diff --git a/README.md b/README.md
index b2cad4f..b850da1 100644
--- a/README.md
+++ b/README.md
@@ -7,9 +7,9 @@ The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
 ## Version
 File          | Version | Date
 --------------|---------|---------------
-bmi160.c      |   3.6.1 |   23 Aug 2017
-bmi160.h      |   3.6.1 |   23 Aug 2017
-bmi160_defs.h |   3.6.1 |   23 Aug 2017
+bmi160.c      |   3.7.2 |   16 Oct 2017
+bmi160.h      |   3.7.2 |   16 Oct 2017
+bmi160_defs.h |   3.7.2 |   16 Oct 2017
 
 ## Integration details
 * Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
@@ -192,7 +192,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
 
 /* Select the Interrupt type */
 int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
-
 /* Select the interrupt channel/pin settings */
 int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
 int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
@@ -224,7 +223,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
 
 /* Select the Interrupt type */
 int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
-
 /* Select the interrupt channel/pin settings */
 int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
 int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
@@ -256,7 +254,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
 
 /* Select the Interrupt type */
 int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
-
 /* Select the interrupt channel/pin settings */
 int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
 int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
@@ -293,6 +290,33 @@ uint16_t step_count = 0;//stores the step counter value
 
 rslt = bmi160_read_step_counter(&step_count,  &sensor);
 ```
+
+### Unmapping Interrupt
+#### Example for unmapping Step Detector Interrupt
+``` c
+struct bmi160_intr_sett int_config;
+
+/* Deselect the Interrupt channel/pin */
+int_config.int_channel = BMI160_INT_CHANNEL_NONE;
+/* Select the Interrupt type */
+int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
+/* Set the Step Detector interrupt */
+bmi160_set_intr_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
+```
+
+### Reading interrupt status
+#### Example for reading interrupt status for step detector
+``` c
+union bmi160_int_status interrupt;
+enum bmi160_int_status_sel int_status_sel;
+
+/* Interrupt status selection to read all interrupts */
+int_status_sel = BMI160_INT_STATUS_ALL;
+rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
+if (interrupt.bit.step)
+	printf("Step detector interrupt occured\n");
+```
+
 ### Configuring the auxiliary sensor BMM150
 It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.
 
@@ -391,7 +415,8 @@ which helps in creating less latency fusion data
 
 ```
 /* Initialize the Auxiliary BMM150 following the above code 
-   until setting the power mode and preset mode */
+ * until setting the power mode (Set the power mode as forced mode)
+ * and preset mode */
 
 	/* In BMM150 Mag data starts from register address 0x42 */
 	uint8_t aux_addr = 0x42;
@@ -400,13 +425,13 @@ which helps in creating less latency fusion data
 	
 	uint8_t index;
 		
-	/* Set the auxiliary sensor to auto mode */
-	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
-	
 	/* Configure the Auxiliary sensor either in auto/manual modes and set the 
 	polling frequency for the Auxiliary interface */	
 	sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
 	rslt = bmi160_config_aux_mode(&sensor)
+	
+	/* Set the auxiliary sensor to auto mode */
+	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
 
 	/* Reading data from BMI160 data registers */
 	rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
@@ -414,17 +439,136 @@ which helps in creating less latency fusion data
 	printf("\n RAW DATA ");
 	for(index = 0 ; index < 8 ; index++)
 	{
-		printf("\n MAG DATA[index] : %d ", index,mag_data[index]);
+		printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
 	}
 	
 	/* Compensating the raw mag data available from the BMM150 API */
-	rslt = bmm150_aux_mag_data(mag_data,&bmm150);
+	rslt = bmm150_aux_mag_data(mag_data, &bmm150);
 	
 	printf("\n COMPENSATED DATA ");
 	printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
 	
 
 ```
+
+### Auxiliary FIFO data parsing
+The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for 
+using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO
+
+```
+/* Initialize the Aux BMM150 following the above 
+ * code and by creating the Wrapper functions */
+
+	int8_t rslt = 0;
+	uint8_t aux_instance = 0;
+	uint16_t fifo_cnt = 0;
+	uint8_t auto_mode_addr;
+	uint8_t i;
+
+	/* Setup and configure the FIFO buffer */
+	/* Declare memory to store the raw FIFO buffer information */
+	uint8_t fifo_buff[1000] = {0};
+
+	/* Modify the FIFO buffer instance and link to the device instance */
+	struct bmi160_fifo_frame fifo_frame;
+	fifo_frame.data = fifo_buff;
+	fifo_frame.length = 1000;
+	dev->fifo = &fifo_frame;
+
+	/* Declare instances of the sensor data structure to store the parsed FIFO data */
+	struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
+
+	rslt = bmi160_init(dev);
+	printf("\n BMI160 chip ID is : %d ",dev->chip_id);
+
+	rslt = bmi160_aux_init(dev);
+
+	rslt = bmm150_init(&bmm150);
+	printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
+
+	bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
+	rslt = bmm150_set_presetmode(&bmm150);
+
+	bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
+	rslt = bmm150_set_op_mode(&bmm150);
+
+	/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
+	auto_mode_addr = 0x42;
+	printf("\n ENTERING AUX. AUTO MODE ");
+	dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
+	rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
+
+
+	/* Disable other FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
+
+	/* Enable the required FIFO settings */
+	rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
+
+	/* Delay for the FIFO to get filled */
+	dev->delay_ms(400);
+
+
+	printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
+	rslt = bmi160_get_fifo_data(dev);
+	printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
+
+	/* Print the raw FIFO data obtained */
+	for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
+		printf("\n FIFO DATA [%d] IS : %x  ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Set the number of required sensor data instances */
+	aux_instance = 150;
+
+	/* Extract the aux data , 1frame = 8 data bytes */
+	printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
+	rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
+	printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
+
+	/* Printing the raw aux data */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
+		printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
+	}
+
+	printf("\n\n----------------------------------------------------\n");
+
+	/* Compensate the raw mag data using BMM150 API */
+	for (i = 0; i < aux_instance; i++) {
+		printf("\n----------------------------------------------------");
+		printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
+					,aux_data[i].data[0],aux_data[i].data[1]
+					,aux_data[i].data[2],aux_data[i].data[3]
+					,aux_data[i].data[4],aux_data[i].data[5]
+					,aux_data[i].data[6],aux_data[i].data[7]);
+
+		/* Compensated mag data using BMM150 API */
+		rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
+
+		/* Printing the  Compensated mag data */
+		if (rslt == BMM150_OK) {
+			printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
+			printf("\n COMPENSATED DATA ");
+			printf("\n MAG DATA X : %d	Y : %d      Z : %d"
+				, bmm150.data.x, bmm150.data.y, bmm150.data.z);
+
+		} else {
+			printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
+		}
+		printf("\n----------------------------------------------------\n");
+	}
+
+```
+
 ## Self-test  
 #### Example for performing accel self test
 ```
@@ -644,4 +788,6 @@ int8_t write_offsets_nvm(struct bmi160_dev *dev)
 }
 ```
 
+
+
 ## Copyright (C) 2016 - 2017 Bosch Sensortec GmbH
\ No newline at end of file
diff --git a/bmi160.c b/bmi160.c
index 4a3114d..ff6570e 100644
--- a/bmi160.c
+++ b/bmi160.c
@@ -40,8 +40,8 @@
  * patent rights of the copyright holder.
