diff --git a/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj b/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj
index e480098..15f0edf 100644
--- a/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj
+++ b/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj
@@ -37,6 +37,7 @@
 		3AED206D2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED206C2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift */; };
 		3AED20712B0C4BA60066A0F8 /* MagSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED20702B0C4BA60066A0F8 /* MagSensor.swift */; };
 		3AED20732B0C587B0066A0F8 /* GyroSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED20722B0C587B0066A0F8 /* GyroSensor.swift */; };
+		92150EF52DE461CE00FEA53B /* AltMagSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 92150EF42DE461CE00FEA53B /* AltMagSensor.swift */; };
 		9299E50E2B85054E001EEFE0 /* PressureTempSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 9299E50D2B85054E001EEFE0 /* PressureTempSensor.swift */; };
 		9299E5102B850571001EEFE0 /* BattVoltageSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 9299E50F2B850571001EEFE0 /* BattVoltageSensor.swift */; };
 		92B1067A2B7DAFBC00AB9952 /* EXGSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 92B106792B7DAFBC00AB9952 /* EXGSensor.swift */; };
@@ -84,6 +85,7 @@
 		3AED206C2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ShimmerUtilitiesTest.swift; sourceTree = "<group>"; };
 		3AED20702B0C4BA60066A0F8 /* MagSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = MagSensor.swift; sourceTree = "<group>"; };
 		3AED20722B0C587B0066A0F8 /* GyroSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = GyroSensor.swift; sourceTree = "<group>"; };
+		92150EF42DE461CE00FEA53B /* AltMagSensor.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = AltMagSensor.swift; sourceTree = "<group>"; };
 		9299E50D2B85054E001EEFE0 /* PressureTempSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = PressureTempSensor.swift; sourceTree = "<group>"; };
 		9299E50F2B850571001EEFE0 /* BattVoltageSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BattVoltageSensor.swift; sourceTree = "<group>"; };
 		92B106792B7DAFBC00AB9952 /* EXGSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = EXGSensor.swift; sourceTree = "<group>"; };
@@ -131,6 +133,7 @@
 		3A780C872AE12BEB00EAF050 /* ShimmerBluetooth */ = {
 			isa = PBXGroup;
 			children = (
+				92150EF42DE461CE00FEA53B /* AltMagSensor.swift */,
 				3AEB12F82BCE6F7E00B5F6F1 /* Shimmer3SpeedTestProtocol.swift */,
 				3A780C882AE12BEB00EAF050 /* ShimmerBluetooth.h */,
 				3A780C892AE12BEB00EAF050 /* ShimmerBluetooth.docc */,
@@ -299,6 +302,7 @@
 				3AB320E62B070830003D94F8 /* Sensor.swift in Sources */,
 				3A0B4B672B0EE42700786295 /* IMUSensor.swift in Sources */,
 				3A1CBAD32AE2DD1C00BC1E54 /* BleByteRadio.swift in Sources */,
+				92150EF52DE461CE00FEA53B /* AltMagSensor.swift in Sources */,
 				3A7712912AE26805006213A8 /* BLEByteRadioold.swift in Sources */,
 				3A77128D2AE177A4006213A8 /* ShimmerDevice.swift in Sources */,
 				3AA359152AF37943008AD334 /* ConfigByteLayoutShimmer3.swift in Sources */,
diff --git a/ShimmerBluetooth/ShimmerBluetooth/AltMagSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/AltMagSensor.swift
new file mode 100644
index 0000000..326e51e
--- /dev/null
+++ b/ShimmerBluetooth/ShimmerBluetooth/AltMagSensor.swift
@@ -0,0 +1,245 @@
+//
+//  AltMagSensor.swift
+//  ShimmerBluetooth
+//
+//  Created by Shimmer Engineering on 26/05/2025.
+//
+
+import Foundation
+
+public class AltMagSensor : IMUSensor , SensorProcessing{
+    
+    public enum Range3R: UInt8 {
+        case RANGE_4Ga = 0x0
+        case RANGE_8Ga = 0x1
+        case RANGE_12Ga = 0x2
+        case RANGE_16Ga = 0x3
+        
+        public static func fromValue(_ value : UInt8) -> Range3R? {
+            switch value{
+            case 0:
+                return .RANGE_4Ga
+            case 1:
+                return .RANGE_8Ga
+            case 2:
+                return .RANGE_12Ga
+            case 3:
+                return .RANGE_16Ga
+            default:
+                return nil
+            }
+        }
+    }
+    var Current3RRange = Range3R.RANGE_4Ga
+    
+    public var packetIndexAltMagX:Int = -1
+    public var packetIndexAltMagY:Int = -1
+    public var packetIndexAltMagZ:Int = -1
+    public static let ALT_MAGNETOMETER_X = "Alt Magnetometer X"
+    public static let ALT_MAGNETOMETER_Y = "Alt Magnetometer Y"
+    public static let ALT_MAGNETOMETER_Z = "Alt Magnetometer Z"
+    var calibBytes_4Ga: [UInt8] = []
+    var calibBytes_8Ga: [UInt8] = []
+    var calibBytes_12Ga: [UInt8] = []
+    var calibBytes_16Ga: [UInt8] = []
+    var altMagRange = 0
+    var CALIBRATION_ID = 41
+    var AlignmentMatrix : [[Double]] = [[]]
+    var SensitivityMatrix : [[Double]] = [[]]
+    var OffsetVector : [Double] = []
+    var AlignmentMatrix_4Ga:[[Double]] = [[]]
+    var SensitivityMatrix_4Ga:[[Double]] = [[]]
+    var OffsetVector_4Ga:[Double]=[]
+    var AlignmentMatrix_8Ga:[[Double]] = [[]]
+    var SensitivityMatrix_8Ga:[[Double]] = [[]]
+    var OffsetVector_8Ga:[Double]=[]
+    var AlignmentMatrix_12Ga:[[Double]] = [[]]
+    var SensitivityMatrix_12Ga:[[Double]] = [[]]
+    var OffsetVector_12Ga:[Double]=[]
+    var AlignmentMatrix_16Ga:[[Double]] = [[]]
+    var SensitivityMatrix_16Ga:[[Double]] = [[]]
+    var OffsetVector_16Ga:[Double]=[]
+    
+    public func get3RRange()->Range3R{
+        return Current3RRange
+    }
+    
+    public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
+        let x = Array(sensorPacket[packetIndexAltMagX..<packetIndexAltMagX+2])
+        let y = Array(sensorPacket[packetIndexAltMagY..<packetIndexAltMagY+2])
+        let z = Array(sensorPacket[packetIndexAltMagZ..<packetIndexAltMagZ+2])
+        let rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16)!)
+        let rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16)!)
+        let rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16)!)
+        if (calibrationEnabled){
+            let data:[Double] = [rawDataX,rawDataY,rawDataZ]
+
+            let(calData)=IMUSensor.calibrateInertialSensorData(data,AlignmentMatrix,SensitivityMatrix,OffsetVector)
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_X, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![0])
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Y, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![1])
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Z, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![2])
+            print("M X : \(calData![0]) ,  M Y : \(calData![1]),  M Z : \(calData![2])")
+        }
+        print("MR X : \(rawDataX) ,  MR Y : \(rawDataY),  MR Z : \(rawDataZ)")
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_X, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataX)
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Y, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataY)
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Z, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataZ)
+        
+        return objectCluster
+    }
+    
+    public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
+        if bytes[0] == CALIBRATION_ID {
+            var range = bytes[2]
+            var calbytes = bytes
+            calbytes.removeFirst(12)
+            if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                (AlignmentMatrix,SensitivityMatrix,OffsetVector) = parseIMUCalibrationParameters(bytes: calbytes)
+            }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                if range==0{
+                    calibBytes_4Ga = calbytes
+                    (AlignmentMatrix_4Ga,SensitivityMatrix_4Ga,OffsetVector_4Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==1{
+                    calibBytes_8Ga = calbytes
+                    (AlignmentMatrix_8Ga,SensitivityMatrix_8Ga,OffsetVector_8Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==2{
+                    calibBytes_12Ga = calbytes
+                    (AlignmentMatrix_12Ga,SensitivityMatrix_12Ga,OffsetVector_12Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==3{
+                    calibBytes_16Ga = calbytes
+                    (AlignmentMatrix_16Ga,SensitivityMatrix_16Ga,OffsetVector_16Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+            }
+        }
+    }
+    
+    public func setInfoMem(infomem: [UInt8]) {
+        
+        var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors2]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & 1
+        if (enabled == 1){
+            sensorEnabled = true
+        } else {
+            sensorEnabled = false
+        }
+        altMagRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & ConfigByteLayoutShimmer3.maskLSM303DLHCMagRange)
+        
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if (altMagRange == 0){
+                Current3RRange = Range3R.RANGE_4Ga
+                AlignmentMatrix = AlignmentMatrix_4Ga
+                SensitivityMatrix = SensitivityMatrix_4Ga
+                OffsetVector = OffsetVector_4Ga
+            }
+            if (altMagRange == 1){
+                Current3RRange = Range3R.RANGE_8Ga
+                AlignmentMatrix = AlignmentMatrix_8Ga
+                SensitivityMatrix = SensitivityMatrix_8Ga
+                OffsetVector = OffsetVector_8Ga
+            }
+            if (altMagRange == 2){
+                Current3RRange = Range3R.RANGE_12Ga
+                AlignmentMatrix = AlignmentMatrix_12Ga
+                SensitivityMatrix = SensitivityMatrix_12Ga
+                OffsetVector = OffsetVector_12Ga
+            }
+            if (altMagRange == 3){
+                Current3RRange = Range3R.RANGE_16Ga
+                AlignmentMatrix = AlignmentMatrix_16Ga
+                SensitivityMatrix = SensitivityMatrix_16Ga
+                OffsetVector = OffsetVector_16Ga
+            }
+        }
+    }
+    
+    public func setLowPowerAltMag(enable: Bool, isShimmer3withUpdatedSensors: Bool, isShimmer3Sensor: Bool, samplingRate: Double, infomem: [UInt8])-> [UInt8]{
+        let LowPowerMagEnabled = enable
+        var infomemtoupdate = infomem
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if(!LowPowerMagEnabled){
+                if(samplingRate > 560){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x01)
+                }else if(samplingRate > 300){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x11)
+                }else if(samplingRate > 155){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x21)
+                }else if(samplingRate > 100){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x31)
+                }else if(samplingRate > 50){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x31)
+                }else if(samplingRate > 20){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x3E)
+                }else if(samplingRate > 10){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x3A)
+                }else{
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x08)
+                }
+            }else{
+                infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x08)
+            }
+        }
+        return infomemtoupdate
+
+    }
+    
+    public func updateInfoMem3RAltMagRange(infomem: [UInt8],range: Range3R) -> [UInt8]{
+        var infomemtoupdate = infomem
+        print("oriinfomem: \(infomemtoupdate)")
+        var altMagRange = 0
+        var calibBytes = calibBytes_4Ga
+        if (range == Range3R.RANGE_4Ga){
+            altMagRange = 0
+            calibBytes = calibBytes_4Ga
+        }else if (range == Range3R.RANGE_8Ga){
+            altMagRange = 1
+            calibBytes = calibBytes_8Ga
+        } else if (range == Range3R.RANGE_12Ga){
+            altMagRange = 2
+            calibBytes = calibBytes_12Ga
+        } else if (range == Range3R.RANGE_16Ga){
+            altMagRange = 3
+            calibBytes = calibBytes_16Ga
+        }
+        
+        infomemtoupdate.replaceSubrange(
+            ConfigByteLayoutShimmer3.idxLIS3MDLAltMagCalibration..<ConfigByteLayoutShimmer3.idxLIS3MDLAltMagCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+            with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+        
+        let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
+        let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange)
+        let range = UInt8(altMagRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange)
+        
+        print("orivalue range: \(orivalue)")
+        print("value: \(value)")
+        print("range: \(range)")
+        
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+        print("updatedinfomem: \(infomemtoupdate)")
+        
+        return infomemtoupdate
+    }
+    
+    
+    public func updateInfoMemAltMagRate(infomem: [UInt8],magRate: UInt8) -> [UInt8]{
+        var infomemtoupdate = infomem
+        
+        print("oriinfomem : \(infomemtoupdate)")
+        
+        let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
+        let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagSamplingRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
+        let range = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
+        
+        print("orivalue range : \(orivalue)")
+        print("value : \(value)")
+        print("range : \(range)")
+        
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+        
+        return infomemtoupdate
+    }
+}
+
+
diff --git a/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift b/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift
index 5d3b413..3584a4f 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift
@@ -8,7 +8,8 @@ public class BleByteRadio : NSObject, ByteCommunication {
     var RBL_CHAR_TX_UUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
     private var bluetoothManager: BluetoothManager?
     public static let VERISENSE = "Verisense"
-    public static let SHIMMER = "Shimmer"
+    public static let SHIMMER3 = "Shimmer3"
+    public static let SHIMMER3R = "Shimmer3R"
     private var continuation: CheckedContinuation<Bool?, Never>?
     public static let VERISENSE_RBL_SERVICE_UUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
     public static let VERISENSE_RBL_CHAR_RX_UUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
@@ -17,6 +18,12 @@ public class BleByteRadio : NSObject, ByteCommunication {
     public static let SHIMMER3_RBL_SERVICE_UUID = "49535343-FE7D-4AE5-8FA9-9FAFD205E455"
     public static let SHIMMER3_RBL_CHAR_RX_UUID = "49535343-1E4D-4BD9-BA61-23C647249616"
     public static let SHIMMER3_RBL_CHAR_TX_UUID = "49535343-8841-43F4-A8D4-ECBE34729BB3"
+    
+    public static let SHIMMER3R_RBL_SERVICE_UUID = "65333333-A115-11E2-9E9A-0800200CA100"
+    public static let SHIMMER3R_RBL_CHAR_RX_UUID = "65333333-A115-11E2-9E9A-0800200CA102"
+    public static let SHIMMER3R_RBL_CHAR_TX_UUID = "65333333-A115-11E2-9E9A-0800200CA101"
+    
+    
     public var deviceName: String?
     public var delegate: ByteCommunicationDelegate?
 
