I have some problem with understanding with accelerometer offest compensation exacly how it shoud work :
according to dokumentaton : https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi160-ds000.pdf

If someone had using this functionality - please check my line of reasoning:

1. after performing FOC (Fast Offset compensation) for all axis as a result registers OFFSET_0 (value off_acc_x), OFFSET_1 (value off_acc_y), OFFSET_0 (value off_acc_z) will be updated/overwrited.

• I can also write this walues manually

2. to activate automatic offset correction i have to enable functionality by setting bit 'acc_off_en' of register OFFSET_6

3. from this moment (as long as acc_off_en = True) I should read values form accelerometer data registers (DATA_14 to DATA_19 ) after offset compendation i.e:
   acc_off_en = 0 : data ax registers (DATA_14, _15) will store value : acc_x value with offset - no correction
   acc_off_en = 1 : data ax registers (DATA_14, _15) will store value : acc_x -off_acc_x value correct

I wrote My own driver and I notice some problems (at leat in understanding the process) , for example

reading raw accelometers data (imu situated flat) give me (for example) : ax, ay , az = (74, -1786, 16655)
(at this point offset refisters have value 0)

after performing FOC offset registers will have values: offset_ax, offset_ay, offset_az, = (-2, 27, -5)

then after enabling auto offetting correction ( acc_off_en = 1 ) i should read raw data : (74 , -1786, 16655) - (-2, 27, -5) but
what I get is still:
ax, ay , az = (74, -1786, 16655)

So I checked all my I2C commands manually, (read/write registers) , and at least cross-check with existing BMI160 drivers like:
https://github.com/serioeseGmbH/BMI160/tree/master
https://github.com/jposada202020/MicroPython_BMI160

I'm sure that my functions are correct, but any of tested libraries do not have example of using FOC or manual offset correction and using auto offesetting correction - so I started to doubt that my reasoning is correct.