diff --git a/src/ICM_20948.cpp b/src/ICM_20948.cpp
index 9f40d52..8363e71 100644
--- a/src/ICM_20948.cpp
+++ b/src/ICM_20948.cpp
@@ -239,6 +239,196 @@ float ICM_20948::getGyrDPS(int16_t axis_val)
   }
 }
 
+//Gyro Bias
+ICM_20948_Status_e ICM_20948::SetBiasGyroX( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char gyro_bias_reg[4];
+    gyro_bias_reg[0] = (unsigned char)(newValue >> 24);
+    gyro_bias_reg[1] = (unsigned char)(newValue >> 16);
+    gyro_bias_reg[2] = (unsigned char)(newValue >> 8);
+    gyro_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, GYRO_BIAS_X, 4, (const unsigned char*)&gyro_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasGyroY( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char gyro_bias_reg[4];
+    gyro_bias_reg[0] = (unsigned char)(newValue >> 24);
+    gyro_bias_reg[1] = (unsigned char)(newValue >> 16);
+    gyro_bias_reg[2] = (unsigned char)(newValue >> 8);
+    gyro_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, GYRO_BIAS_Y, 4, (const unsigned char*)&gyro_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasGyroZ( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char gyro_bias_reg[4];
+    gyro_bias_reg[0] = (unsigned char)(newValue >> 24);
+    gyro_bias_reg[1] = (unsigned char)(newValue >> 16);
+    gyro_bias_reg[2] = (unsigned char)(newValue >> 8);
+    gyro_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, GYRO_BIAS_Z, 4, (const unsigned char*)&gyro_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasGyroX( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_X, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasGyroY( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Y, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasGyroZ( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, GYRO_BIAS_Z, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+//Accel Bias
+ICM_20948_Status_e ICM_20948::SetBiasAccelX( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char accel_bias_reg[4];
+    accel_bias_reg[0] = (unsigned char)(newValue >> 24);
+    accel_bias_reg[1] = (unsigned char)(newValue >> 16);
+    accel_bias_reg[2] = (unsigned char)(newValue >> 8);
+    accel_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, ACCEL_BIAS_X, 4, (const unsigned char*)&accel_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasAccelY( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char accel_bias_reg[4];
+    accel_bias_reg[0] = (unsigned char)(newValue >> 24);
+    accel_bias_reg[1] = (unsigned char)(newValue >> 16);
+    accel_bias_reg[2] = (unsigned char)(newValue >> 8);
+    accel_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, ACCEL_BIAS_Y, 4, (const unsigned char*)&accel_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasAccelZ( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char accel_bias_reg[4];
+    accel_bias_reg[0] = (unsigned char)(newValue >> 24);
+    accel_bias_reg[1] = (unsigned char)(newValue >> 16);
+    accel_bias_reg[2] = (unsigned char)(newValue >> 8);
+    accel_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, ACCEL_BIAS_Z, 4, (const unsigned char*)&accel_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasAccelX( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_X, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasAccelY( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Y, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasAccelZ( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, ACCEL_BIAS_Z, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+//CPass Bias
+ICM_20948_Status_e ICM_20948::SetBiasCPassX( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char cpass_bias_reg[4];
+    cpass_bias_reg[0] = (unsigned char)(newValue >> 24);
+    cpass_bias_reg[1] = (unsigned char)(newValue >> 16);
+    cpass_bias_reg[2] = (unsigned char)(newValue >> 8);
+    cpass_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, CPASS_BIAS_X, 4, (const unsigned char*)&cpass_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasCPassY( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char cpass_bias_reg[4];
+    cpass_bias_reg[0] = (unsigned char)(newValue >> 24);
+    cpass_bias_reg[1] = (unsigned char)(newValue >> 16);
+    cpass_bias_reg[2] = (unsigned char)(newValue >> 8);
+    cpass_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, CPASS_BIAS_Y, 4, (const unsigned char*)&cpass_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::SetBiasCPassZ( int32_t newValue)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char cpass_bias_reg[4];
+    cpass_bias_reg[0] = (unsigned char)(newValue >> 24);
+    cpass_bias_reg[1] = (unsigned char)(newValue >> 16);
+    cpass_bias_reg[2] = (unsigned char)(newValue >> 8);
+    cpass_bias_reg[3] = (unsigned char)(newValue & 0xff);
+    result = inv_icm20948_write_mems(&_device, CPASS_BIAS_Z, 4, (const unsigned char*)&cpass_bias_reg);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasCPassX( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_X, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasCPassY( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Y, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
+ICM_20948_Status_e ICM_20948::GetBiasCPassZ( int32_t* bias)
+{
+    ICM_20948_Status_e result = ICM_20948_Stat_Ok;
+    unsigned char bias_data[4] = { 0 };
+    result = inv_icm20948_read_mems(&_device, CPASS_BIAS_Z, 4, bias_data);
+    bias[0] = (int32_t)(bias_data[0] << 24) | (bias_data[1] << 16) | (bias_data[2] << 8) | (bias_data[3]);
+    return result;
+}
+
 float ICM_20948::temp(void)
 {
   return getTempC(agmt.tmp.val);
@@ -1796,3 +1986,5 @@ ICM_20948_Status_e ICM_20948_read_SPI(uint8_t reg, uint8_t *buff, uint32_t len,
 
