Hi,
For BMI160, chapter 2.9 offset compensation describle this procedure. Due to NVM write-cycle limits, recommend you save offset value in your MCU or other AP flash.
Some useful link that describe Calibration as bellow: https://community.bosch-sensortec.com/t5/Knowledge-base/BMI160-Series-IMU-Design-Guide/ta-p/7376 .
https://community.bosch-sensortec.com/t5/Knowledge-base/BMI08x-Design-Guide/ta-p/6929
For BMI055, the offset compensation also the same procedure.
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