Hi SimonLi,
"Soft Pass-through" is available in BHI160 fw and sensor API. Calling the bhy_soft_passthru_write() and bhy_soft_passthru_read() interfaces can write or read the registers of BMI160, for example: bhy_soft_passthru_write(0x68,regaddr,pBuffer,length,0); bhy_soft_passthru_read(0x68,regaddr,pBuffer,length,0);
You can read the RAW data of BMI160 by calling the bhy_soft_passthru_read() read interface.
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