idfPy = Join-Path $idfPath 'tools\idf.py'
 $baseArgs = @($idfPy, '-B', $BuildDir, "-DTRAIL_MATE_IDF_TARGET=$Target")
 if ($Action -ne 'build' -and $portValue) {
@@ -116,11 +153,11 @@ if ($Action -ne 'build' -and $portValue) {
 }
 
 $actionArgs = switch ($Action) {
-    'reconfigure' { @('reconfigure') }
-    'build' { @('build') }
-    'flash' { @('flash') }
-    'monitor' { @('monitor') }
-    'flash-monitor' { @('flash', 'monitor') }
+    'reconfigure' { ,@('reconfigure') }
+    'build' { ,@('build') }
+    'flash' { ,@('flash') }
+    'monitor' { ,@('monitor') }
+    'flash-monitor' { ,@('flash', 'monitor') }
 }
 
 Write-Host "[trail-mate] RepoRoot : $repoRoot"
diff --git a/variants/gat562_mesh_evb_pro/variant.h b/variants/gat562_mesh_evb_pro/variant.h
index 84d91a6e..9ed17d92 100644
--- a/variants/gat562_mesh_evb_pro/variant.h
+++ b/variants/gat562_mesh_evb_pro/variant.h
@@ -8,7 +8,8 @@
 #include "WVariant.h"
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
 #define PINS_COUNT (48)
@@ -36,20 +37,20 @@ extern "C" {
 #define PIN_A6 (0xff)
 #define PIN_A7 (0xff)
 
-static const uint8_t A0 = PIN_A0;
-static const uint8_t A1 = PIN_A1;
-static const uint8_t A2 = PIN_A2;
-static const uint8_t A3 = PIN_A3;
-static const uint8_t A4 = PIN_A4;
-static const uint8_t A5 = PIN_A5;
-static const uint8_t A6 = PIN_A6;
-static const uint8_t A7 = PIN_A7;
+    static const uint8_t A0 = PIN_A0;
+    static const uint8_t A1 = PIN_A1;
+    static const uint8_t A2 = PIN_A2;
+    static const uint8_t A3 = PIN_A3;
+    static const uint8_t A4 = PIN_A4;
+    static const uint8_t A5 = PIN_A5;
+    static const uint8_t A6 = PIN_A6;
+    static const uint8_t A7 = PIN_A7;
 
 #define ADC_RESOLUTION 14
 #define PIN_AREF (2)
 #define PIN_NFC1 (9)
 #define PIN_NFC2 (10)
-static const uint8_t AREF = PIN_AREF;
+    static const uint8_t AREF = PIN_AREF;
 
 #define PIN_SERIAL1_RX (15)
 #define PIN_SERIAL1_TX (16)
@@ -64,10 +65,10 @@ static const uint8_t AREF = PIN_AREF;
 #define PIN_SPI1_MOSI (30)
 #define PIN_SPI1_SCK (3)
 
-static const uint8_t SS = 42;
-static const uint8_t MOSI = PIN_SPI_MOSI;
-static const uint8_t MISO = PIN_SPI_MISO;
-static const uint8_t SCK = PIN_SPI_SCK;
+    static const uint8_t SS = 42;
+    static const uint8_t MOSI = PIN_SPI_MOSI;
+    static const uint8_t MISO = PIN_SPI_MISO;
+    static const uint8_t SCK = PIN_SPI_SCK;
 
 #define HAS_SCREEN 1
 #define USE_SSD1306
diff --git a/variants/lilygo_tlora_pager/envs/tlora_pager.ini b/variants/lilygo_tlora_pager/envs/tlora_pager.ini
index 092b7f44..110d865a 100644
--- a/variants/lilygo_tlora_pager/envs/tlora_pager.ini
+++ b/variants/lilygo_tlora_pager/envs/tlora_pager.ini
@@ -3,12 +3,9 @@ extends = arduino_base
 board = lilygo-t-lora-pager
 build_src_filter =
     +<*>
-    -<board/TDeckBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<ui/watch_face.cpp>
     -<ui/screens/chat_watch/>
     -<input/morse_engine.cpp>
-    +<board/TLoRaPagerBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -D DISPLAY_DRIVER_ST7796
@@ -29,12 +26,9 @@ extends = arduino_base
 board = lilygo-t-lora-pager
 build_src_filter =
     +<*>
-    -<board/TDeckBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<ui/watch_face.cpp>
     -<ui/screens/chat_watch/>
     -<input/morse_engine.cpp>
-    +<board/TLoRaPagerBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -D DISPLAY_DRIVER_ST7796
@@ -58,12 +52,9 @@ extends = arduino_base
 board = lilygo-t-lora-pager
 build_src_filter =
     +<*>
-    -<board/TDeckBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<ui/watch_face.cpp>
     -<ui/screens/chat_watch/>
     -<input/morse_engine.cpp>
-    +<board/TLoRaPagerBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -D SCREEN_WIDTH=480
@@ -83,12 +74,9 @@ extends = arduino_base
 board = lilygo-t-lora-pager
 build_src_filter =
     +<*>
-    -<board/TDeckBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<ui/watch_face.cpp>
     -<ui/screens/chat_watch/>
     -<input/morse_engine.cpp>
-    +<board/TLoRaPagerBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -D SCREEN_WIDTH=480
diff --git a/variants/lilygo_twatch_s3/envs/lilygo_twatch_s3.ini b/variants/lilygo_twatch_s3/envs/lilygo_twatch_s3.ini
index 6e8ea7f6..9af15561 100644
--- a/variants/lilygo_twatch_s3/envs/lilygo_twatch_s3.ini
+++ b/variants/lilygo_twatch_s3/envs/lilygo_twatch_s3.ini
@@ -5,9 +5,6 @@ upload_speed = 115200
 board_build.psram_type = qspi
 build_src_filter =
     +<*>
-    -<board/TLoRaPagerBoard.cpp>
-    -<board/TDeckBoard.cpp>
-    +<board/TWatchS3Board.cpp>
     -<ui/screens/chat/>
 build_flags =
     ${arduino_base.build_flags}
@@ -32,9 +29,6 @@ upload_speed = 115200
 board_build.psram_type = qspi
 build_src_filter =
     +<*>
-    -<board/TLoRaPagerBoard.cpp>
-    -<board/TDeckBoard.cpp>
-    +<board/TWatchS3Board.cpp>
     -<ui/screens/chat/>
 build_flags =
     ${arduino_base.build_flags}
diff --git a/variants/tdeck/envs/tdeck.ini b/variants/tdeck/envs/tdeck.ini
index 57d70a0e..96693d28 100644
--- a/variants/tdeck/envs/tdeck.ini
+++ b/variants/tdeck/envs/tdeck.ini
@@ -4,10 +4,7 @@ board = T-Deck
 upload_speed = 921600
 build_src_filter =
     +<*>
-    -<board/TLoRaPagerBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<board/LilyGoKeyboard.cpp>
-    +<board/TDeckBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -DBOARD_HAS_PSRAM=1
@@ -29,10 +26,7 @@ board = T-Deck
 upload_speed = 921600
 build_src_filter =
     +<*>
-    -<board/TLoRaPagerBoard.cpp>
-    -<board/TWatchS3Board.cpp>
     -<board/LilyGoKeyboard.cpp>
-    +<board/TDeckBoard.cpp>
 build_flags =
     ${arduino_base.build_flags}
     -DBOARD_HAS_PSRAM=1