  *
  * @file    bmi160.c
- * @date    23 Aug 2017
- * @version 3.6.1
+ * @date    16 Oct 2017
+ * @version 3.7.2
  * @brief
  *
  */
@@ -53,6 +53,25 @@
 
 #include "bmi160.h"
 
+/* Below look up table follows the enum bmi160_int_types.
+ * Hence any change should match to the enum bmi160_int_types
+ */
+const uint8_t int_mask_lookup_table[13] = {
+		BMI160_INT1_SLOPE_MASK,
+		BMI160_INT1_SLOPE_MASK,
+		BMI160_INT2_LOW_STEP_DETECT_MASK,
+		BMI160_INT1_DOUBLE_TAP_MASK,
+		BMI160_INT1_SINGLE_TAP_MASK,
+		BMI160_INT1_ORIENT_MASK,
+		BMI160_INT1_FLAT_MASK,
+		BMI160_INT1_HIGH_G_MASK,
+		BMI160_INT1_LOW_G_MASK,
+		BMI160_INT1_NO_MOTION_MASK,
+		BMI160_INT2_DATA_READY_MASK,
+		BMI160_INT2_FIFO_FULL_MASK,
+		BMI160_INT2_FIFO_WM_MASK
+};
+
 /*********************************************************************/
 /* Static function declarations */
 
@@ -425,20 +444,6 @@ static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cf
  */
 static int8_t disable_sig_motion_int(const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to any-motion or
- * sig-motion interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_sig_any_motion(
-	const struct bmi160_int_settg *int_config,
-	const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the source of data(filter & pre-filter)
  * for any-motion interrupt.
@@ -492,17 +497,6 @@ static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_con
  */
 static int8_t enable_data_ready_int(const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the data ready interrupt to INT pin as per selection.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API enables the no motion/slow motion interrupt.
  *
@@ -532,17 +526,6 @@ static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_conf
 					const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
 					const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to no motion/slow interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_no_motion(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the source of interrupt for no motion.
  *
@@ -639,17 +622,6 @@ static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *
 static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg,
 					const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to low-g or step detector interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_low_step_detect(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the step detector parameter.
  *
@@ -691,17 +663,6 @@ static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
 					const struct bmi160_acc_tap_int_cfg *tap_int_cfg,
 					const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to single or double tap interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: Structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_tap(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the source of data(filter & pre-filter)
  * for tap interrupt.
@@ -797,17 +758,6 @@ static int8_t extract_aux_read(uint16_t map_len, uint8_t reg_addr, uint8_t *aux_
  */
 static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to orientation interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_orient(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the necessary setting of orientation interrupt.
  *
@@ -831,17 +781,6 @@ static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *or
  */
 static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to flat interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_flat(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the necessary setting of flat interrupt.
  *
@@ -898,17 +837,6 @@ static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_
  */
 static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to High-g interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_high_g(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API configure the source of data(filter & pre-filter)
  * for high-g interrupt.
@@ -1069,17 +997,6 @@ static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const
  */
 static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to FIFO FULL interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_fifo_full(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
  *  watermark interrupt is fired, when the FIFO fill level is above a fifo
@@ -1104,17 +1021,6 @@ static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config,
  */
 static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
 
-/*!
- * @brief This API maps the INT pin to FIFO watermark interrupt.
- *
- * @param[in] int_config	: Structure instance of bmi160_int_settg.
- * @param[in] dev		: structure instance of bmi160_dev.
- *
- * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
- */
-static int8_t map_int_pin_to_fifo_wtm(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
-
 /*!
  * @brief This API is used to reset the FIFO related configurations
  *  in the fifo_frame structure.
@@ -1265,6 +1171,67 @@ static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data, uint16_t data
 static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length,
 					const struct bmi160_dev *dev);
 
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ *
+ *  @param[out] data_index       : The start index for parsing data
+ *  @param[out] data_read_length : No of bytes to be parsed from FIFO buffer
+ *  @param[in] aux_frame_count   : Number of Aux data frames to be read
+ *  @param[in] dev               : Structure instance of bmi160_dev.
+ */
+static void get_aux_len_to_parse(uint16_t *data_index, uint16_t *data_read_length, const uint8_t *aux_frame_count,
+					const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ *
+ *  @param[in,out] aux_data	: structure instance of sensor data
+ *  @param[in,out] idx		: Index value of number of bytes parsed
+ *  @param[in,out] aux_index	: Index value of gyro data
+ *                                (x,y,z axes) frames parsed
+ *  @param[in] frame_info       : It consists of either fifo_data_enable
+ *                                parameter in header-less mode or
+ *                                frame header data in header mode
+ *  @param[in] dev		: structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data, uint16_t *idx, uint8_t *aux_index, uint8_t frame_info,
+				const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ *
+ * @param[in,out] aux_data	    : structure instance of sensor data
+ * @param[in,out] data_start_index  : Index value of number of bytes parsed
+ * @param[in] dev		    : structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success  / -ve value -> Error
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index,
+				const struct bmi160_dev *dev);
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ *
+ *  @param[in,out] aux_data     : Structure instance of sensor data
+ *  @param[in,out] aux_length   : Number of aux frames
+ *  @param[in] dev              : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length,
+					const struct bmi160_dev *dev);
+
 /*!
  *  @brief This API checks the presence of non-valid frames in the read fifo data.
  *
@@ -1354,8 +1321,34 @@ static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, st
  */
 static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev);
 
-/*********************** User function definitions ****************************/
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *				configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
 
+/*!
