diff --git a/LICENSE b/LICENSE
index 7d08b66..fcbe827 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,4 +1,4 @@
-Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
 
 BSD-3-Clause
 
diff --git a/bmi08a.c b/bmi08a.c
index 98c41ab..623fd16 100644
--- a/bmi08a.c
+++ b/bmi08a.c
@@ -1,40 +1,40 @@
 /**
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * BSD-3-Clause
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- *    contributors may be used to endorse or promote products derived from
- *    this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file       bmi08a.c
- * @date       2020-12-11
- * @version    v1.5.5
- *
- */
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi08a.c
+* @date       2021-06-22
+* @version    v1.5.7
+*
+*/
 
 /*! \file bmi08a.c
  * \brief Sensor Driver for BMI08x family of sensors */
@@ -722,15 +722,16 @@ static int8_t set_fifo_wm_int(const struct bmi08x_accel_int_channel_cfg *int_con
  */
 static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_config, struct bmi08x_dev *dev);
 
-/****************************************************************************/
-
-/**\name        Extern Declarations
- ****************************************************************************/
-
-/****************************************************************************/
-
-/**\name        Globals
- ****************************************************************************/
+/* @brief This API is used to write the binary configuration in the sensor
+ *
+ * @param[in] dev : Structure instance of bmi08x_dev.
+ *
+ * @return Result of API execution status
+ * @retval 0 -> Success
+ * @retval < 0 -> Fail
+ *
+ */
+static int8_t write_config_file(struct bmi08x_dev *dev);
 
 /****************************************************************************/
 
@@ -812,111 +813,7 @@ int8_t bmi08a_load_config_file(struct bmi08x_dev *dev)
         dev->config_file_ptr = bmi08x_config_file;
 
         /* Upload binary */
-        rslt = bmi08a_write_config_file(dev);
-    }
-
-    return rslt;
-}
-
-/*!
- *  @brief This API is used to write the binary configuration in the sensor.
- */
-int8_t bmi08a_write_config_file(struct bmi08x_dev *dev)
-{
-    int8_t rslt;
-
-    /* Config loading disable*/
-    uint8_t config_load = BMI08X_DISABLE;
-    uint8_t current_acc_pwr_ctrl = BMI08X_DISABLE;
-    uint8_t aps_disable = BMI08X_DISABLE;
-    uint16_t index = 0;
-    uint8_t reg_data = 0;
-
-    /* Check for null pointer in the device structure */
-    rslt = null_ptr_check(dev);
-
-    /* Check if config file pointer is not null */
-    if ((rslt == BMI08X_OK) && (dev->config_file_ptr != NULL))
-    {
-        /* Check whether the read/write length is valid */
-        if (dev->read_write_len > 0)
-        {
-            /* Get accel status */
-            rslt = bmi08a_get_regs(BMI08X_REG_ACCEL_PWR_CTRL, &current_acc_pwr_ctrl, 1, dev);
-
-            if (rslt == BMI08X_OK)
-            {
-                /* Disable advanced power save mode */
-                rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_PWR_CONF, &aps_disable, 1, dev);
-
-                if (rslt == BMI08X_OK)
-                {
-                    rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_PWR_CTRL, &config_load, 1, dev);
-
-                    if (rslt == BMI08X_OK)
-                    {
-                        /* Delay required to switch power modes */
-                        dev->delay_us(BMI08X_MS_TO_US(BMI08X_POWER_CONFIG_DELAY), dev->intf_ptr_accel);
-
-                        /* Disable config loading */
-                        rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_INIT_CTRL, &config_load, 1, dev);
-                    }
-                }
-            }
-
-            if (rslt == BMI08X_OK)
-            {
-                for (index = 0; index < BMI08X_CONFIG_STREAM_SIZE;
-                     index += dev->read_write_len)
-                {
-                    /* Write the config stream */
-                    rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev);
-
-                    dev->delay_us(5000, dev->intf_ptr_accel);
-                }
-
-                if (rslt == BMI08X_OK)
-                {
-                    /* Enable config loading and FIFO mode */
-                    config_load = BMI08X_ENABLE;
-
-                    rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_INIT_CTRL, &config_load, 1, dev);
-
-                    if (rslt == BMI08X_OK)
-                    {
-                        /* Wait till ASIC is initialized. Refer the data-sheet for more information */
-                        dev->delay_us(BMI08X_MS_TO_US(BMI08X_ASIC_INIT_TIME_MS), dev->intf_ptr_accel);
-
-                        /* Check for config initialization status (1 = OK)*/
-                        rslt = bmi08a_get_regs(BMI08X_REG_ACCEL_INTERNAL_STAT, &reg_data, 1, dev);
-                    }
-                }
-
-                if (rslt == BMI08X_OK && reg_data != 1)
-                {
-                    rslt = BMI08X_E_CONFIG_STREAM_ERROR;
-                }
-                else
-                {
-                    /* Restore accel */
-                    rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_PWR_CTRL, &current_acc_pwr_ctrl, 1, dev);
-
-                    if (rslt == BMI08X_OK)
-                    {
-                        /* Delay required to switch power modes */
-                        dev->delay_us(BMI08X_MS_TO_US(BMI08X_POWER_CONFIG_DELAY), dev->intf_ptr_accel);
-                    }
-                }
-            }
-        }
-        else
-        {
-            rslt = BMI08X_E_RD_WR_LENGTH_INVALID;
-        }
-    }
-    else
-    {
-        rslt = BMI08X_E_NULL_PTR;
+        rslt = write_config_file(dev);
     }
 
