Hi ajanky,
BHI260AP SDK integrated BMM150, AKM09915 mag driver, BSX fusion algorithm, could generate firmware to fuse 9DOF. https://www.bosch-sensortec.com/products/smart-sensors/bhi260ap/
After firmware generation, you could acess sensor data, algorithm output via FIFO event, there are example on github: https://github.com/boschsensortec/BHY2-Sensor-API/tree/master/examples
You could refer example how to use self-leaning on host side: https://github.com/boschsensortec/BHY2-Sensor-API/blob/master/examples/Klio/klio.c
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