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ *
+ *  @param[in] int_config     : Structure instance of bmi160_int_settg which
+ *                              stores the interrupt type and interrupt channel
+ *				configurations to map/unmap the interrupt pins
+ *  @param[in] dev            : Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval zero -> Success  / -ve value -> Error
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev);
+/*********************** User function definitions ****************************/
 /*!
  * @brief This API reads the data from the given register address
  * of sensor.
@@ -1447,10 +1440,8 @@ int8_t bmi160_init(struct bmi160_dev *dev)
 		if ((rslt == BMI160_OK) && (chip_id == BMI160_CHIP_ID)) {
 			dev->chip_id = chip_id;
 			dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
-			/*Soft reset*/
+			/* Soft reset */
 			rslt = bmi160_soft_reset(dev);
-			if (rslt == BMI160_OK)
-				default_param_settg(dev);
 		} else {
 			rslt = BMI160_E_DEV_NOT_FOUND;
 		}
@@ -1463,7 +1454,7 @@ int8_t bmi160_init(struct bmi160_dev *dev)
  * @brief This API resets and restarts the device.
  * All register values are overwritten with default parameters.
  */
-int8_t bmi160_soft_reset(const struct bmi160_dev *dev)
+int8_t bmi160_soft_reset(struct bmi160_dev *dev)
 {
 	int8_t rslt;
 	uint8_t data = BMI160_SOFT_RESET_CMD;
@@ -1480,6 +1471,10 @@ int8_t bmi160_soft_reset(const struct bmi160_dev *dev)
 			if SPI is used */
 			rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
 		}
+		if (rslt == BMI160_OK) {
+			/* Update the default parameters */
+			default_param_settg(dev);
+		}
 	}
 
 	return rslt;
@@ -1797,7 +1792,6 @@ int8_t bmi160_aux_init(const struct bmi160_dev *dev)
 int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev)
 {
 	int8_t rslt;
-
 	/* Null-pointer check */
 	rslt = null_ptr_check(dev);
 
@@ -1809,16 +1803,18 @@ int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev)
 			rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev);
 			dev->delay_ms(BMI160_AUX_COM_DELAY);
 			if (rslt == BMI160_OK) {
-				/* Disable the aux. manual mode, i.e aux.
-				sensor is in auto-mode (data-mode) */
-				dev->aux_cfg.manual_enable = BMI160_DISABLE;
-				rslt = bmi160_config_aux_mode(dev);
-				/* Auxiliary sensor data is obtained
-				   in auto mode from this point */
-				if (rslt == BMI160_OK) {
-					/* Configure the polling ODR for
-					auxiliary sensor */
+				/* Configure the polling ODR for
+				auxiliary sensor */
 					rslt = config_aux_odr(dev);
+
+				if (rslt == BMI160_OK) {
+					/* Disable the aux. manual mode, i.e aux.
+					 * sensor is in auto-mode (data-mode) */
+					dev->aux_cfg.manual_enable = BMI160_DISABLE;
+					rslt = bmi160_config_aux_mode(dev);
+
+					/*  Auxiliary sensor data is obtained
+					 * in auto mode from this point */
 				}
 			}
 		} else {
@@ -1999,8 +1995,8 @@ int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev)
 	return rslt;
 }
 
-/*! @brief This API sets the FIFO configuration in the sensor.
- *
+/*!
+ * @brief This API sets the FIFO configuration in the sensor.
  */
 int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev)
 {
@@ -2169,6 +2165,46 @@ int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_l
 	return rslt;
 }
 
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the "aux_data" structure instance.
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev)
+{
+	int8_t rslt = 0;
+	uint16_t data_index = 0;
+	uint16_t data_read_length = 0;
+	uint8_t aux_index = 0;
+	uint8_t fifo_data_enable = 0;
+
+	if ((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL)) {
+		rslt = BMI160_E_NULL_PTR;
+	} else {
+		/* Parsing the FIFO data in header-less mode */
+		if (dev->fifo->fifo_header_enable == 0) {
+			/* Number of bytes to be parsed from FIFO */
+			get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev);
+			for (; data_index < data_read_length ;) {
+				/* Check for the availability of next two
+				 * bytes of FIFO data */
+				check_frame_validity(&data_index, dev);
+				fifo_data_enable = dev->fifo->fifo_data_enable;
+				unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev);
+			}
+			/* update number of aux data read */
+			*aux_len = aux_index;
+			/* update the aux byte index */
+			dev->fifo->aux_byte_start_idx = data_index;
+		} else {
+			/* Parsing the FIFO data in header mode */
+			extract_aux_header_mode(aux_data, aux_len, dev);
+		}
+	}
+
+	return rslt;
+}
+
 /*!
  *  @brief This API starts the FOC of accel and gyro
  *
@@ -2356,6 +2392,31 @@ int8_t bmi160_update_nvm(struct bmi160_dev const *dev)
 	return rslt;
 }
 
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+				union bmi160_int_status *int_status, struct bmi160_dev const *dev)
+{
+	int8_t rslt = 0;
+
+	/* To get the status of all interrupts */
+	if (int_status_sel == BMI160_INT_STATUS_ALL) {
+		rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev);
+	} else {
+		if (int_status_sel & BMI160_INT_STATUS_0)
+			rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
+		if (int_status_sel & BMI160_INT_STATUS_1)
+			rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
+		if (int_status_sel & BMI160_INT_STATUS_2)
+			rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
+		if (int_status_sel & BMI160_INT_STATUS_3)
+			rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
+	}
+
+	return rslt;
+}
+
 /*********************** Local function definitions ***************************/
 
 /*!