@@ -38,7 +45,11 @@ public class BleByteRadio : NSObject, ByteCommunication {
             RBL_SERVICE_UUID = BleByteRadio.VERISENSE_RBL_SERVICE_UUID
             RBL_CHAR_RX_UUID = BleByteRadio.VERISENSE_RBL_CHAR_RX_UUID
             RBL_CHAR_TX_UUID = BleByteRadio.VERISENSE_RBL_CHAR_TX_UUID
-        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER), isActive {
+        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER3R), isActive {
+            RBL_SERVICE_UUID = BleByteRadio.SHIMMER3R_RBL_SERVICE_UUID
+            RBL_CHAR_RX_UUID = BleByteRadio.SHIMMER3R_RBL_CHAR_RX_UUID
+            RBL_CHAR_TX_UUID = BleByteRadio.SHIMMER3R_RBL_CHAR_TX_UUID
+        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER3), isActive {
             RBL_SERVICE_UUID = BleByteRadio.SHIMMER3_RBL_SERVICE_UUID
             RBL_CHAR_RX_UUID = BleByteRadio.SHIMMER3_RBL_CHAR_RX_UUID
             RBL_CHAR_TX_UUID = BleByteRadio.SHIMMER3_RBL_CHAR_TX_UUID
diff --git a/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift b/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
index 8711694..5169ef9 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
@@ -40,8 +40,12 @@ public class ConfigByteLayoutShimmer3{
     static let idxBtCommBaudRate = 30
     static let idxAnalogAccelCalibration = 31
     static let idxMPU9150GyroCalibration = 52
-    static let idxLSM303DLHCMagCalibration = 73
-    static let idxLSM303DLHCAccelCalibration = 94 //94->114
+    static let idxLSM303DLHCMagCalibration = 76
+    static let idxLIS3MDLAltMagCalibration = 285
+
+    //static let idxLSM303DLHCAccelCalibration = 94 //94->114
+    static let idxConfigSetupByte4 = 128+2;
+
     static let idxSDExperimentConfig0 =             128+89;
     static let idxSDExperimentConfig1 =             128+90;
     
