diff --git a/esp32/include/badge_pins.h b/esp32/include/badge_pins.h
new file mode 100644
index 0000000..9a10f03
--- /dev/null
+++ b/esp32/include/badge_pins.h
@@ -0,0 +1,25 @@
+// HSPI pins
+#define HSPI_MISO   12
+#define HSPI_MOSI   13
+#define HSPI_SCLK   14
+#define HSPI_SS     15
+
+// ePaper display
+#define EPD_DC 25
+#define EPD_CS 27
+#define EPD_BUSY 35 
+#define SRAM_CS -1
+#define EPD_RESET 26  
+#define EPD_SPI &SPI3
+
+// I2C
+#define ESP_SDA 22
+#define ESP_SCL 38
+
+// ATMEL UART Bridge
+#define UART_RXD (33u)
+#define UART_TXD (32U)
+
+// IMU
+#define ESP32_I2C_IMU_SDA       ((int)22)
+#define ESP32_I2C_IMU_SCL       ((int)19)
diff --git a/esp32/include/icm20602.h b/esp32/include/icm20602.h
new file mode 100644
index 0000000..9cf933c
--- /dev/null
+++ b/esp32/include/icm20602.h
@@ -0,0 +1,344 @@
+#ifndef _ICM20602_H
+#define _ICM20602_H
+
+/***** Includes *****/
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/***** Macros *****/
+
+/** This initializer will zero out the ICM20602 struct for initialization
+  * purposes. This is advised as to avoid having uninitialized garbage values
+  * left within the struct */
+#define ICM20602_INIT() \
+  { \
+    .id = 0, \
+    .hal_wr = NULL, \
+    .hal_rd = NULL, \
+    .hal_sleep = NULL, \
+    .mutex_lock = NULL, \
+    .mutex_unlock = NULL, \
+    .use_accel = false, \
+    .accel_fifo = false, \
+    .accel_dlpf = 0, \
+    .accel_g = 0, \
+    .use_gyro = false, \
+    .gyro_fifo = false, \
+    .gyro_dlpf = 0, \
+    .gyro_dps = 0, \
+    .sample_rate_div = 1, \
+    .i2c_disable = false, \
+  }
+
+/** This initializer will configure the ICM20602 with settings that should
+  * yield some actual output on both the gyroscope and the accelerometer. All
+  * that the developer should need to set manually are the "hal_wr", "hal_rd",
+  * and "hal_sleep" function pointers. It is recommended to use this for
+  * testing purposes. */
+#define ICM20602_DEFAULT_INIT() \
+  { \
+    .id = 0, \
+    .hal_wr = NULL, \
+    .hal_rd = NULL, \
+    .hal_sleep = NULL, \
+    .mutex_lock = NULL, \
+    .mutex_unlock = NULL, \
+    .use_accel = true, \
+    .accel_fifo = false, \
+    .accel_dlpf = ICM20602_ACCEL_DLPF_10_2_HZ, \
+    .accel_g = ICM20602_ACCEL_RANGE_4G, \
+    .use_gyro = true, \
+    .gyro_fifo = false, \
+    .gyro_dlpf = ICM20602_GYRO_DLPF_10_HZ, \
+    .gyro_dps = ICM20602_GYRO_RANGE_2000_DPS, \
+    .sample_rate_div = 100, \
+    .i2c_disable = false, \
+  }
+
+/***** Typedefs *****/
+
+/** \brief Function pointer for write function.
+  * \param id the ID value of the icm20602 device struct
+  * \param reg ICM20602 register address to target
+  * \param data pointer to data to write
+  * \param len number of bytes to write
+  * \return zero on success, anything else is an error
+  */
+typedef int8_t (*icm20602_hal_wr)(uint8_t id, uint8_t reg, uint8_t * data,
+  uint16_t len);
+
+/** \brief Function pointer for read function.