@@ -2434,7 +2495,7 @@ static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_c
 			rslt = set_intr_pin_config(int_config, dev);
 
 			if (rslt == BMI160_OK)
-				rslt = map_data_ready_int(int_config, dev);
+				rslt = map_hardware_interrupt(int_config, dev);
 		}
 	}
 
@@ -2518,7 +2579,7 @@ static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, con
 			/* Configure Interrupt pins */
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK) {
-				rslt = map_int_pin_to_low_step_detect(int_config, dev);
+				rslt = map_feature_interrupt(int_config, dev);
 				if (rslt == BMI160_OK)
 					rslt = config_step_detect(step_detect_int_cfg, dev);
 			}
@@ -2551,7 +2612,7 @@ static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, con
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK) {
 				/* map INT pin to orient interrupt */
-				rslt = map_int_pin_to_orient(int_config, dev);
+				rslt = map_feature_interrupt(int_config, dev);
 				if (rslt == BMI160_OK)
 					/* configure the
 					 * orientation setting*/
@@ -2587,7 +2648,7 @@ static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, con
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK) {
 				/* map INT pin to flat interrupt */
-				rslt = map_int_pin_to_flat(int_config, dev);
+				rslt = map_feature_interrupt(int_config, dev);
 				if (rslt == BMI160_OK)
 					/* configure the flat setting*/
 					rslt = config_flat_int_settg(flat_detect_int, dev);
@@ -2622,7 +2683,7 @@ static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const str
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK) {
 				/* Map INT pin to low-g interrupt */
-				rslt = map_int_pin_to_low_step_detect(int_config, dev);
+				rslt = map_feature_interrupt(int_config, dev);
 				if (rslt == BMI160_OK) {
 					/* configure the data source
 					 * for low-g interrupt*/
@@ -2663,7 +2724,7 @@ static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const st
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK) {
 				/* Map INT pin to high-g interrupt */
-				rslt = map_int_pin_to_high_g(int_config, dev);
+				rslt = map_feature_interrupt(int_config, dev);
 				if (rslt == BMI160_OK) {
 					/* configure the data source
 					* for high-g interrupt*/
@@ -3041,10 +3102,11 @@ static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev
 				rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev);
 		} else {
 			if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK) {
+
 				temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
 				/* disable under-sampling parameter
 				if already enabled */
-				*data = temp | 0x7F;
+				*data = temp;
 				/* Write data */
 				rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
 			}
@@ -3073,7 +3135,7 @@ static int8_t set_gyro_pwr(struct bmi160_dev *dev)
 				/* Delay of 81 ms */
 				dev->delay_ms(BMI160_GYRO_DELAY_MS);
 			} else if ((dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE)
-				&& (dev->accel_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
+				&& (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) {
 				/* This delay is required for transition from
 				fast-startup mode to normal mode */
 				dev->delay_ms(10);
@@ -3354,31 +3416,82 @@ static int8_t disable_sig_motion_int(const struct bmi160_dev *dev)
 }
 
 /*!
- * @brief This API maps the INT pin to any-motion or
- * sig-motion interrupt.
+ *  @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g,
+ *  Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins.
+ */
+static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+{
+	int8_t rslt;
+	uint8_t data[3] = {0, 0, 0};
+	uint8_t temp[3] = {0, 0, 0};
+
+	rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+
+	if (rslt == BMI160_OK) {
+		temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type];
+		temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type];
+
+		switch (int_config->int_channel) {
+		case BMI160_INT_CHANNEL_NONE:
+			data[0] = temp[0];
+			data[2] = temp[2];
+			break;
+		case BMI160_INT_CHANNEL_1:
+			data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+			data[2] = temp[2];
+			break;
+		case BMI160_INT_CHANNEL_2:
+			data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+			data[0] = temp[0];
+			break;
+		case BMI160_INT_CHANNEL_BOTH:
+			data[0] = temp[0] | int_mask_lookup_table[int_config->int_type];
+			data[2] = temp[2] | int_mask_lookup_table[int_config->int_type];
+			break;
+		default:
+			rslt = BMI160_E_OUT_OF_RANGE;
+		}
+		if (rslt == BMI160_OK)
+			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev);
+	}
+
+	return rslt;
+}
+
+/*!
+ *  @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full
+ *  and FIFO watermark interrupt.
  */
-static int8_t map_int_pin_to_sig_any_motion(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
+static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
 {
 	int8_t rslt;
 	uint8_t data = 0;
 	uint8_t temp = 0;
 
-	/* Configure Int Map register to map interrupt pin to
-	Slope/Any motion interrupt */
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_SLOPE_MASK;
-			data = temp | ((1 << 2) & BMI160_INT1_SLOPE_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_SLOPE_MASK;
-			data = temp | ((1 << 2) & BMI160_INT2_SLOPE_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
+	rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+
+	if (rslt == BMI160_OK) {
+		temp = data & ~int_mask_lookup_table[int_config->int_type];
+		temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4));
+		switch (int_config->int_channel) {
+		case BMI160_INT_CHANNEL_NONE:
+			data = temp;
+			break;
+		case BMI160_INT_CHANNEL_1:
+			data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+			break;
+		case BMI160_INT_CHANNEL_2:
+			data = temp | int_mask_lookup_table[int_config->int_type];
+			break;
+		case BMI160_INT_CHANNEL_BOTH:
+			data = temp | int_mask_lookup_table[int_config->int_type];
+			data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4);
+			break;
+		default:
+			rslt = BMI160_E_OUT_OF_RANGE;
 		}
+		if (rslt == BMI160_OK)
+			rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
 	}
 
 	return rslt;
@@ -3454,7 +3567,7 @@ static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_con
 	if (rslt == BMI160_OK) {
 		rslt = disable_sig_motion_int(dev);
 		if (rslt == BMI160_OK) {
-			rslt = map_int_pin_to_sig_any_motion(int_config, dev);
+			rslt = map_feature_interrupt(int_config, dev);
 			if (rslt == BMI160_OK) {
 				rslt = config_any_motion_src(any_motion_int_cfg, dev);
 				if (rslt == BMI160_OK)
@@ -3487,33 +3600,6 @@ static int8_t enable_data_ready_int(const struct bmi160_dev *dev)
 	return rslt;
 }
 
-/*!
- * @brief This API maps the data ready interrupt to INT pin as per selection.
- */
-static int8_t map_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-	/* Configure Map register to map interrupt pin to data ready interrupt*/
-	rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-
-	if (rslt == BMI160_OK) {
-		if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-			temp = data & ~BMI160_INT1_DATA_READY_MASK;
-			data = temp | ((1 << 7) & BMI160_INT1_DATA_READY_MASK);
-		} else {
-			temp = data & ~BMI160_INT2_DATA_READY_MASK;
-			data = temp | ((1 << 3) & BMI160_INT2_DATA_READY_MASK);
-		}
-		/* Writing data to Map 1 address */
-		rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	}
-
-	return rslt;
-}
-
 /*!
  * @brief This API enables the no motion/slow motion interrupt.