     return rslt;
@@ -1657,6 +1554,9 @@ int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, struct bmi08x_dev *
     /* Variable to define error */
     int8_t rslt;
 
+    /* Variable to store available fifo length */
+    uint16_t fifo_length;
+
     /* Array to store FIFO configuration data */
     uint8_t config_data = 0;
 
@@ -1670,8 +1570,29 @@ int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, struct bmi08x_dev *
         /* Clear the FIFO data structure */
         reset_fifo_frame_structure(fifo);
 
-        /* Read FIFO data */
-        rslt = bmi08a_get_regs(addr, fifo->data, fifo->length, dev);
+        if (dev->intf == BMI08X_SPI_INTF)
+        {
+            /* SPI mask added */
+            addr = addr | BMI08X_SPI_RD_MASK;
+        }
+
+        /* Read available fifo length */
+        rslt = bmi08a_get_fifo_length(&fifo_length, dev);
+
+        if (rslt == BMI08X_OK)
+        {
+            fifo->length = fifo_length + dev->dummy_byte;
+
+            /* Read FIFO data */
+            dev->intf_rslt = dev->read(addr, fifo->data, (uint32_t)fifo->length, dev->intf_ptr_accel);
+
+            /* If interface read fails, update rslt variable with communication failure */
+            if (dev->intf_rslt != BMI08X_INTF_RET_SUCCESS)
+            {
+                rslt = BMI08X_E_COM_FAIL;
+            }
+        }
+
         if (rslt == BMI08X_OK)
         {
             /* Get the set FIFO frame configurations */
@@ -1804,6 +1725,15 @@ int8_t bmi08a_extract_accel(struct bmi08x_sensor_data *accel_data,
     rslt = null_ptr_check(dev);
     if ((rslt == BMI08X_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 mode */
         rslt = extract_acc_header_mode(accel_data, accel_length, fifo);
     }
@@ -2070,7 +2000,7 @@ static int8_t null_ptr_check(const struct bmi08x_dev *dev)
     int8_t rslt;
 
     if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL) ||
-        (dev->intf_ptr_accel == NULL) || (dev->intf_ptr_gyro == NULL))
+        (dev->intf_ptr_accel == NULL))
     {
         /* Device structure pointer is not valid */
         rslt = BMI08X_E_NULL_PTR;
@@ -2091,8 +2021,7 @@ static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct
 {
     int8_t rslt = BMI08X_OK;
     uint16_t index;
-    uint32_t temp_len = len + dev->dummy_byte;
-    uint8_t temp_buff[temp_len];
+    uint8_t temp_buff[BMI08X_MAX_LEN];
 
     if (dev->intf == BMI08X_SPI_INTF)
     {
@@ -2101,7 +2030,7 @@ static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct
     }
 
     /* Read the data from the register */
-    dev->intf_rslt = dev->read(reg_addr, temp_buff, temp_len, dev->intf_ptr_accel);
+    dev->intf_rslt = dev->read(reg_addr, temp_buff, (len + dev->dummy_byte), dev->intf_ptr_accel);
 
     if (dev->intf_rslt == BMI08X_INTF_RET_SUCCESS)
     {
@@ -2518,7 +2447,7 @@ static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi08x_fifo_fram
     int8_t rslt = BMI08X_OK;
 
     /* Validate data index */
-    if ((*data_index) >= fifo->length)
+    if (((*data_index) + BMI08X_FIFO_SKIP_FRM_LENGTH) > fifo->length)
     {
         /* Update the data index to the last byte */
         (*data_index) = fifo->length;
@@ -2604,7 +2533,7 @@ static int8_t unpack_accel_frame(struct bmi08x_sensor_data *acc,
         case BMI08X_FIFO_HEADER_ACC_FRM:
 
             /* Partially read, then skip the data */
-            if (((*idx) + fifo->acc_frm_len) > fifo->length)
+            if (((*idx) + BMI08X_FIFO_ACCEL_LENGTH) > fifo->length)
             {
                 /* Update the data index as complete*/
                 (*idx) = fifo->length;
@@ -2901,4 +2830,86 @@ static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_c
     return rslt;
 }
 