+  * \param id the ID value of the icm20602 device struct
+  * \param reg ICM20602 register address to target
+  * \param data pointer to data to read
+  * \param len number of bytes to read
+  * \return zero on success, anything else is an error
+  */
+typedef int8_t (*icm20602_hal_rd)(uint8_t id, uint8_t reg, uint8_t * data,
+  uint16_t len);
+
+/** \brief Function pointer for sleep function.
+  * \param ms the total number of milliseconds to sleep for
+  * \return void
+  */
+typedef void (*icm20602_hal_sleep)(uint32_t ms);
+
+/** \brief Function pointer for mutex locking function.
+  * \param id the ID value of the icm20602 device struct
+  * \return void
+  */
+typedef void (*icm20602_mutex_lock)(uint8_t id);
+
+/** \brief Function pointer for mutex unlocking function.
+  * \param id the ID value of the icm20602 device struct
+  * \return void
+  */
+typedef void (*icm20602_mutex_unlock)(uint8_t id);
+
+/***** Enums *****/
+
+/** Enumerated value corresponds with A_DLPF_CFG in the ACCEL_CONFIG2 register
+  * unless BYPASS is specified in the name. If BYPASS is used, the DLPF is
+  * removed from the signal path and ACCEL_FCHOICE_B is set in the
+  * ACCEL_CONFIG2 register. */
+enum icm20602_accel_dlpf {
+  ICM20602_ACCEL_DLPF_218_1_HZ = 0, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_99_HZ = 2, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_44_8_HZ = 3, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_21_2_HZ = 4, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_10_2_HZ = 5, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_5_1_HZ = 6, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_420_HZ = 7, // data clocked at 1kHz
+  ICM20602_ACCEL_DLPF_BYPASS_1046_HZ, // no filter, data clocked at 4kHz
+};
+
+/** Enumerated value corresponds with ACCEL_FS_SEL in the ACCEL_CONFIG
+  * register. Values listed are the full +/- G range. */
+enum icm20602_accel_g {
+  ICM20602_ACCEL_RANGE_2G = 0,
+  ICM20602_ACCEL_RANGE_4G = 1,
+  ICM20602_ACCEL_RANGE_8G = 2,
+  ICM20602_ACCEL_RANGE_16G = 3,
+};
+
+/** Enumerated value corresponds with DLPF_CFG in the CONFIG register unless
+  * BYPASS is specified in the name. If BYPASS is used, the DLPF is removed
+  * from the signal path and FCHOICE_B is set in GYRO_CONFIG register. */
+enum icm20602_gyro_dlpf {
+  ICM20602_GYRO_DLPF_250_HZ = 0, // data clocked at 8kHz
+  ICM20602_GYRO_DLPF_176_HZ = 1, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_92_HZ = 2, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_41_HZ = 3, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_20_HZ = 4, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_10_HZ = 5, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_5_HZ = 6, // data clocked at 1kHz
+  ICM20602_GYRO_DLPF_3281_HZ = 7, // data clocked at 8kHz
+  ICM20602_GYRO_DLPF_BYPASS_3281_HZ, // no filter, data clocked at 32kHz
+  ICM20602_GYRO_DLPF_BYPASS_8173_HZ, // no filter, data clocked at 32kHz
+};
+
+/** Enumerated value corresponds with FS_SEL in the GYRO_CONFIG register.
+  * Values listed are the full +/- DPS range. */
+enum icm20602_gyro_dps {
+  ICM20602_GYRO_RANGE_250_DPS = 0,
+  ICM20602_GYRO_RANGE_500_DPS = 1,
+  ICM20602_GYRO_RANGE_1000_DPS = 2,
+  ICM20602_GYRO_RANGE_2000_DPS = 3,
+};
+
+/***** Structs *****/
+
+struct icm20602_dev {
+  /// Identifier, can be I2C address, SPI CS line, or some other unique value.
+  uint8_t id;
+
+  /// Required function pointer for register write function.