@@ -51,6 +55,9 @@ public class ConfigByteLayoutShimmer3{
     static let bitShiftMPU9150GyroRange =               0;
     static let maskMPU9150GyroRange =                   0x03;
     
+    static let bitShiftLSM6DSVyroRangeMSB =               2;
+    static let maskLSM6DSVyroRangeMSB =                   0x01;
+    
     static let bitShiftMPU9150AccelGyroSamplingRate =               0;
     static let maskMPU9150AccelGyroSamplingRate =                   0xFF;
     
@@ -63,12 +70,21 @@ public class ConfigByteLayoutShimmer3{
     static let bitShiftLSM303DLHCMagRange =            5;
     static let maskLSM303DLHCMagRange =               0x07;
     
+    static let bitShiftMPU9150AccelRange =            6;
+    static let maskMPU9150AccelRange =               0x03;
+    
     static let bitShiftLSM303DLHCMagSamplingRate =         2;
     static let maskLSM303DLHCMagSamplingRate =          0x07;
     
     static let bitShiftLSM303DLHCAccelSamplingRate =         4;
     static let maskLSM303DLHCAccelSamplingRate =          0x0F;
     
+    static let idxLSM6DSVAccelCalibration = 34;
+    static let idxGyroCalibration = 55;
+    static let idxLSM303DLHCAccelCalibration = 97;
+    
+    static let lengthGeneralCalibrationBytes = 21;
+    
     static let bitShiftRTCError = 4;
     static let maskRTCError = 1;
 }
diff --git a/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift
index 72196bb..be77749 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift
@@ -31,15 +31,49 @@ public class GyroSensor : IMUSensor , SensorProcessing{
         }
     }
     
-    var CurrentRange = Range.RANGE_250DPS
+    public enum Range3R: UInt8 {
+        case RANGE_125DPS = 0x0
+        case RANGE_250DPS = 0x1
+        case RANGE_500DPS = 0x2
+        case RANGE_1000DPS = 0x3
+        case RANGE_2000DPS = 0x4
+        case RANGE_4000DPS = 0x5
+        
+        public static func fromValue(_ value : UInt8) -> Range3R? {
+            switch value{
+            case 0:
+                return .RANGE_125DPS
+            case 1:
+                return .RANGE_250DPS
+            case 2:
+                return .RANGE_500DPS
+            case 3:
+                return .RANGE_1000DPS
+            case 4:
+                return .RANGE_2000DPS
+            case 5:
+                return .RANGE_4000DPS
+            default:
+                return nil
+            }
+        }
+    }
+
     
+    var CurrentRange = Range.RANGE_250DPS
+    var Current3RRange = Range3R.RANGE_250DPS
+
+
     public var packetIndexGyroX:Int = -1
     public var packetIndexGyroY:Int = -1
     public var packetIndexGyroZ:Int = -1
     public static let GYROSCOPE_X = "Gyroscope X"
     public static let GYROSCOPE_Y = "Gyroscope Y"
     public static let GYROSCOPE_Z = "Gyroscope Z"
-    let CALIBRATION_ID = 30
+    var CALIBRATION_ID = 30
+    var AlignmentMatrix_125DPS:[[Double]] = [[]]
+    var SensitivityMatrix_125DPS:[[Double]] = [[]]
+    var OffsetVector_125DPS:[Double]=[]
     var AlignmentMatrix_250DPS:[[Double]] = [[]]
     var SensitivityMatrix_250DPS:[[Double]] = [[]]
     var OffsetVector_250DPS:[Double]=[]
@@ -52,18 +86,40 @@ public class GyroSensor : IMUSensor , SensorProcessing{
     var AlignmentMatrix_2000DPS:[[Double]] = [[]]
     var SensitivityMatrix_2000DPS:[[Double]] = [[]]
     var OffsetVector_2000DPS:[Double]=[]
+    var AlignmentMatrix_4000DPS:[[Double]] = [[]]
+    var SensitivityMatrix_4000DPS:[[Double]] = [[]]
+    var OffsetVector_4000DPS:[Double]=[]
+    
     var gyroRange = 1
     var AlignmentMatrix : [[Double]] = [[]]
     var SensitivityMatrix : [[Double]] = [[]]
     var OffsetVector : [Double] = []
     
+    var calibBytes_125DPS: [UInt8] = []
+    var calibBytes_250DPS: [UInt8] = []
+    var calibBytes_500DPS: [UInt8] = []
+    var calibBytes_1000DPS: [UInt8] = []
+    var calibBytes_2000DPS: [UInt8] = []
+    var calibBytes_4000DPS: [UInt8] = []
+    
     public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
         let x = Array(sensorPacket[packetIndexGyroX..<packetIndexGyroX+2])
         let y = Array(sensorPacket[packetIndexGyroY..<packetIndexGyroY+2])
         let z = Array(sensorPacket[packetIndexGyroZ..<packetIndexGyroZ+2])
-        let rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16MSB)!)
-        let rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16MSB)!)
-        let rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16MSB)!)
+        var rawDataX: Double = 0
+        var rawDataY: Double = 0
+        var rawDataZ: Double = 0
+
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16MSB)!)
+            rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16MSB)!)
+            rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16MSB)!)
+        }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16)!)
+            rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16)!)
+            rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16)!)
+        }
+       
         //print("G X : \(rawDataX) ,  G Y : \(rawDataY),  G Z : \(rawDataZ)")
         if (calibrationEnabled){
             let data:[Double] = [rawDataX,rawDataY,rawDataZ]
@@ -81,27 +137,70 @@ public class GyroSensor : IMUSensor , SensorProcessing{
     }
     
     public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            CALIBRATION_ID = 38
+        }
         var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
         if bytes[0] == CALIBRATION_ID {
             var range = bytes[2]
             var calbytes = bytes
             calbytes.removeFirst(12)
-            if range==0{
-                (AlignmentMatrix_250DPS,SensitivityMatrix_250DPS,OffsetVector_250DPS) = parseIMUCalibrationParameters(bytes: calbytes)
-                SensitivityMatrix_250DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_250DPS, 100)
-            }
-            if range==1{
-                (AlignmentMatrix_500DPS,SensitivityMatrix_500DPS,OffsetVector_500DPS) = parseIMUCalibrationParameters(bytes: calbytes)
-                SensitivityMatrix_500DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_500DPS, 100)
-            }
-            if range==2{
-                (AlignmentMatrix_1000DPS,SensitivityMatrix_1000DPS,OffsetVector_1000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
-                SensitivityMatrix_1000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_1000DPS, 100)
-            }
-            if range==3{
-                (AlignmentMatrix_2000DPS,SensitivityMatrix_2000DPS,OffsetVector_2000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
-                SensitivityMatrix_2000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_2000DPS, 100)
+            
+            if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                if range==0{
+                    calibBytes_250DPS = calbytes
+                    (AlignmentMatrix_250DPS,SensitivityMatrix_250DPS,OffsetVector_250DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_250DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_250DPS, 100)
+                }
+                if range==1{
+                    calibBytes_500DPS = calbytes
+                    (AlignmentMatrix_500DPS,SensitivityMatrix_500DPS,OffsetVector_500DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_500DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_500DPS, 100)
+                }
+                if range==2{
+                    calibBytes_1000DPS = calbytes
+                    (AlignmentMatrix_1000DPS,SensitivityMatrix_1000DPS,OffsetVector_1000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_1000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_1000DPS, 100)
+                }
+                if range==3{
+                    calibBytes_2000DPS = calbytes
+                    (AlignmentMatrix_2000DPS,SensitivityMatrix_2000DPS,OffsetVector_2000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_2000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_2000DPS, 100)
+                }
+            }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                if range==0{
+                    calibBytes_125DPS = calbytes
+                    (AlignmentMatrix_125DPS,SensitivityMatrix_125DPS,OffsetVector_125DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_125DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_125DPS, 100)
+                }
+                if range==1{
+                    calibBytes_250DPS = calbytes
+                    (AlignmentMatrix_250DPS,SensitivityMatrix_250DPS,OffsetVector_250DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_250DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_250DPS, 100)
+                }
+                if range==2{
+                    calibBytes_500DPS = calbytes
+                    (AlignmentMatrix_500DPS,SensitivityMatrix_500DPS,OffsetVector_500DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_500DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_500DPS, 100)
+                }
+                if range==3{
+                    calibBytes_1000DPS = calbytes
+                    (AlignmentMatrix_1000DPS,SensitivityMatrix_1000DPS,OffsetVector_1000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_1000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_1000DPS, 100)
+                }
+                if range==4{
+                    calibBytes_2000DPS = calbytes
+                    (AlignmentMatrix_2000DPS,SensitivityMatrix_2000DPS,OffsetVector_2000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_2000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_2000DPS, 100)
+                }
+                if range==5{
+                    calibBytes_4000DPS = calbytes
+                    (AlignmentMatrix_4000DPS,SensitivityMatrix_4000DPS,OffsetVector_4000DPS) = parseIMUCalibrationParameters(bytes: calbytes)
+                    SensitivityMatrix_4000DPS = ShimmerUtilities.divideMatrixElements(SensitivityMatrix_4000DPS, 100)
+                }
             }
+
+            
             