+/*
+ * @brief This API is used to write the binary configuration in the sensor
+ */
+static int8_t write_config_file(struct bmi08x_dev *dev)
+{
+    int8_t rslt;
+
+    /* Config loading disable */
+    uint8_t config_load = BMI08X_DISABLE;
+
+    /* APS disable */
+    uint8_t aps_disable = BMI08X_DISABLE;
+
+    uint16_t index = 0;
+    uint8_t reg_data = 0;
+
+    /* Check for null pointer in the device structure */
+    rslt = null_ptr_check(dev);
+
+    /* Check if config file pointer is not null */
+    if ((rslt == BMI08X_OK) && (dev->config_file_ptr != NULL))
+    {
+        /* Check whether the read/write length is valid */
+        if (dev->read_write_len > 0)
+        {
+            /* Disable advanced power save mode */
+            rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_PWR_CONF, &aps_disable, 1, dev);
+
+            if (rslt == BMI08X_OK)
+            {
+                /* Wait until APS disable is set. Refer the data-sheet for more information */
+                dev->delay_us(450, dev->intf_ptr_accel);
+
+                /* Disable config loading */
+                rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_INIT_CTRL, &config_load, 1, dev);
+            }
+
+            if (rslt == BMI08X_OK)
+            {
+                for (index = 0; index < BMI08X_CONFIG_STREAM_SIZE;
+                     index += dev->read_write_len)
+                {
+                    /* Write the config stream */
+                    rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev);
+                }
+
+                if (rslt == BMI08X_OK)
+                {
+                    /* Enable config loading and FIFO mode */
+                    config_load = BMI08X_ENABLE;
+
+                    rslt = bmi08a_set_regs(BMI08X_REG_ACCEL_INIT_CTRL, &config_load, 1, dev);
+
+                    if (rslt == BMI08X_OK)
+                    {
+                        /* Wait till ASIC is initialized. Refer the data-sheet for more information */
+                        dev->delay_us(BMI08X_MS_TO_US(BMI08X_ASIC_INIT_TIME_MS), dev->intf_ptr_accel);
+
+                        /* Check for config initialization status (1 = OK)*/
+                        rslt = bmi08a_get_regs(BMI08X_REG_ACCEL_INTERNAL_STAT, &reg_data, 1, dev);
+                    }
+                }
+
+                if (rslt == BMI08X_OK && reg_data != 1)
+                {
+                    rslt = BMI08X_E_CONFIG_STREAM_ERROR;
+                }
+            }
+        }
+        else
+        {
+            rslt = BMI08X_E_RD_WR_LENGTH_INVALID;
+        }
+    }
+    else
+    {
+        rslt = BMI08X_E_NULL_PTR;
+    }
+
+    return rslt;
+}
+
 /*! @endcond */
diff --git a/bmi08g.c b/bmi08g.c
index e0812eb..589e801 100644
--- a/bmi08g.c
+++ b/bmi08g.c
@@ -1,40 +1,40 @@
 /**
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * BSD-3-Clause
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- *    contributors may be used to endorse or promote products derived from
- *    this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file       bmi08g.c
- * @date       2020-12-11
- * @version    v1.5.5
- *
- */
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi08g.c
+* @date       2021-06-22
+* @version    v1.5.7
+*
+*/
 
 /*! \file bmi08g.c
  * \brief Sensor Driver for BMI08X family of sensors */
@@ -906,7 +906,7 @@ static int8_t null_ptr_check(const struct bmi08x_dev *dev)
     int8_t rslt;
 
     if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL) ||
-        (dev->intf_ptr_accel == NULL) || (dev->intf_ptr_gyro == NULL))
+        (dev->intf_ptr_gyro == NULL))
     {
         /* Device structure pointer is not valid */
         rslt = BMI08X_E_NULL_PTR;
diff --git a/bmi08x.h b/bmi08x.h
index a69a414..5ecdd95 100644
--- a/bmi08x.h
+++ b/bmi08x.h
@@ -1,40 +1,40 @@
 /**
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
- *
- * BSD-3-Clause
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- *    contributors may be used to endorse or promote products derived from
- *    this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file       bmi08x.h
- * @date       2020-12-11
- * @version    v1.5.5
- *
- */
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
+*
+* BSD-3-Clause
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the
+*    documentation and/or other materials provided with the distribution.
+*
+* 3. Neither the name of the copyright holder nor the names of its
+*    contributors may be used to endorse or promote products derived from
+*    this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+* @file       bmi08x.h
+* @date       2021-06-22
+* @version    v1.5.7
+*
+*/
 
 /*! \file bmi08x.h
  * \brief Sensor Driver for BMI08x family of sensors */
@@ -93,23 +93,6 @@ int8_t bmi08a_init(struct bmi08x_dev *dev);
  * @brief Uploads config file onto the device
  */
 