+  icm20602_hal_wr hal_wr;
+  /// Required function pointer for register read function.
+  icm20602_hal_rd hal_rd;
+  /// Required function pointer for system sleep/delay.
+  icm20602_hal_sleep hal_sleep;
+
+  /// Optional function pointer to mutex lock if needed, NULL otherwise.
+  icm20602_mutex_lock mutex_lock;
+  /// Optional function pointer to mutex unlocking if needed, NULL otherwise.
+  icm20602_mutex_lock mutex_unlock;
+
+  /// Set to "true" to configure the accelerometer.
+  bool use_accel;
+  /// Enable or disable fifo for accelerometer.
+  bool accel_fifo;
+  /// Select the digital low pass filter to use with the accelerometer.
+  enum icm20602_accel_dlpf accel_dlpf;
+  /// Select the accelerometer's g-force range.
+  enum icm20602_accel_g accel_g;
+
+  /// Set to "true" to configure the gyroscope.
+  bool use_gyro;
+  /// Enable or disable fifo for gyroscope.
+  bool gyro_fifo;
+  /// Select the digital low pass filter to use with the gyroscope.
+  enum icm20602_gyro_dlpf gyro_dlpf;
+  /// Select the gyroscope's degrees per second range.
+  enum icm20602_gyro_dps gyro_dps;
+
+  /// Divides the data clock for both the accelerometer and gyroscope.
+  uint8_t sample_rate_div;
+
+  /// Disable hardware I2C communications to chip, recommeded if using SPI.
+  bool i2c_disable;
+};
+
+/***** Global Functions *****/
+
+/** \brief Initializes the ICM20602 sensor.
+  * \param config pointer to configuration struct
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_init(struct icm20602_dev * dev);
+
+/** \brief Reads current G-force values of accelerometer.
+  * \param p_x destination for x G value
+  * \param p_y destination for y G value
+  * \param p_z destination for z G value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_accel(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z);
+
+/** \brief Reads current degrees per second values of gyroscope.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_gyro(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z);
+
+/** \brief Reads current values of accelerometer and gyroscope.
+  * \param p_ax destination for accelerometer x G value
+  * \param p_ay destination for accelerometer y G value
+  * \param p_az destination for accelerometer z G value
+  * \param p_gx destination for gyroscope x DPS value
+  * \param p_gy destination for gyroscope y DPS value
+  * \param p_gz destination for gyroscope z DPS value
+  * \param p_t destination for temperature degrees C value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
+  float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t);
+
+/** \brief Reads current raw values of accelerometer.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_accel_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
+  int16_t * p_z);
+
+/** \brief Reads current raw values of gyroscope.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_gyro_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
+  int16_t * p_z);
+
+/** \brief Reads current raw values of accelerometer and gyroscope.
+  * \param p_ax destination for accelerometer x value
+  * \param p_ay destination for accelerometer y value
+  * \param p_az destination for accelerometer z value
+  * \param p_gx destination for gyroscope x value
+  * \param p_gy destination for gyroscope y value
+  * \param p_gz destination for gyroscope z value
+  * \param p_t destination for temperature value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
+  int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
+  int16_t * p_gz, int16_t * p_t);
+
+/** \brief Reads FIFO G-force values of accelerometer.
+  * \param p_x destination for x G value
+  * \param p_y destination for y G value
+  * \param p_z destination for z G value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_accel_fifo(struct icm20602_dev * dev, float * x, float * y,
+  float * z);
+
+/** \brief Reads FIFO degrees per second values of gyroscope.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_gyro_fifo(struct icm20602_dev * dev, float * x, float * y,
+  float * z);
+
+/** \brief Reads FIFO values of accelerometer and gyroscope. Note, both
+  *        accelerometer and gyroscope fifos should be enabled if this
+  *        function is to be used.
