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I have configured the  no_motion example  of BMA456_an application for ESP32 on arduino. This application runs without generating any errors during set up or in the loop. The code is given below:   #include <Wire.h> #include "Arduino.h" #include "arduino_bma456.h" #include "bma456_an.h" //#include "common.h" //#include "coines.h" struct bma4_dev bma = { 0 }; /******************************************************************************/ /*! Static Function Declaration */ /*! * @brief This internal API is used to get any-motion configurations. * * @param[in] bma : Structure instance of bma4_dev. * * @return Status of execution. */ static int8_t get_any_no_mot_config(struct bma4_dev *bma); void bma4_error_codes_print_result(const char api_name[], int8_t rslt) { if (rslt != BMA4_OK) { Serial.print(String(api_name).c_str()); Serial.print("\tError ["); Serial.print(rslt); if (rslt == BMA4_E_NULL_PTR) { Serial.println("] : Null pointer"); } else if (rslt == BMA4_E_COM_FAIL) { Serial.println("] : Communication failure"); } else if (rslt == BMA4_E_CONFIG_STREAM_ERROR) { Serial.println("] : Invalid configuration stream"); } else if (rslt == BMA4_E_SELF_TEST_FAIL) { Serial.println("] : Self test failed"); } else if (rslt == BMA4_E_INVALID_SENSOR) { Serial.println("] : Device not found"); } else if (rslt == BMA4_E_OUT_OF_RANGE) { Serial.println("] : Out of Range"); } else if (rslt == BMA4_E_AVG_MODE_INVALID_CONF) { Serial.println("] : Invalid bandwidth and ODR combination in Accel Averaging mode"); } else { /* For more error codes refer "*_defs.h" */ Serial.println("] : Unknown error code"); } } } static uint16_t bma_i2c_write(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len) { Wire.beginTransmission(addr); Wire.write(reg); for (uint16_t i = 0; i < len; i++) { Wire.write(data[i]); } Wire.endTransmission(); return 0; } static uint16_t bma_i2c_read(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len) { uint16_t i = 0; Wire.beginTransmission(addr); Wire.write(reg); Wire.endTransmission(); Wire.requestFrom((int16_t) addr, len); while (Wire.available()) { data[i++] = Wire.read(); } return 0; } static void bma_delay_ms(uint32_t ms) { delay(ms); } static void bma_delay_us(uint32_t us) { delayMicroseconds(us); } /******************************************************************************/ /*! Functions */ /* This function starts the execution of program. */ void setup(void) { /* Variable to store the status of API */ int8_t rslt; /* Sensor initialization configuration */ /* Variable to store any/no-motion interrupt status */ uint16_t int_status = 0; Serial.begin(115200); Serial.println("\nInitialising"); Wire.begin(27, 26); bma.dev_addr = BMA4_I2C_ADDR_PRIMARY; bma.interface = BMA4_I2C_INTERFACE; bma.intf = BMA4_I2C_INTF; bma.bus_read = bma_i2c_read; bma.bus_write = bma_i2c_write; bma.delay = bma_delay_ms; bma.delay_us = bma_delay_us; bma.read_write_len = 8; /* Sensor initialization */ rslt = bma456_an_init(&bma); bma4_error_codes_print_result("bma456_an_init status", rslt); /* Upload the configuration file to enable the features of the sensor. */ rslt = bma456_an_write_config_file(&bma); bma4_error_codes_print_result("bma456_an_write_config status", rslt); /* Enable the accelerometer */ rslt = bma4_set_accel_enable(BMA4_ENABLE, &bma); bma4_error_codes_print_result("bma4_set_accel_enable status", rslt); /* Map the interrupt 1 for no-motion */ rslt = bma456_an_map_interrupt(BMA4_INTR1_MAP, BMA456_AN_NO_MOT_INT, BMA4_ENABLE, &bma); bma4_error_codes_print_result("bma456_an_map_interrupt status", rslt); /* Get no-motion configurations */ rslt = get_any_no_mot_config(&bma); bma4_error_codes_print_result("get_any_no_mot_config status", rslt); Serial.println("Do not shake the board for no-motion interrupt"); } void loop(void) { int8_t rslt; uint16_t int_status = 0; /* Read interrupt status */ rslt = bma456_an_read_int_status(&int_status, &bma); bma4_error_codes_print_result("bma456_an_read_int_status", rslt); if (rslt == BMA4_OK) { /* Enters only if the obtained interrupt is no-motion */ if (int_status & BMA456_AN_NO_MOT_INT) { printf("No-motion interrupt occurred\n"); } } } /*! * @brief This internal API is used to get any-motion configurations. */ static int8_t get_any_no_mot_config(struct bma4_dev *bma) { /* Variable to store the status of API */ int8_t rslt; /*! Structure to define any/no-motion configurations */ struct bma456_an_any_no_mot_config any_no_mot = { 0 }; /* Getting any-motion configuration to get default configuration */ rslt = bma456_an_get_any_mot_config(&any_no_mot, bma); bma4_error_codes_print_result("bma456_an_get_any_mot_config status", rslt); if (rslt == BMA4_OK) { /* * Set the slope threshold: * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) */ any_no_mot.threshold = 10; /* * Set the duration for any-motion interrupt: * Duration defines the number of consecutive data points for which threshold condition must be true(1 * bit = * 20ms) */ any_no_mot.duration = 4; /* Enabling X, Y, and Z axis for Any-motion feature */ any_no_mot.axes_en = BMA456_AN_EN_ALL_AXIS; /* Like threshold and duration, we can also change the config of int_bhvr and slope */ /* Set the threshold and duration configuration */ rslt = bma456_an_set_any_mot_config(&any_no_mot, bma); bma4_error_codes_print_result("bma456_an_set_any_mot_config status", rslt); } return rslt; }   Please the serial output when the application  runs:- rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:1 load:0x3fff0018,len:4 load:0x3fff001c,len:1044 load:0x40078000,len:10124 load:0x40080400,len:5856 entry 0x400806a8   Initialising Do not shake the board for no-motion interrupt   ... 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Thank you for your response, and it is good to see a recent document on the subject. Unfortunately  it odes not add anything to what is already available  and does not help getting to the bottom of my issue. I have made the changes to support the implentation on the ESP32. I am not encountering any errors being reported in communication with the BMA456 and the ESP32. I am able to configure to get the raw  accelerometer data and  temperature  as well as being able to configure the INT1 pin to get a data ready indication. Configuring to use a Feature Interrupt has not raised any errors but I do not see any Interrupt status event being generated for Any Motion ,No Motion, or tap  configutation. ... View more