  */
@@ -3562,7 +3648,7 @@ static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_conf
 	/* Configure Interrupt pins */
 	rslt = set_intr_pin_config(int_config, dev);
 	if (rslt == BMI160_OK) {
-		rslt = map_int_pin_to_no_motion(int_config, dev);
+		rslt = map_feature_interrupt(int_config, dev);
 		if (rslt == BMI160_OK) {
 			rslt = config_no_motion_data_src(no_mot_int_cfg, dev);
 			if (rslt == BMI160_OK)
@@ -3573,40 +3659,9 @@ static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_conf
 	return rslt;
 }
 
+
 /*!
- * @brief This API maps the INT pin to no motion/slow interrupt.
- */
-static int8_t map_int_pin_to_no_motion(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t temp = 0;
-	uint8_t data = 0;
-
-	/* Configure Int Map register to map interrupt pin
-	 * to No motion interrupt */
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_NO_MOTION_MASK;
-			data = temp | ((1 << 3) & BMI160_INT1_NO_MOTION_MASK);
-			/* Write data to appropriate MAP address */
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_NO_MOTION_MASK;
-			data = temp | ((1 << 3) & BMI160_INT2_NO_MOTION_MASK);
-			/* Write data to appropriate MAP address */
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		}
-	}
-
-	return rslt;
-}
-
-/*!
- * @brief This API configure the source of interrupt for no motion.
+ * @brief This API configure the source of interrupt for no motion.
  */
 static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg,
 					const struct bmi160_dev *dev)
@@ -3714,7 +3769,7 @@ static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_con
 	/* Configure Interrupt pins */
 	rslt = set_intr_pin_config(int_config, dev);
 	if (rslt == BMI160_OK) {
-		rslt = map_int_pin_to_sig_any_motion(int_config, dev);
+		rslt = map_feature_interrupt(int_config, dev);
 		if (rslt == BMI160_OK) {
 			rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev);
 			if (rslt == BMI160_OK)
@@ -3806,40 +3861,6 @@ static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to low-g or step detector interrupt.
- */
-static int8_t map_int_pin_to_low_step_detect(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-
-	/* Configure Int Map register to map interrupt pin to step detector */
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_LOW_STEP_DETECT_MASK;
-			data = temp | (1 & BMI160_INT1_LOW_STEP_DETECT_MASK);
-			/* Write data to MAP address */
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_LOW_STEP_DETECT_MASK;
-			data = temp | (1 & BMI160_INT2_LOW_STEP_DETECT_MASK);
-			/* Write data to MAP address */
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		}
-	}
-
-	return rslt;
-}
-
 /*!
  * @brief This API configure the step detector parameter.
  */
@@ -3932,7 +3953,7 @@ static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
 	/* Configure Interrupt pins */
 	rslt = set_intr_pin_config(int_config, dev);
 	if (rslt == BMI160_OK) {
-		rslt = map_int_pin_to_tap(int_config, dev);
+		rslt = map_feature_interrupt(int_config, dev);
 		if (rslt == BMI160_OK) {
 			rslt = config_tap_data_src(tap_int_cfg, dev);
 			if (rslt == BMI160_OK)
@@ -3943,50 +3964,6 @@ static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config,
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to single or double tap interrupt.
- */
-static int8_t map_int_pin_to_tap(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-
-	/* Configure Map register to map interrupt pin to
-	single or double tap interrupt*/
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) {
-				temp = data & ~BMI160_INT1_SINGLE_TAP_MASK;
-				data = temp | ((1 << 5) & BMI160_INT1_SINGLE_TAP_MASK);
-			} else {
-				temp = data & ~BMI160_INT1_DOUBLE_TAP_MASK;
-				data = temp | ((1 << 4) & BMI160_INT1_DOUBLE_TAP_MASK);
-			}
-
-		}
-		/* Write data to MAP address */
-		rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) {
-				temp = data & ~BMI160_INT2_SINGLE_TAP_MASK;
-				data = temp | ((1 << 5) & BMI160_INT2_SINGLE_TAP_MASK);
-			} else {
-				temp = data & ~BMI160_INT2_DOUBLE_TAP_MASK;
-				data = temp | ((1 << 4) & BMI160_INT2_DOUBLE_TAP_MASK);
-			}
-		}
-		/* Write data to MAP address */
-		rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-	}
-
-	return rslt;
-}
-
 /*!
  * @brief This API configure the source of data(filter & pre-filter)
  * for tap interrupt.
@@ -4075,6 +4052,7 @@ static int8_t config_sec_if(const struct bmi160_dev *dev)
 	/* set the aux power mode to normal*/
 	rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev);
 	if (rslt == BMI160_OK) {
+		dev->delay_ms(60);
 		rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev);
 		if_conf |= (uint8_t)(1 << 5);
 		if (rslt == BMI160_OK)
@@ -4216,35 +4194,6 @@ static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_i
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to orientation interrupt.
- */
-static int8_t map_int_pin_to_orient(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-	/* Configure Int Map register to map interrupt pin
-	 * to orientation interrupt */
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_ORIENT_MASK;
-			data = temp | ((1 << 6) & BMI160_INT1_ORIENT_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_ORIENT_MASK;
-			data = temp | ((1 << 6) & BMI160_INT2_ORIENT_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		}
-	}
-
-	return rslt;
-}
 
 /*!
  * @brief This API configure the necessary setting of orientation interrupt.
@@ -4312,34 +4261,6 @@ static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to flat interrupt.
- */
-static int8_t map_int_pin_to_flat(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-	/* Configure Map register to map interrupt pin to flat interrupt*/
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_FLAT_MASK;
-			data = temp | ((1 << 7) & BMI160_INT1_FLAT_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_FLAT_MASK;
-			data = temp | ((1 << 7) & BMI160_INT2_FLAT_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		}
-	}
-
-	return rslt;
-}
 
 /*!
  * @brief This API configure the necessary setting of flat interrupt.
@@ -4483,35 +4404,6 @@ static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_i
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to High-g interrupt.
- */
-static int8_t map_int_pin_to_high_g(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	uint8_t temp = 0;
-
-	/* Configure Map register to map interrupt pin to high-g interrupt*/
-	if (int_config->int_channel == BMI160_INT_CHANNEL_1) {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT1_HIGH_G_MASK;
-			data = temp | ((1 << 1) & BMI160_INT1_HIGH_G_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, &data, 1, dev);
-		}
-	} else {
-		rslt = bmi160_get_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		if (rslt == BMI160_OK) {
-			temp = data & ~BMI160_INT2_HIGH_G_MASK;
-			data = temp | ((1 << 1) & BMI160_INT2_HIGH_G_MASK);
-			rslt = bmi160_set_regs(BMI160_INT_MAP_2_ADDR, &data, 1, dev);
-		}
-	}
-
-	return rslt;
-}
-
 /*!