+  * \param p_ax destination for accelerometer x G value
+  * \param p_ay destination for accelerometer y G value
+  * \param p_az destination for accelerometer z G value
+  * \param p_gx destination for gyroscope x DPS value
+  * \param p_gy destination for gyroscope y DPS value
+  * \param p_gz destination for gyroscope z DPS value
+  * \param p_t destination for temperature degrees C value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_fifo_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
+  float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t);
+
+/** \brief Reads FIFO raw values of accelerometer.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_fifo_accel_raw(struct icm20602_dev * dev, int16_t * p_x,
+  int16_t * p_y, int16_t * p_z);
+
+/** \brief Reads FIFO raw values of gyroscope.
+  * \param p_x destination for x value
+  * \param p_y destination for y value
+  * \param p_z destination for z value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_fifo_gyro_raw(struct icm20602_dev * dev, int16_t * p_x,
+  int16_t * p_y, int16_t * p_z);
+
+/** \brief Reads FIFO raw values of accelerometer and gyroscope. Note, both
+  *        accelerometer and gyroscope fifos should be enabled if this
+  *        function is to be used.
+  * \param p_ax destination for accelerometer x value
+  * \param p_ay destination for accelerometer y value
+  * \param p_az destination for accelerometer z value
+  * \param p_gx destination for gyroscope x value
+  * \param p_gy destination for gyroscope y value
+  * \param p_gz destination for gyroscope z value
+  * \param p_t destination for temperature value
+  * \return zero on success, anything else is an error
+  */
+extern int8_t
+icm20602_read_fifo_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
+  int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
+  int16_t * p_gz, int16_t * p_t);
+
+#endif
diff --git a/esp32/src/icm20602.c b/esp32/src/icm20602.c
new file mode 100644
index 0000000..5c01c32
--- /dev/null
+++ b/esp32/src/icm20602.c
@@ -0,0 +1,549 @@
+/***** Includes *****/
+
+#include <stdlib.h>
+#include "icm20602.h"
+
+/***** Defines *****/
+
+#define REG_XG_OFFS_TC_H 0x04
+#define REG_XG_OFFS_TC_L 0x05
+#define REG_YG_OFFS_TC_H 0x07
+#define REG_YG_OFFS_TC_L 0x08
+#define REG_ZG_OFFS_TC_H 0x0A
+#define REG_ZG_OFFS_TC_L 0x0B
+#define REG_SELF_TEST_X_ACCEL 0x0D
+#define REG_SELF_TEST_Y_ACCEL 0x0E
+#define REG_SELF_TEST_Z_ACCEL 0x0F
+#define REG_XG_OFFS_USRH 0x13
+#define REG_XG_OFFS_USRL 0x14
+#define REG_YG_OFFS_USRH 0x15
+#define REG_YG_OFFS_USRL 0x16
+#define REG_ZG_OFFS_USRH 0x17
+#define REG_ZG_OFFS_USRL 0x18