-/*!
- * \ingroup bmi08aApiConfig
- * \page bmi08a_api_bmi08a_write_config_file bmi08a_write_config_file
- * \code
- * int8_t bmi088_write_config_file(struct bmi08x_dev *dev);
- * \endcode
- * @details This API is used to write the binary configuration in the sensor
- *
- *  @param[in] dev : Structure instance of bmi08x_dev.
- *
- * @return Result of API execution status
- * @retval 0 -> Success
- * @retval < 0 -> Fail
- *
- */
-int8_t bmi08a_write_config_file(struct bmi08x_dev *dev);
-
 /*!
  * \ingroup bmi08aApiConfig
  * \page bmi08a_api_bmi08a_load_config_file bmi08a_load_config_file
diff --git a/bmi08x_defs.h b/bmi08x_defs.h
index 327496c..30aae7d 100644
--- a/bmi08x_defs.h
+++ b/bmi08x_defs.h
@@ -1,5 +1,5 @@
 /**
-* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
 *
 * BSD-3-Clause
 *
@@ -31,8 +31,8 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * @file       bmi08x_defs.h
-* @date       2020-12-11
-* @version    v1.5.5
+* @date       2021-06-22
+* @version    v1.5.7
 *
 */
 
@@ -231,9 +231,9 @@
 #define BMI08X_GYRO_FIFO_FULL_INT                UINT8_C(0x10)
 
 /**\name    Accel Bandwidth */
-#define BMI08X_ACCEL_BW_OSR4                     UINT8_C(0x00)
-#define BMI08X_ACCEL_BW_OSR2                     UINT8_C(0x01)
-#define BMI08X_ACCEL_BW_NORMAL                   UINT8_C(0x02)
+#define BMI08X_ACCEL_BW_OSR4                     UINT8_C(0x08)
+#define BMI08X_ACCEL_BW_OSR2                     UINT8_C(0x09)
+#define BMI08X_ACCEL_BW_NORMAL                   UINT8_C(0x0A)
 
 /**\name    BMI085 Accel Range */
 #define BMI085_ACCEL_RANGE_2G                    UINT8_C(0x00)
@@ -297,7 +297,7 @@
 
 /**\name    Mask definitions for odr, bandwidth and range */
 #define BMI08X_ACCEL_ODR_MASK                    UINT8_C(0x0F)
-#define BMI08X_ACCEL_BW_MASK                     UINT8_C(0x70)
+#define BMI08X_ACCEL_BW_MASK                     UINT8_C(0xF0)
 #define BMI08X_ACCEL_RANGE_MASK                  UINT8_C(0x03)
 
 /**\name    Position definitions for odr, bandwidth and range */
@@ -571,10 +571,16 @@
 #define BMI08X_DISABLE                           UINT8_C(0)
 #define BMI08X_ENABLE                            UINT8_C(1)
 
-/*! @name To define warnings for FIFO activity */
+/**\name  To define warnings for FIFO activity */
 #define BMI08X_W_FIFO_EMPTY                      INT8_C(1)
 #define BMI08X_W_PARTIAL_READ                    INT8_C(2)
 
+/**\name  Maximum length to read */
+#define BMI08X_MAX_LEN                           UINT8_C(128)
+
+/**\name  Sensortime resolution in seconds */
+#define BMI08X_SENSORTIME_RESOLUTION             0.0000390625f
+
 /**\name    Constant values macros */
 #define BMI08X_SENSOR_DATA_SYNC_TIME_MS          UINT8_C(1)
 #define BMI08X_DELAY_BETWEEN_WRITES_MS           UINT8_C(1)
@@ -1067,12 +1073,6 @@ struct bmi08x_fifo_frame
     /*! Water-mark level for water-mark interrupt */
     uint16_t wm_lvl;
 
-    /*! Accelerometer frame length */
-    uint8_t acc_frm_len;
-
-    /*! Gyro frame length */
-    uint8_t gyr_frm_len;
-
     /*! FIFO accelerometer configurations */
     struct bmi08x_accel_fifo_config acc_fifo_conf;
 
diff --git a/examples/accel_fifo_full/accel_fifo_full.c b/examples/accel_fifo_full/accel_fifo_full.c
index 3dfd5c4..251f058 100644
--- a/examples/accel_fifo_full/accel_fifo_full.c
+++ b/examples/accel_fifo_full/accel_fifo_full.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    accel_fifo_full.c
- * @brief   Example file how to read bmi08x accel FIFO full data
- *
  */
 
 /*********************************************************************/
@@ -83,6 +79,13 @@ static int8_t init_bmi08x(void)
         bmi08x_error_codes_print_result("bmi08g_init", rslt);
     }
 
+    if (rslt == BMI08X_OK)
+    {
+        printf("Uploading config file !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+    }
+
     if (rslt == BMI08X_OK)
     {
         bmi08xdev.accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ;
@@ -101,11 +104,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_250_DPS;
@@ -114,11 +115,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
     }
 
     return rslt;
@@ -235,10 +234,6 @@ int main(void)
 
         if (rslt == BMI08X_OK)
         {
-            /* Update FIFO structure */
-            fifo_frame.data = fifo_data;
-            fifo_frame.length = BMI08X_ACC_FIFO_RAW_DATA_USER_LENGTH;
-
             config.accel_en = BMI08X_ENABLE;
 