         }
     }
@@ -109,17 +208,74 @@ public class GyroSensor : IMUSensor , SensorProcessing{
     public func updateInfoMemGyroRange(infomem: [UInt8],range: Range) -> [UInt8]{
         var infomemtoupdate = infomem
         print("oriinfomem: \(infomemtoupdate)")
+        var gyroRange = 0
+        var calibBytes = calibBytes_250DPS
+            if (range == Range.RANGE_250DPS){
+                gyroRange = 0
+                calibBytes = calibBytes_250DPS
+            } else if (range == Range.RANGE_500DPS){
+                gyroRange = 1
+                calibBytes = calibBytes_500DPS
+            } else if (range == Range.RANGE_1000DPS){
+                gyroRange = 2
+                calibBytes = calibBytes_1000DPS
+            } else if (range == Range.RANGE_2000DPS){
+                gyroRange = 3
+                calibBytes = calibBytes_2000DPS
+            }
+        
+        
+        infomemtoupdate.replaceSubrange(
+                        ConfigByteLayoutShimmer3.idxGyroCalibration..<ConfigByteLayoutShimmer3.idxGyroCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+                        with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+        
+            let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
+            let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskMPU9150GyroRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange)
+            let range = UInt8(gyroRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange)
+         
+            print("orivalue range: \(orivalue)")
+            print("value: \(value)")
+            print("range: \(range)")
+
+            infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+            print("updatedinfomem: \(infomemtoupdate)")
+        
+       
+        return infomemtoupdate
+     
+    }
+    
     
+    public func updateInfoMem3RGyroRange(infomem: [UInt8],range: Range3R) -> [UInt8]{
+        var infomemtoupdate = infomem
+        print("oriinfomem: \(infomemtoupdate)")
         var gyroRange = 0
-        if (range == Range.RANGE_250DPS){
+        var calibBytes = calibBytes_125DPS
+        if (range == Range3R.RANGE_125DPS){
             gyroRange = 0
-        } else if (range == Range.RANGE_500DPS){
+            calibBytes = calibBytes_125DPS
+        }else if (range == Range3R.RANGE_250DPS){
             gyroRange = 1
-        } else if (range == Range.RANGE_1000DPS){
+            calibBytes = calibBytes_250DPS
+        } else if (range == Range3R.RANGE_500DPS){
             gyroRange = 2
-        } else if (range == Range.RANGE_2000DPS){
+            calibBytes = calibBytes_500DPS
+        } else if (range == Range3R.RANGE_1000DPS){
             gyroRange = 3
+            calibBytes = calibBytes_1000DPS
+        } else if (range == Range3R.RANGE_2000DPS){
+            gyroRange = 4
+            calibBytes = calibBytes_2000DPS
+        }else if (range == Range3R.RANGE_4000DPS){
+            gyroRange = 5
+            calibBytes = calibBytes_4000DPS
         }
+        
+        
+        infomemtoupdate.replaceSubrange(
+                        ConfigByteLayoutShimmer3.idxGyroCalibration..<ConfigByteLayoutShimmer3.idxGyroCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+                        with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+        
         let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
         let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskMPU9150GyroRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange)
         let range = UInt8(gyroRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange)
@@ -130,15 +286,30 @@ public class GyroSensor : IMUSensor , SensorProcessing{
 
         infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
         print("updatedinfomem: \(infomemtoupdate)")
-
-        return infomemtoupdate
+        
+        let orivalue2 = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte4]
+        let value2 = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte4] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM6DSVyroRangeMSB<<ConfigByteLayoutShimmer3.bitShiftLSM6DSVyroRangeMSB)
+        let range2 = UInt8((gyroRange>>2)<<ConfigByteLayoutShimmer3.bitShiftLSM6DSVyroRangeMSB)
      
+        print("orivalue2 range: \(orivalue2)")
+        print("value2: \(value2)")
+        print("range2: \(range2)")
+
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte4] = value2 | range2
+        print("updatedinfomem: \(infomemtoupdate)")
+    
+   
+    return infomemtoupdate
     }
      
     public func getRange()->Range{
         return CurrentRange
     }
     
+    public func get3RRange()->Range3R{
+        return Current3RRange
+    }
+    
     public func setInfoMem(infomem: [UInt8]) {
         
         var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors0]>>6) & 1
@@ -148,30 +319,73 @@ public class GyroSensor : IMUSensor , SensorProcessing{
             sensorEnabled = false
         }
         
-        gyroRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange) & ConfigByteLayoutShimmer3.maskMPU9150GyroRange)
-        if (gyroRange == 0){
-            CurrentRange = Range.RANGE_250DPS
-            AlignmentMatrix = AlignmentMatrix_250DPS
-            SensitivityMatrix = SensitivityMatrix_250DPS
-            OffsetVector = OffsetVector_250DPS
-        }
-        if (gyroRange == 1){
-            CurrentRange = Range.RANGE_500DPS
-            AlignmentMatrix = AlignmentMatrix_500DPS
-            SensitivityMatrix = SensitivityMatrix_500DPS
-            OffsetVector = OffsetVector_500DPS
-        }
-        if (gyroRange == 2){
-            CurrentRange = Range.RANGE_1000DPS
-            AlignmentMatrix = AlignmentMatrix_1000DPS
-            SensitivityMatrix = SensitivityMatrix_1000DPS
-            OffsetVector = OffsetVector_1000DPS
-        }
-        if (gyroRange == 3){
-            CurrentRange = Range.RANGE_2000DPS
-            AlignmentMatrix = AlignmentMatrix_2000DPS
-            SensitivityMatrix = SensitivityMatrix_2000DPS
-            OffsetVector = OffsetVector_2000DPS
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            gyroRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange) & ConfigByteLayoutShimmer3.maskMPU9150GyroRange)
+            if (gyroRange == 0){
+                CurrentRange = Range.RANGE_250DPS
+                AlignmentMatrix = AlignmentMatrix_250DPS
+                SensitivityMatrix = SensitivityMatrix_250DPS
+                OffsetVector = OffsetVector_250DPS
+            }
+            if (gyroRange == 1){
+                CurrentRange = Range.RANGE_500DPS
+                AlignmentMatrix = AlignmentMatrix_500DPS
+                SensitivityMatrix = SensitivityMatrix_500DPS
+                OffsetVector = OffsetVector_500DPS
+            }
+            if (gyroRange == 2){
+                CurrentRange = Range.RANGE_1000DPS
+                AlignmentMatrix = AlignmentMatrix_1000DPS
+                SensitivityMatrix = SensitivityMatrix_1000DPS
+                OffsetVector = OffsetVector_1000DPS
+            }
+            if (gyroRange == 3){
+                CurrentRange = Range.RANGE_2000DPS
+                AlignmentMatrix = AlignmentMatrix_2000DPS
+                SensitivityMatrix = SensitivityMatrix_2000DPS
+                OffsetVector = OffsetVector_2000DPS
+            }
+        }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            let gyroRangeLSB = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange) & ConfigByteLayoutShimmer3.maskMPU9150GyroRange)
+            let gyroRangeMSB = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte4] >> ConfigByteLayoutShimmer3.bitShiftLSM6DSVyroRangeMSB) & ConfigByteLayoutShimmer3.maskLSM6DSVyroRangeMSB)
+            
+            gyroRange = ((gyroRangeMSB<<2) | gyroRangeLSB)
+            if (gyroRange == 0){
+                Current3RRange = Range3R.RANGE_125DPS
+                AlignmentMatrix = AlignmentMatrix_125DPS
+                SensitivityMatrix = SensitivityMatrix_125DPS
+                OffsetVector = OffsetVector_125DPS
+            }
+            if (gyroRange == 1){
+                Current3RRange = Range3R.RANGE_250DPS
+                AlignmentMatrix = AlignmentMatrix_250DPS
+                SensitivityMatrix = SensitivityMatrix_250DPS
+                OffsetVector = OffsetVector_250DPS
+            }
+            if (gyroRange == 2){
+                Current3RRange = Range3R.RANGE_500DPS
+                AlignmentMatrix = AlignmentMatrix_500DPS
+                SensitivityMatrix = SensitivityMatrix_500DPS
+                OffsetVector = OffsetVector_500DPS
+            }
+            if (gyroRange == 3){
+                Current3RRange = Range3R.RANGE_1000DPS
+                AlignmentMatrix = AlignmentMatrix_1000DPS
+                SensitivityMatrix = SensitivityMatrix_1000DPS
+                OffsetVector = OffsetVector_1000DPS
+            }
+            if (gyroRange == 4){
+                Current3RRange = Range3R.RANGE_2000DPS
+                AlignmentMatrix = AlignmentMatrix_2000DPS
+                SensitivityMatrix = SensitivityMatrix_2000DPS
+                OffsetVector = OffsetVector_2000DPS
+            }
+            if (gyroRange == 5){
+                Current3RRange = Range3R.RANGE_4000DPS
+                AlignmentMatrix = AlignmentMatrix_4000DPS
+                SensitivityMatrix = SensitivityMatrix_4000DPS
+                OffsetVector = OffsetVector_4000DPS
+            }
         }
     }
     