+#define REG_SMPLRT_DIV 0x19
+#define REG_CONFIG 0x1A
+#define REG_GYRO_CONFIG 0x1B
+#define REG_ACCEL_CONFIG 0x1C
+#define REG_ACCEL_CONFIG_2 0x1D
+#define REG_LP_MODE_CFG 0x1E
+#define REG_ACCEL_WOM_X_THR 0x20
+#define REG_ACCEL_WOM_Y_THR 0x21
+#define REG_ACCEL_WOM_Z_THR 0x22
+#define REG_FIFO_EN 0x23
+#define REG_FSYNC_INT 0x36
+#define REG_INT_PIN_CFG 0x37
+#define REG_INT_ENABLE 0x38
+#define REG_FIFO_WM_INT_STATUS 0x39
+#define REG_INT_STATUS 0x3A
+#define REG_ACCEL_XOUT_H 0x3B
+#define REG_ACCEL_XOUT_L 0x3C
+#define REG_ACCEL_YOUT_H 0x3D
+#define REG_ACCEL_YOUT_L 0x3E
+#define REG_ACCEL_ZOUT_H 0x3F
+#define REG_ACCEL_ZOUT_L 0x40
+#define REG_TEMP_OUT_H 0x41
+#define REG_TEMP_OUT_L 0x42
+#define REG_GYRO_XOUT_H 0x43
+#define REG_GYRO_XOUT_L 0x44
+#define REG_GYRO_YOUT_H 0x45
+#define REG_GYRO_YOUT_L 0x46
+#define REG_GYRO_ZOUT_H 0x47
+#define REG_GYRO_ZOUT_L 0x48
+#define REG_SELF_TEST_X_GYRO 0x50
+#define REG_SELF_TEST_Y_GYRO 0x51
+#define REG_SELF_TEST_Z_GYRO 0x52
+#define REG_FIFO_WM_TH1 0x60
+#define REG_FIFO_WM_TH2 0x61
+#define REG_SIGNAL_PATH_RESET 0x68
+#define REG_ACCEL_INTEL_CTRL 0x69
+#define REG_USER_CTRL 0x6A
+#define REG_PWR_MGMT_1 0x6B
+#define REG_PWR_MGMT_2 0x6C
+#define REG_I2C_IF 0x70
+#define REG_FIFO_COUNTH 0x72
+#define REG_FIFO_COUNTL 0x73
+#define REG_FIFO_R_W 0x74
+#define REG_WHO_AM_I 0x75
+#define REG_XA_OFFSET_H 0x77
+#define REG_XA_OFFSET_L 0x78
+#define REG_YA_OFFSET_H 0x7A
+#define REG_YA_OFFSET_L 0x7B
+#define REG_ZA_OFFSET_H 0x7D
+#define REG_ZA_OFFSET_L 0x7E
+
+#define REG_WHO_AM_I_CONST 0X12
+
+/***** Macros *****/
+
+#define ON_ERROR_GOTO(cond, symbol) \
+  if (!(cond)) { goto symbol; }
+
+// extra steps, but I'm paranoid about some compilers/systems not handling the
+// conversion from uint8_t to int16_t correctly
+#define UINT8_TO_INT16(dst, src_high, src_low) \
+  do { \
+    dst = (src_high); \
+    dst <<= 8; \
+    dst |= (src_low); \
+  } while (0);
+
+/***** Local Data *****/
+
+// TODO: Look into getting real temp sensitivity.
+static float _temp_sensitivity = 326.8;
+
+/***** Local Functions *****/
+
+/// Used to convert raw accelerometer readings to G-force.
+float
+_get_accel_sensitivity(enum icm20602_accel_g accel_g)
+{
+  float f = 0.0;
+
+  switch (accel_g) {
+  case (ICM20602_ACCEL_RANGE_2G):
+    f = 16384.0;
+    break;
+  case (ICM20602_ACCEL_RANGE_4G):
+    f = 8192.0;
+    break;
+  case (ICM20602_ACCEL_RANGE_8G):
+    f = 4096.0;
+    break;
+  case (ICM20602_ACCEL_RANGE_16G):
+    f = 2048.0;
+    break;
+  }
+
+  return f;
+}
+
+/// Used to convert raw gyroscope readings to degrees per second.