  * @brief This API configure the source of data(filter & pre-filter)
  * for high-g interrupt.
@@ -4857,7 +4749,7 @@ static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const
 			/* Configure Interrupt pins */
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK)
-				rslt = map_int_pin_to_fifo_full(int_config, dev);
+				rslt = map_hardware_interrupt(int_config, dev);
 		}
 	}
 	return rslt;
@@ -4882,29 +4774,6 @@ static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, co
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to FIFO FULL interrupt.
- */
-static int8_t map_int_pin_to_fifo_full(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	/* Configure Map register to map interrupt pin
-	 * to fifo-full interrupt*/
-	rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	if (rslt == BMI160_OK) {
-		if (int_config->int_channel == BMI160_INT_CHANNEL_1)
-			data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT_PIN1, 1);
-		else
-			data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT_PIN2, 1);
-
-		/* Writing data to Map 1 address */
-		rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	}
-
-	return rslt;
-}
-
 /*!
  *  @brief This API sets FIFO watermark interrupt of the sensor.The FIFO
  *  watermark interrupt is fired, when the FIFO fill level is above a fifo
@@ -4923,7 +4792,7 @@ static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config,
 			/* Configure Interrupt pins */
 			rslt = set_intr_pin_config(int_config, dev);
 			if (rslt == BMI160_OK)
-				rslt = map_int_pin_to_fifo_wtm(int_config, dev);
+				rslt = map_hardware_interrupt(int_config, dev);
 		}
 	}
 
@@ -4949,28 +4818,6 @@ static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, con
 	return rslt;
 }
 
-/*!
- * @brief This API maps the INT pin to FIFO watermark interrupt.
- */
-static int8_t map_int_pin_to_fifo_wtm(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev)
-{
-	int8_t rslt;
-	uint8_t data = 0;
-	/* Configure Map register to map interrupt pin
-	 * to fifo-full interrupt*/
-	rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	if (rslt == BMI160_OK) {
-		if (int_config->int_channel == BMI160_INT_CHANNEL_1)
-			data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT_PIN1, 1);
-		else
-			data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT_PIN2, 1);
-
-		/* Writing data to Map 1 address */
-		rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	}
-
-	return rslt;
-}
 /*!
  *  @brief This API is used to reset the FIFO related configurations
  *  in the fifo_frame structure.
@@ -4981,6 +4828,7 @@ static void reset_fifo_data_structure(const struct bmi160_dev *dev)
 	internal data structures*/
 	dev->fifo->accel_byte_start_idx = 0;
 	dev->fifo->gyro_byte_start_idx = 0;
+	dev->fifo->aux_byte_start_idx = 0;
 	dev->fifo->sensor_time = 0;
 	dev->fifo->skipped_frame_count = 0;
 }
@@ -5433,6 +5281,220 @@ static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data, uint8
 	dev->fifo->gyro_byte_start_idx = data_index;
 }
 
+/*!
+ *  @brief This API computes the number of bytes of aux FIFO data
+ *  which is to be parsed in header-less mode
+ */
+static void get_aux_len_to_parse(uint16_t *data_index, uint16_t *data_read_length, const uint8_t *aux_frame_count,
+					const struct bmi160_dev *dev)
+{
+	/* Data start index */
+	*data_index = dev->fifo->gyro_byte_start_idx;
+
+	if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE) {
+		*data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH;
+	} else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) {
+		*data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH;
+	} else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) {
+		*data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH;
+	} else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) {
+		*data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH;
+	} else {
+		/* When aux is not enabled ,there will be no aux data.
+		 * so we update the data index as complete */
+		*data_index = dev->fifo->length;
+	}
+
+	if (*data_read_length > dev->fifo->length) {
+		/* Handling the case where more data is requested
+		 * than that is available */
+		*data_read_length = dev->fifo->length;
+	}
+}
+
+/*!
+ *  @brief This API is used to parse the aux's data from the
+ *  FIFO data in both header mode and header-less mode.
+ *  It updates the idx value which is used to store the index of
+ *  the current data byte which is parsed
+ */
+static void unpack_aux_frame(struct bmi160_aux_data *aux_data, uint16_t *idx, uint8_t *aux_index, uint8_t frame_info,
+				const struct bmi160_dev *dev)
+{
+	switch (frame_info) {
+
+	case BMI160_FIFO_HEAD_M:
+	case BMI160_FIFO_M_ENABLE:
+		/* Partial read, then skip the data */
+		if ((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length) {
+			/* Update the data index as complete */
+			*idx = dev->fifo->length;
+			break;
+		}
+		/* Unpack the data array into structure instance */
+		unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+		/* Move the data index */
+		*idx = *idx + BMI160_FIFO_M_LENGTH;
+		(*aux_index)++;
+		break;
+
+	case BMI160_FIFO_HEAD_M_A:
+	case BMI160_FIFO_M_A_ENABLE:
+		/* Partial read, then skip the data */
+		if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) {
+			/* Update the data index as complete */
+			*idx = dev->fifo->length;
+			break;
+		}
+		/* Unpack the data array into structure instance */
+		unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+		/* Move the data index */
+		*idx = *idx + BMI160_FIFO_MA_LENGTH;
+		(*aux_index)++;
+		break;
+
+
+	case BMI160_FIFO_HEAD_M_G:
+	case BMI160_FIFO_M_G_ENABLE:
+		/* Partial read, then skip the data */
+		if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) {
+			/* Update the data index as complete */
+			*idx = dev->fifo->length;
+			break;
+		}
+		/* Unpack the data array into structure instance */
+		unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+		/* Move the data index */
+		(*idx) = (*idx) + BMI160_FIFO_MG_LENGTH;
+		(*aux_index)++;
+		break;
+
+	case BMI160_FIFO_HEAD_M_G_A:
+	case BMI160_FIFO_M_G_A_ENABLE:
+		/*Partial read, then skip the data*/
+		if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) {
+			/* Update the data index as complete */
+			*idx = dev->fifo->length;
+			break;
+		}
+		/* Unpack the data array into structure instance */
+		unpack_aux_data(&aux_data[*aux_index], *idx, dev);
+		/*Move the data index*/
+		*idx = *idx + BMI160_FIFO_MGA_LENGTH;
+		(*aux_index)++;
+		break;
+
+	case BMI160_FIFO_HEAD_G:
+	case BMI160_FIFO_G_ENABLE:
+		/* Move the data index */
+		(*idx) = (*idx) + BMI160_FIFO_G_LENGTH;
+		break;
+
+	case BMI160_FIFO_HEAD_G_A:
+	case BMI160_FIFO_G_A_ENABLE:
+		/* Move the data index */
+		*idx = *idx + BMI160_FIFO_GA_LENGTH;
+		break;
+
+	case BMI160_FIFO_HEAD_A:
+	case BMI160_FIFO_A_ENABLE:
+		/* Move the data index */
+		*idx = *idx + BMI160_FIFO_A_LENGTH;
+		break;
+
+	default:
+		break;
+	}
+
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data and store it in the instance of the structure bmi160_aux_data.