diff --git a/ShimmerBluetooth/ShimmerBluetooth/IMUSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/IMUSensor.swift
index 4156329..51716b3 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/IMUSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/IMUSensor.swift
@@ -8,6 +8,11 @@
 import Foundation
 
 public class IMUSensor: Sensor, IMUProcessing {
+    public let HardwareVersion: Int
+    required init(hwid: Int) {
+            self.HardwareVersion = hwid
+            super.init()
+    }
     
     public static func calibrateInertialSensorData(_ data: [Double], _ AM: [[Double]], _ SM: [[Double]], _ OV: [Double]) -> [Double]? {
         /* Based on the theory outlined by Ferraris F, Grimaldi U, and Parvis M.
diff --git a/ShimmerBluetooth/ShimmerBluetooth/LNAccelSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/LNAccelSensor.swift
index b427f2a..edc94ed 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/LNAccelSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/LNAccelSensor.swift
@@ -8,6 +8,31 @@
 import Foundation
 
 public class LNAccelSensor : IMUSensor , SensorProcessing{
+    
+    public enum Range: UInt8 {
+        case RANGE_2G = 0x0
+        case RANGE_4G = 0x1
+        case RANGE_8G = 0x2
+        case RANGE_16G = 0x3
+        
+        public static func fromValue(_ value: UInt8) -> Range? {
+            switch value {
+            case 0:
+                return .RANGE_2G
+            case 1:
+                return .RANGE_4G
+            case 2:
+                return .RANGE_8G
+            case 3:
+                return .RANGE_16G
+            default:
+                return nil
+            }
+        }
+        
+    }
+    
+    var CurrentRange = Range.RANGE_2G
     public static let LOW_NOISE_ACCELEROMETER_X = "Low Noise Accelerometer X"
     public static let LOW_NOISE_ACCELEROMETER_Y = "Low Noise Accelerometer Y"
     public static let LOW_NOISE_ACCELEROMETER_Z = "Low Noise Accelerometer Z"
@@ -17,23 +42,48 @@ public class LNAccelSensor : IMUSensor , SensorProcessing{
     var AlignmentMatrix:[[Double]] = [[]]
     var SensitivityMatrix:[[Double]] = [[]]
     var OffsetVector:[Double]=[]
-    let CALIBRATION_ID = 2
+    var CalibrationID = 2
+    var AlignmentMatrix_2G:[[Double]] = [[]]
+    var SensitivityMatrix_2G:[[Double]] = [[]]
+    var OffsetVector_2G:[Double]=[]
+    var AlignmentMatrix_4G:[[Double]] = [[]]
+    var SensitivityMatrix_4G:[[Double]] = [[]]
+    var OffsetVector_4G:[Double]=[]
+    var AlignmentMatrix_8G:[[Double]] = [[]]
+    var SensitivityMatrix_8G:[[Double]] = [[]]
+    var OffsetVector_8G:[Double]=[]
+    var AlignmentMatrix_16G:[[Double]] = [[]]
+    var SensitivityMatrix_16G:[[Double]] = [[]]
+    var OffsetVector_16G:[Double]=[]
+    var lnAccelRange = 1
+    
+    var calibBytes_2G: [UInt8] = []
+    var calibBytes_4G: [UInt8] = []
+    var calibBytes_8G: [UInt8] = []
+    var calibBytes_16G: [UInt8] = []
     
     public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
         let x = Array(sensorPacket[packetIndexAccelX..<packetIndexAccelX+2])
         let y = Array(sensorPacket[packetIndexAccelY..<packetIndexAccelY+2])
         let z = Array(sensorPacket[packetIndexAccelZ..<packetIndexAccelZ+2])
-        let rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.u12)!)
-        let rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.u12)!)
-        let rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.u12)!)
-        
+        var rawDataX: Double = 0
+        var rawDataY: Double = 0
+        var rawDataZ: Double = 0
+        if (HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.u12)!)
+            rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.u12)!)
+            rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.u12)!)
+        } else if (HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16)!)
+            rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16)!)
+            rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16)!)
+        }
         if (calibrationEnabled){
             let data:[Double] = [rawDataX,rawDataY,rawDataZ]
             let(calData)=LNAccelSensor.calibrateInertialSensorData(data,AlignmentMatrix,SensitivityMatrix,OffsetVector)
             objectCluster.addData(sensorName: LNAccelSensor.LOW_NOISE_ACCELEROMETER_X, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.meterPerSecondSquared.rawValue, value: calData![0])
             objectCluster.addData(sensorName: LNAccelSensor.LOW_NOISE_ACCELEROMETER_Y, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.meterPerSecondSquared.rawValue, value: calData![1])
             objectCluster.addData(sensorName: LNAccelSensor.LOW_NOISE_ACCELEROMETER_Z, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.meterPerSecondSquared.rawValue, value: calData![2])
-            print("LN X : \(calData![0]) ,  LN Y : \(calData![1]),  LN Z : \(calData![2])")
         }
         
         objectCluster.addData(sensorName: LNAccelSensor.LOW_NOISE_ACCELEROMETER_X, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.noUnit.rawValue, value: rawDataX)
@@ -44,15 +94,74 @@ public class LNAccelSensor : IMUSensor , SensorProcessing{
     }
     
     public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        if (HardwareVersion==Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            CalibrationID = 37
+        }
         var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
-        if bytes[0] == CALIBRATION_ID {
+        if bytes[0] == CalibrationID {
             var range = bytes[2]
             var calbytes = bytes
             calbytes.removeFirst(12)
-            (AlignmentMatrix,SensitivityMatrix,OffsetVector) = parseIMUCalibrationParameters(bytes: calbytes)
+            if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                (AlignmentMatrix,SensitivityMatrix,OffsetVector) = parseIMUCalibrationParameters(bytes: calbytes)
+            }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                if range==0{
+                    calibBytes_2G = calbytes
+                    (AlignmentMatrix_2G,SensitivityMatrix_2G,OffsetVector_2G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==1{
+                    calibBytes_4G = calbytes
+                    (AlignmentMatrix_4G,SensitivityMatrix_4G,OffsetVector_4G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==2{
+                    calibBytes_8G = calbytes
+                    (AlignmentMatrix_8G,SensitivityMatrix_8G,OffsetVector_8G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==3{
+                    calibBytes_16G = calbytes
+                    (AlignmentMatrix_16G,SensitivityMatrix_16G,OffsetVector_16G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+            }
+            
             