+float
+_get_gyro_sensitivity(enum icm20602_gyro_dps gyro_dps)
+{
+  float f = 0;
+
+  switch (gyro_dps) {
+  case (ICM20602_GYRO_RANGE_250_DPS):
+    f = 131.0;
+    break;
+  case (ICM20602_GYRO_RANGE_500_DPS):
+    f = 65.5;
+    break;
+  case (ICM20602_GYRO_RANGE_1000_DPS):
+    f = 32.8;
+    break;
+  case (ICM20602_GYRO_RANGE_2000_DPS):
+    f = 16.4;
+    break;
+  }
+
+  return f;
+}
+
+int8_t
+_read_data(struct icm20602_dev * dev, uint8_t reg, uint8_t * buf, uint32_t len)
+{
+  int8_t r = 0;
+
+  if ((!dev->hal_wr) || (!dev->hal_rd) || (!dev->hal_sleep)) {
+    return false;
+  }
+
+  if (dev->mutex_lock) {
+    dev->mutex_lock(dev->id);
+  }
+
+  r = dev->hal_rd(dev->id, reg, buf, len);
+
+  if (dev->mutex_unlock) {
+    dev->mutex_unlock(dev->id);
+  }
+
+  return r;
+}
+
+/***** Global Functions *****/
+
+int8_t
+icm20602_init(struct icm20602_dev * dev)
+{
+  uint8_t tmp = 0;
+  int8_t r = 0;
+
+  if ((!dev->hal_wr) || (!dev->hal_rd) || (!dev->hal_sleep)) {
+    return false;
+  }
+
+  // General Procedure:
+  //  1. reset chip
+  //  2. set clock for PLL for optimum performance as documented in datasheet
+  //  3. place accelerometer and gyroscope into standby
+  //  4. disable fifo
+  //  5. configure chip
+  //  6. enable accelerometer and gyroscope
+
+  if (dev->mutex_lock) {
+    dev->mutex_lock(dev->id);
+  }
+
+  // full reset of chip
+  tmp = 0x80;
+  r = dev->hal_wr(dev->id, REG_PWR_MGMT_1, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  // TODO: better reset delay value
+  dev->hal_sleep(1000);
+
+  // verify we are able to read from the chip
+  r = dev->hal_rd(dev->id, REG_WHO_AM_I, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+  if (REG_WHO_AM_I_CONST != tmp) {
+    r = -1;
+    ON_ERROR_GOTO((0 == r), return_err);
+  }
+
+  // set clock to internal PLL
+  tmp = 0x01;
+  r = dev->hal_wr(dev->id, REG_PWR_MGMT_1, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  // place accel and gyro on standby
+  tmp = 0x3F;
+  r = dev->hal_wr(dev->id, REG_PWR_MGMT_2, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  // disable fifo
+  tmp = 0x00;
+  r = dev->hal_wr(dev->id, REG_USER_CTRL, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  if (dev->i2c_disable) {
+    // disable chip I2C communications
+    tmp = 0x40;
+    r = dev->hal_wr(dev->id, REG_I2C_IF, &tmp, 1);
+    ON_ERROR_GOTO((0 == r), return_err);
+  }
+
+  if (dev->use_accel) {
+    if (ICM20602_ACCEL_DLPF_BYPASS_1046_HZ == dev->accel_dlpf) {
+      tmp = (1 << 3);
+      r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG_2, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+    }
+    else {
+      tmp = dev->accel_dlpf;
+      r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG_2, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+    }
+
+    tmp = (dev->accel_g) << 2;
+    r = dev->hal_wr(dev->id, REG_ACCEL_CONFIG, &tmp, 1);
+    ON_ERROR_GOTO((0 == r), return_err);
+  }
+
+  if (dev->use_gyro) {
+    if (ICM20602_GYRO_DLPF_BYPASS_3281_HZ == dev->gyro_dlpf) {
+      // bypass dpf and set dps
+      tmp = 0x00;
+      r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+
+      tmp = (dev->gyro_dps << 3) | 0x02; // see table page 37 of datasheet
+      r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+    }
+    else if (ICM20602_GYRO_DLPF_BYPASS_8173_HZ == dev->gyro_dlpf) {
+      // bypass dpf and set dps
+      tmp = 0x00;
+      r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+
+      tmp = (dev->gyro_dps << 3) | 0x01; // see table page 37 of datasheet
+      r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+    }
+    else {
+      // configure dpf and set dps
+      tmp = dev->gyro_dlpf;
+      r = dev->hal_wr(dev->id, REG_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+
+      tmp = dev->gyro_dps << 3;
+      r = dev->hal_wr(dev->id, REG_GYRO_CONFIG, &tmp, 1);
+      ON_ERROR_GOTO((0 == r), return_err);
+    }
+  }
+
+  // enable FIFO if requested
+  tmp = ((dev->use_accel) && (dev->accel_fifo)) ? 0x08 : 0x00;
+  tmp |= ((dev->use_gyro) && (dev->gyro_fifo)) ? 0x10 : 0x00;
+  r = dev->hal_wr(dev->id, REG_FIFO_EN, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  // configure sample rate divider (TODO: is this gyro only?)