             /* Set FIFO configuration by enabling accelerometer */
@@ -254,6 +249,10 @@ int main(void)
                 {
                     printf("\nIteration : %d\n", try);
 
+                    /* Update FIFO structure */
+                    fifo_frame.data = fifo_data;
+                    fifo_frame.length = BMI08X_ACC_FIFO_RAW_DATA_USER_LENGTH;
+
                     accel_length = BMI08X_ACC_FIFO_FULL_EXTRACTED_DATA_FRAME_COUNT;
 
                     rslt = bmi08a_get_fifo_length(&fifo_length, &bmi08xdev);
@@ -266,9 +265,6 @@ int main(void)
 
                     if (rslt == BMI08X_OK)
                     {
-                        /* Delay to read FIFO with microcontroller */
-                        bmi08xdev.delay_us(1000, bmi08xdev.intf_ptr_accel);
-
                         /* Read FIFO data */
                         rslt = bmi08a_read_fifo_data(&fifo_frame, &bmi08xdev);
                         bmi08x_error_codes_print_result("bmi08a_read_fifo_data", rslt);
@@ -292,7 +288,7 @@ int main(void)
                         rslt = bmi08a_get_sensor_time(&bmi08xdev, &sensor_time);
                         bmi08x_error_codes_print_result("bmi08a_get_sensor_time", rslt);
 
-                        printf("Sensor time : %lu\n", sensor_time);
+                        printf("Sensor time : %.4lf   s\n", (sensor_time * BMI08X_SENSORTIME_RESOLUTION));
                     }
 
                     try++;
diff --git a/examples/accel_fifo_watermark/accel_fifo_watermark.c b/examples/accel_fifo_watermark/accel_fifo_watermark.c
index 3be38ad..6e8cd36 100644
--- a/examples/accel_fifo_watermark/accel_fifo_watermark.c
+++ b/examples/accel_fifo_watermark/accel_fifo_watermark.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    accel_fifo_watermark.c
- * @brief   Example file how to read bmi08x accel FIFO watermark data
- *
  */
 
 /*********************************************************************/
@@ -90,6 +86,13 @@ static int8_t init_bmi08x(void)
         bmi08x_error_codes_print_result("bmi08g_init", rslt);
     }
 
+    if (rslt == BMI08X_OK)
+    {
+        printf("Uploading config file !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+    }
+
     if (rslt == BMI08X_OK)
     {
         bmi08xdev.accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ;
@@ -108,11 +111,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_250_DPS;
@@ -121,11 +122,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
     }
 
     return rslt;
@@ -248,10 +247,6 @@ int main(void)
             rslt = bmi08a_set_fifo_wm(BMI08X_ACC_FIFO_WATERMARK_LEVEL, &bmi08xdev);
             bmi08x_error_codes_print_result("bmi08a_set_fifo_wm", rslt);
 
-            /* Update FIFO structure */
-            fifo_frame.data = fifo_data;
-            fifo_frame.length = BMI08X_ACC_FIFO_RAW_DATA_USER_LENGTH;
-
             config.accel_en = BMI08X_ENABLE;
 
             /* Set FIFO configuration by enabling accelerometer */
@@ -267,6 +262,10 @@ int main(void)
                 {
                     printf("\nIteration : %d\n", try);
 
+                    /* Update FIFO structure */
+                    fifo_frame.data = fifo_data;
+                    fifo_frame.length = BMI08X_ACC_FIFO_RAW_DATA_USER_LENGTH;
+
                     accel_length = BMI08X_ACC_FIFO_WM_EXTRACTED_DATA_FRAME_COUNT;
 
                     rslt = bmi08a_get_fifo_length(&fifo_length, &bmi08xdev);
@@ -284,9 +283,6 @@ int main(void)
 
                     if (rslt == BMI08X_OK)
                     {
-                        /* Delay to read FIFO with microcontroller */
-                        bmi08xdev.delay_us(1000, bmi08xdev.intf_ptr_accel);
-
                         /* Read FIFO data */
                         rslt = bmi08a_read_fifo_data(&fifo_frame, &bmi08xdev);
                         bmi08x_error_codes_print_result("bmi08a_read_fifo_data", rslt);
@@ -310,7 +306,7 @@ int main(void)
                         rslt = bmi08a_get_sensor_time(&bmi08xdev, &sensor_time);
                         bmi08x_error_codes_print_result("bmi08a_get_sensor_time", rslt);
 
-                        printf("Sensor time : %lu\n", sensor_time);
+                        printf("Sensor time : %.4lf   s\n", (sensor_time * BMI08X_SENSORTIME_RESOLUTION));
                     }
 
                     try++;
diff --git a/examples/common/common.c b/examples/common/common.c
index bf635dd..43618da 100644
--- a/examples/common/common.c
+++ b/examples/common/common.c
@@ -1,5 +1,5 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
+ * Copyright (C) 2021 Bosch Sensortec GmbH. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
@@ -8,8 +8,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 
-#include "coines.h"
-#include "bmi08x_defs.h"
+#include "common.h"
 
