for BHI160 . how can I customize the firmware. I use the BHI160 and it works fine unless starvation occures. I use vxworks and I run the gyroscope example as a system task with mid priority, and I get interrupt from the BHI160 and read the fifo each 10 mili-sec. the interrupt I get run semGive and the example waits on semTake. It works fine until I have starvation and I am not reading the fifo at a certain time. then I don't get interrupts any more. also, if I read the fifo available size it is zero. I may have to debug the firmware for the BHI160 to find out the problem and to restart the gyro data. please help. I don't know how can I have any kit to create my own firmware. thanks.
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