+  // note: SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV)
+  tmp = (0 != dev->sample_rate_div) ? dev->sample_rate_div - 1 : 1;
+  r = dev->hal_wr(dev->id, REG_SMPLRT_DIV, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+  tmp = 0;
+  tmp |= (dev->use_gyro) ? 0 : 0x07; // 0 - on, 1 - disabled
+  tmp |= (dev->use_accel) ? 0 : 0x38; // 0 - on, 1 - disabled
+  r = dev->hal_wr(dev->id, REG_PWR_MGMT_2, &tmp, 1);
+  ON_ERROR_GOTO((0 == r), return_err);
+
+return_err:
+
+  if (dev->mutex_unlock) {
+    dev->mutex_unlock(dev->id);
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_accel(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z)
+{
+  float accel_sensitivity;
+  int16_t x, y, z;
+  int8_t r = 0;
+
+  accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
+
+  r = icm20602_read_accel_raw(dev, &x, &y, &z);
+  if (0 == r) {
+    *p_x = ((float) x) / accel_sensitivity;
+    *p_y = ((float) y) / accel_sensitivity;
+    *p_z = ((float) z) / accel_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_gyro(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z)
+{
+  float gyro_sensitivity;
+  int16_t x, y, z;
+  int8_t r = 0;
+
+  gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
+
+  r = icm20602_read_gyro_raw(dev, &x, &y, &z);
+  if (0 == r) {
+    *p_x = ((float) x) / gyro_sensitivity;
+    *p_y = ((float) y) / gyro_sensitivity;
+    *p_z = ((float) z) / gyro_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
+  float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t)
+{
+  float accel_sensitivity;
+  float gyro_sensitivity;
+  int16_t ax, ay, az, gx, gy, gz, t;
+  int8_t r = 0;
+
+  accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
+  gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
+
+  r = icm20602_read_data_raw(dev, &ax, &ay, &az, &gx, &gy, &gz, &t);
+  if (0 == r) {
+    *p_ax = ((float) ax) / accel_sensitivity;
+    *p_ay = ((float) ay) / accel_sensitivity;
+    *p_az = ((float) az) / accel_sensitivity;
+    *p_gx = ((float) gx) / gyro_sensitivity;
+    *p_gy = ((float) gy) / gyro_sensitivity;
+    *p_gz = ((float) gz) / gyro_sensitivity;
+    *p_t = ((float) t) / _temp_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_accel_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
+  int16_t * p_z)
+{
+  uint8_t buf[8] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_ACCEL_XOUT_H, buf, 8);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_x, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_y, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_z, buf[4], buf[5]);
+    // buf[6] and buf[7] hold temperature
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_gyro_raw(struct icm20602_dev * dev, int16_t * p_x, int16_t * p_y,
+  int16_t * p_z)
+{
+  uint8_t buf[6] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_GYRO_XOUT_H, buf, 6);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_x, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_y, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_z, buf[4], buf[5]);
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
+  int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
+  int16_t * p_gz, int16_t * p_t)
+{
+  uint8_t buf[14] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_ACCEL_XOUT_H, buf, 14);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_ax, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_ay, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_az, buf[4], buf[5]);