 /******************************************************************************/
 /*!                       Macro definitions                                   */
@@ -110,9 +109,27 @@ int8_t bmi08x_interface_init(struct bmi08x_dev *bmi08x, uint8_t intf, uint8_t va
 
         if (result == COINES_SUCCESS)
         {
+            if ((board_info.shuttle_id == BMI085_SHUTTLE_ID) && (variant == BMI088_VARIANT))
+            {
+                printf(
+                    "! Warning - BMI085 sensor shuttle and BMI088 variant used \n ,"
+                    "This application will not support this combination \n");
+                exit(COINES_E_FAILURE);
+            }
+
+            if ((board_info.shuttle_id == BMI088_SHUTTLE_ID) && (variant == BMI085_VARIANT))
+            {
+                printf(
+                    "! Warning - BMI088 sensor shuttle and BMI085 variant used \n ,"
+                    "This application will not support this combination \n");
+                exit(COINES_E_FAILURE);
+            }
+
             if ((board_info.shuttle_id != BMI085_SHUTTLE_ID) && (board_info.shuttle_id != BMI088_SHUTTLE_ID))
             {
-                printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+                printf(
+                    "! Warning invalid sensor shuttle (neither BMI085 nor BMI088 used) \n ,"
+                    "This application will not support this sensor \n");
                 exit(COINES_E_FAILURE);
             }
         }
@@ -135,10 +152,7 @@ int8_t bmi08x_interface_init(struct bmi08x_dev *bmi08x, uint8_t intf, uint8_t va
             /* SDO pin is made low for selecting I2C address 0x76*/
             coines_set_pin_config(COINES_SHUTTLE_PIN_8, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
 
-            /* set the sensor interface as I2C with 400kHz speed
-             Use I2C Fast mode (400kHz) for reliable operation with high ODR/sampling time
-             See Readme.txt - NOTE section for details*/
-            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+            coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_STANDARD_MODE);
             coines_delay_msec(10);
 
             /* PS pin is made high for selecting I2C protocol (gyroscope)*/
@@ -246,6 +260,10 @@ void bmi08x_error_codes_print_result(const char api_name[], int8_t rslt)
         {
             printf("Error [%d] : Feature not supported\r\n", rslt);
         }
+        else if (rslt == BMI08X_W_FIFO_EMPTY)
+        {
+            printf("Warning [%d] : FIFO empty\r\n", rslt);
+        }
         else
         {
             printf("Error [%d] : Unknown error code\r\n", rslt);
@@ -260,5 +278,14 @@ void bmi08x_error_codes_print_result(const char api_name[], int8_t rslt)
  */
 void bmi08x_coines_deinit(void)
 {
+    fflush(stdout);
+
+    coines_set_shuttleboard_vdd_vddio_config(0, 0);
+    coines_delay_msec(100);
+
+    /* Coines interface reset */
+    coines_soft_reset();
+    coines_delay_msec(100);
+
     coines_close_comm_intf(COINES_COMM_INTF_USB);
 }
diff --git a/examples/common/common.h b/examples/common/common.h
index 96b5fe4..c5d23d4 100644
--- a/examples/common/common.h
+++ b/examples/common/common.h
@@ -1,5 +1,5 @@
 /**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ * Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  **/
@@ -13,6 +13,8 @@ extern "C" {
 #endif
 
 #include <stdio.h>
+
+#include "coines.h"
 #include "bmi08x_defs.h"
 
 /*!
diff --git a/examples/gyro_fifo_full/gyro_fifo_full.c b/examples/gyro_fifo_full/gyro_fifo_full.c
index 73de3d8..984739b 100644
--- a/examples/gyro_fifo_full/gyro_fifo_full.c
+++ b/examples/gyro_fifo_full/gyro_fifo_full.c
@@ -1,10 +1,7 @@
 /**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ * Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    gyro_fifo_full.c
- * @brief   Example file how to read bmi08x gyro FIFO watermark data
  */
 
 /******************************************************************************/
@@ -81,11 +78,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_32_ODR_100_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_125_DPS;
@@ -94,11 +89,10 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
+        coines_delay_msec(1);
     }
 
     return rslt;
@@ -237,9 +231,6 @@ int main(void)
                         rslt = bmi08g_get_fifo_length(&gyr_conf, &fifo);
                         bmi08x_error_codes_print_result("bmi08g_get_fifo_length", rslt);
 