+ */
+static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index,
+				const struct bmi160_dev *dev)
+{
+	/* Aux data bytes */
+	aux_data->data[0] = dev->fifo->data[data_start_index++];
+	aux_data->data[1] = dev->fifo->data[data_start_index++];
+	aux_data->data[2] = dev->fifo->data[data_start_index++];
+	aux_data->data[3] = dev->fifo->data[data_start_index++];
+	aux_data->data[4] = dev->fifo->data[data_start_index++];
+	aux_data->data[5] = dev->fifo->data[data_start_index++];
+	aux_data->data[6] = dev->fifo->data[data_start_index++];
+	aux_data->data[7] = dev->fifo->data[data_start_index++];
+}
+
+/*!
+ *  @brief This API is used to parse the aux data from the
+ *  FIFO data in header mode.
+ */
+static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length,
+					const struct bmi160_dev *dev)
+{
+	uint8_t frame_header = 0;
+	uint16_t data_index;
+	uint8_t aux_index = 0;
+
+	for (data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;) {
+		/* extracting Frame header */
+		frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK);
+		/*Index is moved to next byte where the data is starting*/
+		data_index++;
+
+		switch (frame_header) {
+			/* Aux frame */
+		case BMI160_FIFO_HEAD_M:
+		case BMI160_FIFO_HEAD_M_A:
+		case BMI160_FIFO_HEAD_M_G:
+		case BMI160_FIFO_HEAD_M_G_A:
+			unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev);
+			break;
+		case BMI160_FIFO_HEAD_G:
+			move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev);
+			break;
+		case BMI160_FIFO_HEAD_G_A:
+			move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev);
+			break;
+		case BMI160_FIFO_HEAD_A:
+			move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev);
+			break;
+			/* Sensor time frame */
+		case BMI160_FIFO_HEAD_SENSOR_TIME:
+			unpack_sensortime_frame(&data_index, dev);
+			break;
+			/* Skip frame */
+		case BMI160_FIFO_HEAD_SKIP_FRAME:
+			unpack_skipped_frame(&data_index, dev);
+			break;
+			/* Input config frame */
+		case BMI160_FIFO_HEAD_INPUT_CONFIG:
+			move_next_frame(&data_index, 1, dev);
+			break;
+		case BMI160_FIFO_HEAD_OVER_READ:
+			/* Update the data index as complete in case
+			 * of over read */
+			data_index = dev->fifo->length;
+			break;
+		default:
+			/* Update the data index as complete in case of
+			 * getting other headers like 0x00 */
+			data_index = dev->fifo->length;
+			break;
+		}
+		if (*aux_length == aux_index) {
+			/*Number of frames to read completed*/
+			break;
+		}
+	}
+
+	/* Update number of aux data read */
+	*aux_length = aux_index;
+	/* Update the aux frame index */
+	dev->fifo->aux_byte_start_idx = data_index;
+}
+
 /*!
  *  @brief This API checks the presence of non-valid frames in the read fifo data.
  */
diff --git a/bmi160.h b/bmi160.h
index a137fe1..e003b91 100644
--- a/bmi160.h
+++ b/bmi160.h
@@ -40,8 +40,8 @@
  * patent rights of the copyright holder.
  *
  * @file    bmi160.h
- * @date    23 Aug 2017
- * @version 3.6.1
+ * @date    16 Oct 2017
+ * @version 3.7.2
  * @brief
  *
  */
@@ -121,7 +121,7 @@ int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
  * @return Result of API execution status
  * @retval zero -> Success / -ve value -> Error.
  */
-int8_t bmi160_soft_reset(const struct bmi160_dev *dev);
+int8_t bmi160_soft_reset(struct bmi160_dev *dev);
 
 /*!
  * @brief This API configures the power mode, range and bandwidth
@@ -496,7 +496,7 @@ int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *acce
  *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
  *  the "gyro_data" structure instance.
  *
- *  @note The bmi160_extract_accel API should be called only after
+ *  @note The bmi160_extract_gyro API should be called only after
  *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
  *
  *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
@@ -516,6 +516,31 @@ int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *acce
  */
 int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
 
+/*!
+ *  @brief This API parses and extracts the aux frames from
+ *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
+ *  the bmi160_aux_data structure instance.
+ *
+ *  @note The bmi160_extract_aux API should be called only after
+ *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
+ *
+ *  @param[out] aux_data    : Structure instance of bmi160_aux_data
+ *                            where the aux data in FIFO is stored.
+ *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
+ *                            read out from FIFO.
+ *  @param[in] dev          : Structure instance of bmi160_dev.
+ *
+ *  @note aux_len is updated with the number of valid aux
+ *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
+ *  execution of this API.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ *
+ */
+int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
+
 /*!
  *  @brief This API starts the FOC of accel and gyro
  *
@@ -609,6 +634,22 @@ int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf, const struct b
  */
 int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
 
+/*!
+ *  @brief This API gets the interrupt status from the sensor.
+ *
+ *  @param[in] int_status_sel		: Enum variable to select either individual or all the
+ *  interrupt status bits.
+ *	@param[in] int_status			: pointer variable to get the interrupt status
+ *	from the sensor.
+ *	param[in] dev					: Structure instance of bmi160_dev.
+ *
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
+				union bmi160_int_status *int_status, struct bmi160_dev const *dev);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/bmi160_defs.h b/bmi160_defs.h
index 7dc994d..f1a53d7 100644
--- a/bmi160_defs.h
+++ b/bmi160_defs.h
@@ -40,8 +40,8 @@
  * patent rights of the copyright holder.