+        }
+    }
+    
+    public func updateInfoMemLNAccelRange(infomem: [UInt8],range: Range) -> [UInt8]{
+        var infomemtoupdate = infomem
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            var lnAccelRange = 0
+            var calibBytes = calibBytes_2G
+            if (range == Range.RANGE_2G){
+                lnAccelRange = 0
+                calibBytes = calibBytes_2G
+            } else if (range == Range.RANGE_4G){
+                lnAccelRange = 1
+                calibBytes = calibBytes_4G
+            } else if (range == Range.RANGE_8G){
+                lnAccelRange = 2
+                calibBytes = calibBytes_8G
+            } else if (range == Range.RANGE_16G){
+                lnAccelRange = 3
+                calibBytes = calibBytes_16G
+            }
+
+            infomemtoupdate.replaceSubrange(
+                ConfigByteLayoutShimmer3.idxLSM6DSVAccelCalibration..<ConfigByteLayoutShimmer3.idxLSM6DSVAccelCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+                with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+            
+            let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3]
+            let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] & ~UInt8(ConfigByteLayoutShimmer3.maskMPU9150AccelRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150AccelRange)
+            let range = UInt8(lnAccelRange<<ConfigByteLayoutShimmer3.bitShiftMPU9150AccelRange)
             
+            infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] = value | range
         }
+        return infomemtoupdate
+        
+    }
+    
+    public func getRange()->Range{
+        return CurrentRange
     }
     
     public func setInfoMem(infomem: [UInt8]) {
@@ -62,6 +171,35 @@ public class LNAccelSensor : IMUSensor , SensorProcessing{
         } else {
             sensorEnabled = false
         }
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            lnAccelRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte3]>>ConfigByteLayoutShimmer3.bitShiftMPU9150AccelRange) & ConfigByteLayoutShimmer3.maskMPU9150AccelRange)
+            if (lnAccelRange == 0){
+                CurrentRange = Range.RANGE_2G
+                AlignmentMatrix = AlignmentMatrix_2G
+                SensitivityMatrix = SensitivityMatrix_2G
+                OffsetVector = OffsetVector_2G
+            }
+            if (lnAccelRange == 1){
+                CurrentRange = Range.RANGE_4G
+                AlignmentMatrix = AlignmentMatrix_4G
+                SensitivityMatrix = SensitivityMatrix_4G
+                OffsetVector = OffsetVector_4G
+            }
+            if (lnAccelRange == 2){
+                CurrentRange = Range.RANGE_8G
+                AlignmentMatrix = AlignmentMatrix_8G
+                SensitivityMatrix = SensitivityMatrix_8G
+                OffsetVector = OffsetVector_8G
+            }
+            if (lnAccelRange == 3){
+                CurrentRange = Range.RANGE_16G
+                AlignmentMatrix = AlignmentMatrix_16G
+                SensitivityMatrix = SensitivityMatrix_16G
+                OffsetVector = OffsetVector_16G
+            }
+        }
+        
+
     }
     
     
diff --git a/ShimmerBluetooth/ShimmerBluetooth/MagSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/MagSensor.swift
index 520ac08..ea3ab28 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/MagSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/MagSensor.swift
@@ -8,6 +8,7 @@
 import Foundation
 public class MagSensor : IMUSensor , SensorProcessing{
     
+    
     public var packetIndexMagX:Int = -1
     public var packetIndexMagY:Int = -1
     public var packetIndexMagZ:Int = -1
@@ -15,11 +16,11 @@ public class MagSensor : IMUSensor , SensorProcessing{
     public static let MAGNETOMETER_Y = "Magnetometer Y"
     public static let MAGNETOMETER_Z = "Magnetometer Z"
     var magRange = 0
-    let CALIBRATION_ID = 32
+    var CALIBRATION_ID = 32
     var AlignmentMatrix : [[Double]] = [[]]
     var SensitivityMatrix : [[Double]] = [[]]
     var OffsetVector : [Double] = []
-    
+
     public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
         let x = Array(sensorPacket[packetIndexMagX..<packetIndexMagX+2])
         let y = Array(sensorPacket[packetIndexMagY..<packetIndexMagY+2])
@@ -45,6 +46,9 @@ public class MagSensor : IMUSensor , SensorProcessing{
     }
     
     public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            CALIBRATION_ID = 42
+        }
         var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
         if bytes[0] == CALIBRATION_ID {
             var range = bytes[2]
@@ -56,77 +60,93 @@ public class MagSensor : IMUSensor , SensorProcessing{
     
     public func setInfoMem(infomem: [UInt8]) {
         
-        var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors0]>>5) & 1
+        var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors0]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & 1
         if (enabled == 1){
             sensorEnabled = true
-        } else {
+        } else { 
             sensorEnabled = false
         }
-        
-        magRange = Int((infomem[8]>>5) & 7)
-        
     }
-    
+        
     public func setLowPowerMag(enable: Bool, isShimmer3withUpdatedSensors: Bool, isShimmer3Sensor: Bool, samplingRate: Double, infomem: [UInt8])-> [UInt8]{
         let LowPowerMagEnabled = enable
         var infomemtoupdate = infomem
-        if(isShimmer3Sensor){
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
             if(!LowPowerMagEnabled){
-                if(isShimmer3withUpdatedSensors){
-                    if(samplingRate >= 100){
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
-                    }else if(samplingRate >= 50){
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
-                    }else if(samplingRate >= 20){
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
-                    }else if(samplingRate >= 10){
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+                if(samplingRate <= 10){
+                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+                }else if(samplingRate <= 20){
+                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
+                }else if(samplingRate <= 50){
+                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
+                }else{
+                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
+                }
+            }else{
+                infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+            }
+        }else {
+            if(isShimmer3Sensor){
+                if(!LowPowerMagEnabled){
+                    if(isShimmer3withUpdatedSensors){
+                        if(samplingRate >= 100){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
+                        }else if(samplingRate >= 50){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
+                        }else if(samplingRate >= 20){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
+                        }else if(samplingRate >= 10){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+                        }else{
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+                        }
                     }else{
+                        if(samplingRate >= 50){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
+                        }else if(samplingRate >= 20){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
+                        }else if(samplingRate >= 10){
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
+                        }else{
+                            infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
+                        }
+                    }
+                }else //low power mag for shimmer3 enabled
+                {
+                    if(isShimmer3withUpdatedSensors){
                         infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
+                    }else{
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
                     }
-                }else{
-                    if(samplingRate >= 50){
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
-                    }else if(samplingRate >= 20){
+                }
+            }else //Shimmer2
+            {
+                if(!LowPowerMagEnabled){
+                    if(samplingRate <= 1){
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
+                    }else if(samplingRate <= 15){
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
+                    }else if(samplingRate <= 30){
                         infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
-                    }else if(samplingRate >= 10){
+                    }else if(samplingRate <= 75){
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
+                    }else{
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:7)
+                    }
+                    
+                }else
+                {
+                    if(samplingRate >= 10){
                         infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
                     }else{
-                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
+                        infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
                     }
                 }
-            }else //low power mag for shimmer3 enabled
-            {
-                if(isShimmer3withUpdatedSensors){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
-                }else{
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
-                }
-            }
-        }else //Shimmer2
-        {
-            if(!LowPowerMagEnabled){
-                if(samplingRate <= 1){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
-                }else if(samplingRate <= 15){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
-                }else if(samplingRate <= 30){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
-                }else if(samplingRate <= 75){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
-                }else{
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:7)
-                }
-                
-            }else
-            {
-                if(samplingRate >= 10){
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
-                }else{
-                    infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
-                }
             }
         }
+
+       
+        
        
         return infomemtoupdate
     }
@@ -138,16 +158,14 @@ public class MagSensor : IMUSensor , SensorProcessing{
 
         let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
         let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagSamplingRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
-        let range = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
+        let rate = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
         
         print("orivalue range : \(orivalue)")
         print("value : \(value)")
-        print("range : \(range)")
+        print("rate : \(rate)")
 