-                        /* Delay to read FIFO with microcontroller */
-                        bmi08xdev.delay_us(1000, bmi08xdev.intf_ptr_gyro);
-
                         /* Read FIFO data */
                         rslt = bmi08g_read_fifo_data(&fifo, &bmi08xdev);
                         bmi08x_error_codes_print_result("bmi08g_read_fifo_data", rslt);
diff --git a/examples/gyro_fifo_watermark/gyro_fifo_watermark.c b/examples/gyro_fifo_watermark/gyro_fifo_watermark.c
index 5944785..eee6359 100644
--- a/examples/gyro_fifo_watermark/gyro_fifo_watermark.c
+++ b/examples/gyro_fifo_watermark/gyro_fifo_watermark.c
@@ -1,10 +1,7 @@
 /**\
- * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
+ * Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    gyro_fifo_watermark.c
- * @brief   Example file how to read bmi08x gyro FIFO watermark data
  */
 
 /******************************************************************************/
@@ -84,11 +81,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_32_ODR_100_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_125_DPS;
@@ -97,11 +92,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
     }
 
     return rslt;
@@ -249,9 +242,6 @@ int main(void)
                         rslt = bmi08g_get_fifo_length(&gyr_conf, &fifo);
                         bmi08x_error_codes_print_result("bmi08g_get_fifo_length", rslt);
 
-                        /* Delay to read FIFO with microcontroller */
-                        bmi08xdev.delay_us(1000, bmi08xdev.intf_ptr_gyro);
-
                         /* Read FIFO data */
                         rslt = bmi08g_read_fifo_data(&fifo, &bmi08xdev);
                         bmi08x_error_codes_print_result("bmi08g_read_fifo_data", rslt);
diff --git a/examples/interrupt_streaming_pc/interrupt_streaming_pc.c b/examples/interrupt_streaming_pc/interrupt_streaming_pc.c
index 3404a77..02e592b 100644
--- a/examples/interrupt_streaming_pc/interrupt_streaming_pc.c
+++ b/examples/interrupt_streaming_pc/interrupt_streaming_pc.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    interrupt_streaming.c
- * @brief   Example file to stream bmi08x sensor data using LIB COINES
- *
  */
 
 /*********************************************************************/
@@ -384,12 +380,18 @@ static int8_t init_bmi08x(void)
         bmi08x_error_codes_print_result("bmi08g_init", rslt);
     }
 
+    if (rslt == BMI08X_OK)
+    {
+        printf("Uploading config file !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+    }
+
     if (rslt == BMI08X_OK)
     {
         printf("BMI08x initialization success !\n");
         printf("Accel chip ID - 0x%x\n", bmi08xdev.accel_chip_id);
         printf("Gyro chip ID - 0x%x\n", bmi08xdev.gyro_chip_id);
-        coines_delay_msec(100);
 
         bmi08xdev.accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ;
 
@@ -407,11 +409,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_250_DPS;
@@ -420,11 +420,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         if ((rslt == BMI08X_OK) &&
             (bmi08xdev.accel_cfg.power == BMI08X_ACCEL_PM_SUSPEND &&
diff --git a/examples/polling_streaming_pc/polling_streaming_pc.c b/examples/polling_streaming_pc/polling_streaming_pc.c
index d791482..1acd8db 100644
--- a/examples/polling_streaming_pc/polling_streaming_pc.c
+++ b/examples/polling_streaming_pc/polling_streaming_pc.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    polling_streaming.c
- * @brief   Example file to stream bmi08x sensor data using LIB COINES
- *
  */
 
 /*********************************************************************/
@@ -302,8 +298,13 @@ static int8_t init_bmi08x(void)
 
     if (rslt == BMI08X_OK)
     {
-        coines_delay_msec(100);
+        printf("Uploading config file !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+    }
 
+    if (rslt == BMI08X_OK)
+    {
         bmi08xdev.accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ;
 
         if (bmi08xdev.variant == BMI085_VARIANT)
@@ -320,11 +321,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_250_DPS;
@@ -333,11 +332,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
     }
 
     return rslt;
diff --git a/examples/read_sensor_data/read_sensor_data.c b/examples/read_sensor_data/read_sensor_data.c
index 98f25d9..216062e 100644
--- a/examples/read_sensor_data/read_sensor_data.c
+++ b/examples/read_sensor_data/read_sensor_data.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    read_sensor_data.c
- * @brief   Example file how to read bmi08x sensor data using LIB COINES
- *
  */
 
 /*********************************************************************/
@@ -106,6 +102,13 @@ static int8_t init_bmi08x(void)
         bmi08x_error_codes_print_result("bmi08g_init", rslt);
     }
 
+    if (rslt == BMI08X_OK)
+    {
+        printf("Uploading config file !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+    }
+
     if (rslt == BMI08X_OK)
     {
         bmi08xdev.accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ;
@@ -124,11 +127,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08a_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08a_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08a_set_meas_conf", rslt);
-        coines_delay_msec(10);
 
         bmi08xdev.gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ;
         bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_250_DPS;
@@ -137,11 +138,9 @@ static int8_t init_bmi08x(void)
 
         rslt = bmi08g_set_power_mode(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_power_mode", rslt);
-        coines_delay_msec(10);
 
         rslt = bmi08g_set_meas_conf(&bmi08xdev);
         bmi08x_error_codes_print_result("bmi08g_set_meas_conf", rslt);
-        coines_delay_msec(10);
     }
 
     return rslt;
@@ -305,7 +304,6 @@ int main(void)
                     /* Print the data in m/s2. */
                     printf("\t  Acc_ms2_X = %4.2f,  Acc_ms2_Y = %4.2f,  Acc_ms2_Z = %4.2f\n", x, y, z);
 