   return ICM_20948_Stat_Ok;
 }
+
+
diff --git a/src/ICM_20948.h b/src/ICM_20948.h
index 4eb62e1..4b652d9 100644
--- a/src/ICM_20948.h
+++ b/src/ICM_20948.h
@@ -173,6 +173,28 @@ class ICM_20948
 
   //DMP
 
+  //Gyro Bias
+  ICM_20948_Status_e SetBiasGyroX( int32_t newValue);
+  ICM_20948_Status_e SetBiasGyroY( int32_t newValue);
+  ICM_20948_Status_e SetBiasGyroZ( int32_t newValue);
+  ICM_20948_Status_e GetBiasGyroX( int32_t* bias);
+  ICM_20948_Status_e GetBiasGyroY( int32_t* bias);
+  ICM_20948_Status_e GetBiasGyroZ( int32_t* bias);
+  //Accel Bias
+  ICM_20948_Status_e SetBiasAccelX( int32_t newValue);
+  ICM_20948_Status_e SetBiasAccelY( int32_t newValue);
+  ICM_20948_Status_e SetBiasAccelZ( int32_t newValue);
+  ICM_20948_Status_e GetBiasAccelX( int32_t* bias);
+  ICM_20948_Status_e GetBiasAccelY( int32_t* bias);
+  ICM_20948_Status_e GetBiasAccelZ( int32_t* bias);
+  //CPass Bias
+  ICM_20948_Status_e SetBiasCPassX( int32_t newValue);
+  ICM_20948_Status_e SetBiasCPassY( int32_t newValue);
+  ICM_20948_Status_e SetBiasCPassZ( int32_t newValue);
+  ICM_20948_Status_e GetBiasCPassX( int32_t* bias);
+  ICM_20948_Status_e GetBiasCPassY( int32_t* bias);
+  ICM_20948_Status_e GetBiasCPassZ( int32_t* bias);
+
   // Done:
   //  Configure DMP start address through PRGM_STRT_ADDRH/PRGM_STRT_ADDRL
   //  Load Firmware
diff --git a/src/util/ICM_20948_C.c b/src/util/ICM_20948_C.c
index 8cf2e5a..1e95c68 100644
--- a/src/util/ICM_20948_C.c
+++ b/src/util/ICM_20948_C.c
@@ -10,7 +10,7 @@
 
 #if defined(ARDUINO_ARCH_MBED) // ARDUINO_ARCH_MBED (APOLLO3 v2) does not support or require pgmspace.h / PROGMEM
 const uint8_t dmp3_image[] = {
-#elif (defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__)) && !defined(__linux__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms
+#elif (defined(__AVR__) || defined(__arm__) || defined(__ARDUINO_ARC__) || defined(ESP8266)) && !defined(__linux__) // Store the DMP firmware in PROGMEM on older AVR (ATmega) platforms
 #define ICM_20948_USE_PROGMEM_FOR_DMP
 #include <avr/pgmspace.h>
 const uint8_t dmp3_image[] PROGMEM = {
@@ -2589,7 +2589,9 @@ ICM_20948_Status_e inv_icm20948_set_gyro_sf(ICM_20948_Device_t *pdev, unsigned c
   gyro_sf_reg[1] = (unsigned char)(gyro_sf >> 16);
   gyro_sf_reg[2] = (unsigned char)(gyro_sf >> 8);
   gyro_sf_reg[3] = (unsigned char)(gyro_sf & 0xff);
-  result = inv_icm20948_write_mems(pdev, GYRO_SF, 4, (const unsigned char *)&gyro_sf_reg);
+  result = inv_icm20948_write_mems(pdev, GYRO_SF, 4, (const unsigned char*)&gyro_sf_reg);
 
   return result;
 }
+
+