-        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | rate
         
         return infomemtoupdate
     }
-    
-    
 }
diff --git a/ShimmerBluetooth/ShimmerBluetooth/PressureTempSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/PressureTempSensor.swift
index 2598a45..8beea06 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/PressureTempSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/PressureTempSensor.swift
@@ -8,6 +8,11 @@
 import Foundation
 
 public class PressureTempSensor: Sensor , SensorProcessing{
+    public let HardwareVersion: Int
+    required init(hwid: Int) {
+            self.HardwareVersion = hwid
+            super.init()
+    }
     public enum Resolution: UInt8 {
             case RES_LOW = 0x0
             case RES_STANDARD = 0x1
@@ -113,31 +118,32 @@ public class PressureTempSensor: Sensor , SensorProcessing{
     }
     
     public func updateInfoMemPressureResolution(infomem: [UInt8],res: Resolution) -> [UInt8]{
-           var infomemtoupdate = infomem
-           print("oriinfomem: \(infomemtoupdate)")
-       
-           var pressReso = 0
-           if (res == Resolution.RES_LOW){
-               pressReso = 0
-           } else if (res == Resolution.RES_STANDARD){
-               pressReso = 1
-           } else if (res == Resolution.RES_HIGH){
-               pressReso = 2
-           } else if (res == Resolution.RES_ULTRAHIGH){
-               pressReso = 3
-           }
-           let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3]
-           let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] & ~UInt8(ConfigByteLayoutShimmer3.maskBMPX80PressureResolution<<ConfigByteLayoutShimmer3.bitShiftBMPX80PressureResolution)
-           let resolution = UInt8(pressReso<<ConfigByteLayoutShimmer3.bitShiftBMPX80PressureResolution)
-        
-           print("orivalue range: \(orivalue)")
-           print("value: \(value)")
-           print("resolution: \(resolution)")
+        var infomemtoupdate = infomem
+        print("oriinfomem: \(infomemtoupdate)")
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            var pressReso = 0
+            if (res == Resolution.RES_LOW){
+                pressReso = 0
+            } else if (res == Resolution.RES_STANDARD){
+                pressReso = 1
+            } else if (res == Resolution.RES_HIGH){
+                pressReso = 2
+            } else if (res == Resolution.RES_ULTRAHIGH){
+                pressReso = 3
+            }
+            let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3]
+            let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] & ~UInt8(ConfigByteLayoutShimmer3.maskBMPX80PressureResolution<<ConfigByteLayoutShimmer3.bitShiftBMPX80PressureResolution)
+            let resolution = UInt8(pressReso<<ConfigByteLayoutShimmer3.bitShiftBMPX80PressureResolution)
+         
+            print("orivalue range: \(orivalue)")
+            print("value: \(value)")
+            print("resolution: \(resolution)")
 
-           infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] = value | resolution
-           print("updatedinfomem: \(infomemtoupdate)")
+            infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte3] = value | resolution
+            print("updatedinfomem: \(infomemtoupdate)")
 
-           return infomemtoupdate
+        }
+       return infomemtoupdate
         
        }
         
diff --git a/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift b/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
index ae3c1d5..58e44e2 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
@@ -9,13 +9,18 @@ import Foundation
 
 public class Shimmer3Protocol : NSObject, ShimmerProtocol {
     
-    enum HardwareType: Int {
+    public enum HardwareType: Int {
+        case UNKNOWN = -1
         case Shimmer3 = 3
-
+        case Shimmer3R = 10
         var description: String {
             switch self {
             case .Shimmer3:
                 return "Shimmer3"
+            case .Shimmer3R:
+                return "Shimmer3R"
+            case .UNKNOWN:
+                return "Unknown"
             }
         }
     }
@@ -40,11 +45,12 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
     
     public var EXPANSION_BOARD_REV_SPECIAL: Int = -1
 
-    var lnAccelSensor: LNAccelSensor = LNAccelSensor()
-    public var wrAccelSensor: WRAccelSensor = WRAccelSensor()
+    public var lnAccelSensor: LNAccelSensor = LNAccelSensor(hwid: HardwareType.UNKNOWN.rawValue)
+    public var wrAccelSensor: WRAccelSensor = WRAccelSensor(hwid: HardwareType.UNKNOWN.rawValue)
     var timeSensor: TimeSensor = TimeSensor()
-    var magSensor: MagSensor = MagSensor()
-    public var gyroSensor: GyroSensor = GyroSensor()
+    public var magSensor: MagSensor = MagSensor(hwid: HardwareType.UNKNOWN.rawValue)
+    public var gyroSensor: GyroSensor = GyroSensor(hwid: HardwareType.UNKNOWN.rawValue)
+    public var altMagSensor: AltMagSensor = AltMagSensor(hwid: HardwareType.UNKNOWN.rawValue)
     var adcA13Sensor: ADCSensor = ADCSensor()
     var adcA12Sensor: ADCSensor = ADCSensor()
     var adcA1Sensor: ADCSensor = ADCSensor()
@@ -53,7 +59,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
     var adcA15Sensor: ADCSensor = ADCSensor()
     var gsrSensor: GSRSensor = GSRSensor()
     public var exgSensor: EXGSensor = EXGSensor()
-    public var pressureTempSensor : PressureTempSensor = PressureTempSensor()
+    public var pressureTempSensor : PressureTempSensor = PressureTempSensor(hwid: HardwareType.UNKNOWN.rawValue)
     var battVoltageSensor : BattVoltageSensor = BattVoltageSensor()
     public var RTCErrorEnabled = false;
     var infoMem: [UInt8] = []
@@ -264,7 +270,12 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
                 }
                 shimmer3InfoMem.configByteParse(configBytes: infoMem)
                 initializeSensors()
-                await sendPressureCalibCoefficientsCommand()
+                if (REV_HW_MAJOR==HardwareType.Shimmer3.rawValue){
+                    await sendBMP280PressureCalibCoefficientsCommand()
+                } else if (REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
+                    await sendPressureCalibCoefficientsCommand()
+                }
+                
                 await sendInquiryCommand()
                 changeState(btState:Shimmer3BTState.CONNECTED)
                 print("Current State: \(BTState)")
@@ -292,16 +303,17 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
             gyroSensor.parseSensorCalibrationDump(bytes: sensorcalibrationdump)
             wrAccelSensor.parseSensorCalibrationDump(bytes: sensorcalibrationdump)
             magSensor.parseSensorCalibrationDump(bytes: sensorcalibrationdump)
+            altMagSensor.parseSensorCalibrationDump(bytes: sensorcalibrationdump)
         }
     }
     
     func createSensors(){
         if (REV_HW_MAJOR==HardwareType.Shimmer3.rawValue){
-            lnAccelSensor = LNAccelSensor()
-            wrAccelSensor = WRAccelSensor()
+            lnAccelSensor = LNAccelSensor(hwid: REV_HW_MAJOR)
+            wrAccelSensor = WRAccelSensor(hwid: REV_HW_MAJOR)
             timeSensor = TimeSensor()
-            magSensor = MagSensor()
-            gyroSensor = GyroSensor()
+            magSensor = MagSensor(hwid: REV_HW_MAJOR)
+            gyroSensor = GyroSensor(hwid: REV_HW_MAJOR)
             adcA13Sensor = ADCSensor(adc: ADCSensor.ADCType.Shimmer3_A13)
             adcA12Sensor = ADCSensor(adc: ADCSensor.ADCType.Shimmer3_A12)
             adcA1Sensor = ADCSensor(adc: ADCSensor.ADCType.Shimmer3_A1)
@@ -310,8 +322,15 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
             adcA15Sensor = ADCSensor(adc: ADCSensor.ADCType.Shimmer3_A15)
             gsrSensor = GSRSensor()
             exgSensor = EXGSensor()
-            pressureTempSensor = PressureTempSensor()
+            pressureTempSensor = PressureTempSensor(hwid: REV_HW_MAJOR)
             battVoltageSensor = BattVoltageSensor()
+        } else if(REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
+            lnAccelSensor = LNAccelSensor(hwid: REV_HW_MAJOR)
+            magSensor = MagSensor(hwid: REV_HW_MAJOR)
+            gyroSensor = GyroSensor(hwid: REV_HW_MAJOR)
+            wrAccelSensor = WRAccelSensor(hwid: REV_HW_MAJOR)
+            timeSensor = TimeSensor()
+            altMagSensor = AltMagSensor(hwid: REV_HW_MAJOR)
         }
     }
     