-                    coines_delay_msec(10);
                     times_to_read = times_to_read + 1;
                 }
             }
@@ -340,7 +338,6 @@ int main(void)
                     /* Print the data in dps. */
                     printf("\t  Gyr_DPS_X = %4.2f  , Gyr_DPS_Y = %4.2f  , Gyr_DPS_Z = %4.2f\n", x, y, z);
 
-                    coines_delay_msec(10);
                     times_to_read = times_to_read + 1;
                 }
             }
diff --git a/examples/read_synchronized_data_mcu/read_synchronized_data_mcu.c b/examples/read_synchronized_data_mcu/read_synchronized_data_mcu.c
index 46e3728..9174433 100644
--- a/examples/read_synchronized_data_mcu/read_synchronized_data_mcu.c
+++ b/examples/read_synchronized_data_mcu/read_synchronized_data_mcu.c
@@ -1,11 +1,7 @@
 /**
- * Copyright (C) 2020 Bosch Sensortec GmbH
+ * Copyright (C) 2021 Bosch Sensortec GmbH
  *
  * SPDX-License-Identifier: BSD-3-Clause
- *
- * @file    read_synchronized_data_mcu.c
- * @brief   Example file how to read bmi08x sensor data using LIB COINES
- *
  */
 
 /*********************************************************************/
@@ -126,6 +122,10 @@ static int8_t init_bmi08x(void)
          To be set by the user */
         bmi08xdev.read_write_len = 32;
 
+        printf("Uploading BMI08X data synchronization feature config !\n");
+        rslt = bmi08a_load_config_file(&bmi08xdev);
+        bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
+
         /* Set accel power mode */
         bmi08xdev.accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE;
         rslt = bmi08a_set_power_mode(&bmi08xdev);
@@ -141,36 +141,27 @@ static int8_t init_bmi08x(void)
         if ((bmi08xdev.accel_cfg.power == BMI08X_ACCEL_PM_ACTIVE) &&
             (bmi08xdev.gyro_cfg.power == BMI08X_GYRO_PM_NORMAL))
         {
-            printf("Uploading BMI08X data synchronization feature config !\n");
-
             /* API uploads the bmi08x config file onto the device */
             if (rslt == BMI08X_OK)
             {
-                rslt = bmi08a_load_config_file(&bmi08xdev);
-                bmi08x_error_codes_print_result("bmi08a_load_config_file", rslt);
-
-                /* Wait for 150ms to enable the data synchronization --delay taken care inside the function */
-                if (rslt == BMI08X_OK)
+                /* Assign accel range setting */
+                if (bmi08xdev.variant == BMI085_VARIANT)
                 {
-                    /* Assign accel range setting */
-                    if (bmi08xdev.variant == BMI085_VARIANT)
-                    {
-                        bmi08xdev.accel_cfg.range = BMI085_ACCEL_RANGE_16G;
-                    }
-                    else if (bmi08xdev.variant == BMI088_VARIANT)
-                    {
-                        bmi08xdev.accel_cfg.range = BMI088_ACCEL_RANGE_24G;
-                    }
-
-                    /* Assign gyro range setting */
-                    bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_2000_DPS;
-
-                    /* Mode (0 = off, 1 = 400Hz, 2 = 1kHz, 3 = 2kHz) */
-                    sync_cfg.mode = BMI08X_ACCEL_DATA_SYNC_MODE_400HZ;
-
-                    rslt = bmi08a_configure_data_synchronization(sync_cfg, &bmi08xdev);
-                    bmi08x_error_codes_print_result("bmi08a_configure_data_synchronization", rslt);
+                    bmi08xdev.accel_cfg.range = BMI085_ACCEL_RANGE_16G;
                 }
+                else if (bmi08xdev.variant == BMI088_VARIANT)
+                {
+                    bmi08xdev.accel_cfg.range = BMI088_ACCEL_RANGE_24G;
+                }
+
+                /* Assign gyro range setting */
+                bmi08xdev.gyro_cfg.range = BMI08X_GYRO_RANGE_2000_DPS;
+
+                /* Mode (0 = off, 1 = 400Hz, 2 = 1kHz, 3 = 2kHz) */
+                sync_cfg.mode = BMI08X_ACCEL_DATA_SYNC_MODE_400HZ;
+
+                rslt = bmi08a_configure_data_synchronization(sync_cfg, &bmi08xdev);
+                bmi08x_error_codes_print_result("bmi08a_configure_data_synchronization", rslt);
             }
 
             if (rslt == BMI08X_OK)