+    UINT8_TO_INT16(*p_t, buf[6], buf[7]);
+    UINT8_TO_INT16(*p_gx, buf[8], buf[9]);
+    UINT8_TO_INT16(*p_gy, buf[10], buf[11]);
+    UINT8_TO_INT16(*p_gz, buf[12], buf[13]);
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_accel_fifo(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z)
+{
+  float accel_sensitivity;
+  int16_t x, y, z;
+  int8_t r = 0;
+
+  accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
+
+  r = icm20602_read_fifo_accel_raw(dev, &x, &y, &z);
+  if (0 == r) {
+    *p_x = ((float) x) / accel_sensitivity;
+    *p_y = ((float) y) / accel_sensitivity;
+    *p_z = ((float) z) / accel_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_gyro_fifo(struct icm20602_dev * dev, float * p_x, float * p_y,
+  float * p_z)
+{
+  float gyro_sensitivity;
+  int16_t x, y, z;
+  int8_t r = 0;
+
+  gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
+
+  r = icm20602_read_fifo_gyro_raw(dev, &x, &y, &z);
+  if (0 == r) {
+    *p_x = ((float) x) / gyro_sensitivity;
+    *p_y = ((float) y) / gyro_sensitivity;
+    *p_z = ((float) z) / gyro_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_fifo_data(struct icm20602_dev * dev, float * p_ax, float * p_ay,
+  float * p_az, float * p_gx, float * p_gy, float * p_gz, float * p_t)
+{
+  float accel_sensitivity;
+  float gyro_sensitivity;
+  int16_t ax, ay, az, gx, gy, gz, t;
+  int8_t r = 0;
+
+  accel_sensitivity = _get_accel_sensitivity(dev->accel_g);
+  gyro_sensitivity = _get_gyro_sensitivity(dev->gyro_dps);
+
+  r = icm20602_read_fifo_data_raw(dev, &ax, &ay, &az, &gx, &gy, &gz, &t);
+  if (0 == r) {
+    *p_ax = ((float) ax) / accel_sensitivity;
+    *p_ay = ((float) ay) / accel_sensitivity;
+    *p_az = ((float) az) / accel_sensitivity;
+    *p_gx = ((float) gx) / gyro_sensitivity;
+    *p_gy = ((float) gy) / gyro_sensitivity;
+    *p_gz = ((float) gz) / gyro_sensitivity;
+    *p_t = ((float) t) / _temp_sensitivity;
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_fifo_accel_raw(struct icm20602_dev * dev, int16_t * p_x,
+  int16_t * p_y, int16_t * p_z)
+{
+  uint8_t buf[6] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_FIFO_R_W, buf, 6);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_x, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_y, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_z, buf[4], buf[5]);
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_fifo_gyro_raw(struct icm20602_dev * dev, int16_t * p_x,
+  int16_t * p_y, int16_t * p_z)
+{
+  uint8_t buf[6] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_FIFO_R_W, buf, 6);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_x, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_y, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_z, buf[4], buf[5]);
+  }
+
+  return r;
+}
+
+int8_t
+icm20602_read_fifo_data_raw(struct icm20602_dev * dev, int16_t * p_ax,
+  int16_t * p_ay, int16_t * p_az, int16_t * p_gx, int16_t * p_gy,
+  int16_t * p_gz, int16_t * p_t)
+{
+  uint8_t buf[14] = {0};
+  int8_t r = 0;
+
+  r = _read_data(dev, REG_FIFO_R_W, buf, 14);
+  if (0 == r) {
+    UINT8_TO_INT16(*p_ax, buf[0], buf[1]);
+    UINT8_TO_INT16(*p_ay, buf[2], buf[3]);
+    UINT8_TO_INT16(*p_az, buf[4], buf[5]);
+    UINT8_TO_INT16(*p_t, buf[6], buf[7]);
+    UINT8_TO_INT16(*p_gx, buf[8], buf[9]);
+    UINT8_TO_INT16(*p_gy, buf[10], buf[11]);
+    UINT8_TO_INT16(*p_gz, buf[12], buf[13]);
+  }
+
+  return r;
+}