  *
  * @file    bmi160_defs.h
- * @date    23 Aug 2017
- * @version 3.6.1
+ * @date    16 Oct 2017
+ * @version 3.7.2
  * @brief
  *
  */
@@ -290,6 +290,7 @@ extern "C"
 #define BMI160_GYRO_DATA_ADDR		UINT8_C(0x0C)
 #define BMI160_ACCEL_DATA_ADDR		UINT8_C(0x12)
 #define BMI160_STATUS_ADDR		UINT8_C(0x1B)
+#define BMI160_INT_STATUS_ADDR		UINT8_C(0x1C)
 #define BMI160_FIFO_LENGTH_ADDR		UINT8_C(0x22)
 #define BMI160_FIFO_DATA_ADDR		UINT8_C(0x24)
 #define BMI160_ACCEL_CONFIG_ADDR	UINT8_C(0x40)
@@ -706,6 +707,95 @@ typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
 typedef void (*bmi160_delay_fptr_t)(uint32_t period);
 
 /*************************** Data structures *********************************/
+/*!
+ * @brief bmi160 interrupt status selection enum.
+ */
+enum bmi160_int_status_sel {
+	BMI160_INT_STATUS_0 = 1,
+	BMI160_INT_STATUS_1 = 2,
+	BMI160_INT_STATUS_2 = 4,
+	BMI160_INT_STATUS_3 = 8,
+	BMI160_INT_STATUS_ALL = 15
+};
+
+/*!
+ * @brief bmi160 interrupt status bits structure
+ */
+struct bmi160_int_status_bits {
+#if LITTLE_ENDIAN == 1
+	uint32_t step :1;
+	uint32_t sigmot :1;
+	uint32_t anym :1;
+	/* pmu trigger will be handled later */
+	uint32_t pmu_trigger_reserved :1;
+	uint32_t d_tap :1;
+	uint32_t s_tap :1;
+	uint32_t orient :1;
+	uint32_t flat_int :1;
+	uint32_t reserved :2;
+	uint32_t high_g :1;
+	uint32_t low_g :1;
+	uint32_t drdy :1;
+	uint32_t ffull :1;
+	uint32_t fwm :1;
+	uint32_t nomo :1;
+	uint32_t anym_first_x :1;
+	uint32_t anym_first_y :1;
+	uint32_t anym_first_z :1;
+	uint32_t anym_sign :1;
+	uint32_t tap_first_x :1;
+	uint32_t tap_first_y :1;
+	uint32_t tap_first_z :1;
+	uint32_t tap_sign :1;
+	uint32_t high_first_x :1;
+	uint32_t high_first_y :1;
+	uint32_t high_first_z :1;
+	uint32_t high_sign :1;
+	uint32_t orient_1_0 :2;
+	uint32_t orient_2 :1;
+	uint32_t flat :1;
+#elif BIG_ENDIAN == 1
+	uint32_t high_first_x :1;
+	uint32_t high_first_y :1;
+	uint32_t high_first_z :1;
+	uint32_t high_sign :1;
+	uint32_t orient_1_0 :2;
+	uint32_t orient_2 :1;
+	uint32_t flat :1;
+	uint32_t anym_first_x :1;
+	uint32_t anym_first_y :1;
+	uint32_t anym_first_z :1;
+	uint32_t anym_sign :1;
+	uint32_t tap_first_x :1;
+	uint32_t tap_first_y :1;
+	uint32_t tap_first_z :1;
+	uint32_t tap_sign :1;
+	uint32_t reserved :2;
+	uint32_t high_g :1;
+	uint32_t low_g :1;
+	uint32_t drdy :1;
+	uint32_t ffull :1;
+	uint32_t fwm :1;
+	uint32_t nomo :1;
+	uint32_t step :1;
+	uint32_t sigmot :1;
+	uint32_t anym :1;
+	/* pmu trigger will be handled later */
+	uint32_t pmu_trigger_reserved :1;
+	uint32_t d_tap :1;
+	uint32_t s_tap :1;
+	uint32_t orient :1;
+	uint32_t flat_int :1;
+#endif
+};
+
+/*!
+ * @brief bmi160 interrupt status structure
+ */
+union bmi160_int_status {
+	uint8_t data[4];
+	struct bmi160_int_status_bits bit;
+};
 
 /*!
  * @brief bmi160 sensor data structure which comprises of accel data
@@ -721,6 +811,14 @@ struct bmi160_sensor_data {
 	uint32_t sensortime;
 };
 
+/*!
+ * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
+ */
+struct bmi160_aux_data {
+	/*! Auxiliary data */
+	uint8_t data[8];
+};
+
 /*!
  * @brief bmi160 FOC configuration structure
  */
@@ -856,14 +954,19 @@ struct bmi160_aux_cfg {
 	/*! i2c addr of auxiliary sensor */
 	uint8_t aux_i2c_addr;
 };
+
 /*!
  * @brief bmi160 interrupt channel selection structure
  */
 enum bmi160_int_channel {
+	/*! Un-map both channels */
+	BMI160_INT_CHANNEL_NONE,
 	/*! interrupt Channel 1 */
 	BMI160_INT_CHANNEL_1,
 	/*! interrupt Channel 2 */
-	BMI160_INT_CHANNEL_2
+	BMI160_INT_CHANNEL_2,
+	/*! Map both channels */
+	BMI160_INT_CHANNEL_BOTH
 };
 
 enum bmi160_int_types {
diff --git a/changelog.md b/changelog.md
index 22c2cb2..309c140 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,13 +1,25 @@
 # Change Log
-All notable changes to bmi160 Sensor API will be documented in this file. 
+All notable changes to bmi160 Sensor API will be documented in this file.
 
-## v3.6.1, 23 Aug 2017
+## v3.7.2, 16 Oct 2017
+#### Added
+	- Aux FIFO support added
+	- Self-test issue fixed
 
+## v3.7.1, 10 Oct 2017
+#### Added
+	- Support for mapping and unmapping interrupt pin for channel 1, 2 and both
+	
+## v3.7.0, 05 Oct 2017
+#### Added
+	- Support for reading interrupt status
+	- Support for mapping and unmapping interrupt pin for channel 1 & 2
+	
+## v3.6.1, 23 Aug 2017
 #### Changed
 * SPI support for FIFO reading and parsing logic update
 
 ## v3.6.0, 04 Aug 2017
-
 #### Added
 * Added interfaces for the following features 
      - FOC