@@ -333,6 +352,13 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
             exgSensor.setInfoMem(infomem: infoMem)
             pressureTempSensor.setInfoMom(infomem: infoMem)
             battVoltageSensor.setInfoMom(infomem: infoMem)
+        } else  if (REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
+            timeSensor.setInfoMem(infomem: infoMem)
+            lnAccelSensor.setInfoMem(infomem: infoMem)
+            altMagSensor.setInfoMem(infomem: infoMem)
+            magSensor.setInfoMem(infomem: infoMem)
+            gyroSensor.setInfoMem(infomem: infoMem)
+            wrAccelSensor.setInfoMem(infomem: infoMem)
         }
     }
 
@@ -367,6 +393,9 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         if magSensor.sensorEnabled {
             ojc = magSensor.processData(sensorPacket: bytes, objectCluster: ojc)
         }
+        if altMagSensor.sensorEnabled {
+            ojc = altMagSensor.processData(sensorPacket: bytes, objectCluster: ojc)
+        }
         if gyroSensor.sensorEnabled {
             ojc = gyroSensor.processData(sensorPacket: bytes, objectCluster: ojc)
         }
@@ -423,7 +452,6 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
     public let TimeStampPacketByteSize = 3;
     private var EnabledSensors = 0;
     private var PacketSize = 0;
-    private var SignalNameArray = [String]()
     private var SignalDataTypeArray = [SensorDataType]()
     private var processing: Bool = false
     
@@ -563,10 +591,17 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
                         } else if (self.commandSent==PacketTypeShimmer.inquiryCommand){
                             if (self.receivedBytes[1] == PacketTypeShimmer.inquiryResponse.rawValue)
                             {
+                                print(self.receivedBytes.map { String($0) }.joined(separator: " "))
                                 var length = 1 + 1 + 8 //ack + response byte + 8
+                                var xlength = 0
+                                if (self.REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
+                                    xlength = 3
+                                    length = length + xlength
+                                }
                                 var received = Array(self.receivedBytes.prefix(length))
                                 self.receivedBytes.removeFirst(length)
-                                for index in 0..<(received[2+6]+self.CRCMode.rawValue){
+                                
+                                for index in 0..<(received[2+6+xlength]+self.CRCMode.rawValue){
                                     received.append(self.receivedBytes.removeFirst())
                                 }
                                 var crcresult = true
@@ -580,7 +615,11 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
                                     self.removeACKandCRCForResponse(bytes: &received)
                                     print(received)
                                     self.inquiry = received
-                                    self.interpretInquiryResponseShimmer3(packet: received)
+                                    if (self.REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
+                                        self.interpretInquiryResponseShimmer3R(packet: received)
+                                    } else if (self.REV_HW_MAJOR==HardwareType.Shimmer3.rawValue){
+                                        self.interpretInquiryResponseShimmer3(packet: received)
+                                    }
                                     print("Command ACK Received and Processed: \(self.commandSent!)")
                                     self.continuation?.resume(returning: true)
                                     self.continuation = nil
@@ -817,14 +856,10 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
     
     
     func interpretDataPacketFormat(nC: Int, signalid: [UInt8]) {
-        var signalNameArray = [String]()
-        var signalDataTypeArray = [SensorDataType]()
-        signalNameArray.append(ShimmerConfiguration.SignalNames.TIMESTAMP)
         //signalDataTypeArray.append("u16")
         var packetSize = 2 // Time stamp
 
         //if CompatibilityCode >= 6 {
-        signalDataTypeArray.append(SensorDataType.u24)
         packetSize = TimeStampPacketByteSize // Time stamp
         timeSensor.packetIndexTimeStamp = 0
         timeSensor.sensorEnabled = true
@@ -837,230 +872,131 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
 
             switch signalIdByte {
             case ChannelContentsShimmer3.XLNAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(LNAccelSensor.LOW_NOISE_ACCELEROMETER_X)
-                signalDataTypeArray.append(SensorDataType.u12)
                 lnAccelSensor.packetIndexAccelX = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_A_ACCEL.rawValue)
-                /*} else if HardwareVersion == ShimmerVersion.SHIMMER2R {
-                    signalNameArray.append(Shimmer2Configuration.SignalNames.ACCELEROMETER_X)
-                    signalDataTypeArray.append("u12")
-                    packetSize += 2
-                    enabledSensors |= Int(SensorBitmapShimmer2.SENSOR_ACCEL)
-                }*/
             case ChannelContentsShimmer3.YLNAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(LNAccelSensor.LOW_NOISE_ACCELEROMETER_Y)
-                signalDataTypeArray.append(SensorDataType.u12)
                 lnAccelSensor.packetIndexAccelY = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_A_ACCEL.rawValue)
-                /*} else if HardwareVersion == ShimmerVersion.SHIMMER2R {
-                    signalNameArray.append(Shimmer2Configuration.SignalNames.ACCELEROMETER_Y)
-                    signalDataTypeArray.append("u12")
-                    packetSize += 2
-                    enabledSensors |= Int(SensorBitmapShimmer2.SENSOR_ACCEL)
-                }*/
             case ChannelContentsShimmer3.ZLNAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(LNAccelSensor.LOW_NOISE_ACCELEROMETER_Z)
-                signalDataTypeArray.append(SensorDataType.u12)
                 lnAccelSensor.packetIndexAccelZ = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_A_ACCEL.rawValue)
-                /*} else if HardwareVersion == ShimmerVersion.SHIMMER2R {
-                    signalNameArray.append(Shimmer2Configuration.SignalNames.ACCELEROMETER_Z)
-                    signalDataTypeArray.append("u12")
-                    packetSize += 2
-                    enabledSensors |= Int(SensorBitmapShimmer2.SENSOR_ACCEL)
-                }*/
             case ChannelContentsShimmer3.VBatt.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(Shimmer3Configuration.SignalNames.V_SENSE_BATT)
-                signalDataTypeArray.append(SensorDataType.i16)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_VBATT.rawValue)
-                /*} else if HardwareVersion == ShimmerVersion.SHIMMER2R {
-                    signalNameArray.append(Shimmer2Configuration.SignalNames.GYROSCOPE_X)
-                    signalDataTypeArray.append("u12")
-                    packetSize += 2
-                    enabledSensors |= Int(SensorBitmapShimmer2.SENSOR_GYRO)
-                }*/
-            // Add more cases for other signal IDs...
             case ChannelContentsShimmer3.XWRAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(WRAccelSensor.WIDE_RANGE_ACCELEROMETER_X)
-                signalDataTypeArray.append(SensorDataType.i16)
                 wrAccelSensor.packetIndexAccelX = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_D_ACCEL.rawValue)
-                
             case ChannelContentsShimmer3.YWRAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(WRAccelSensor.WIDE_RANGE_ACCELEROMETER_Y)
-                signalDataTypeArray.append(SensorDataType.i16)
                 wrAccelSensor.packetIndexAccelY = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_D_ACCEL.rawValue)
-                
             case ChannelContentsShimmer3.ZWRAccel.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(WRAccelSensor.WIDE_RANGE_ACCELEROMETER_Z)
-                signalDataTypeArray.append(SensorDataType.i16)
                 wrAccelSensor.packetIndexAccelZ = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_D_ACCEL.rawValue)
             case ChannelContentsShimmer3.XMag.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(Shimmer3Configuration.SignalNames.MAGNETOMETER_X)
-                signalDataTypeArray.append(SensorDataType.i16)
                 magSensor.packetIndexMagX = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LSM303DLHC_MAG.rawValue)
-                
             case ChannelContentsShimmer3.YMag.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(Shimmer3Configuration.SignalNames.MAGNETOMETER_Y)
-                signalDataTypeArray.append(SensorDataType.i16)
                 magSensor.packetIndexMagY = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LSM303DLHC_MAG.rawValue)
-                
             case ChannelContentsShimmer3.ZMag.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(Shimmer3Configuration.SignalNames.MAGNETOMETER_Z)
-                signalDataTypeArray.append(SensorDataType.i16)
                 magSensor.packetIndexMagZ = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LSM303DLHC_MAG.rawValue)
+            case ChannelContentsShimmer3.AlternativeXMag.rawValue: //AlternativeXMag
+                altMagSensor.packetIndexAltMagX = packetSize
+                packetSize += 2
+                enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LIS3MDL_ALT_MAG.rawValue)
+            case ChannelContentsShimmer3.AlternativeYMag.rawValue:
+                altMagSensor.packetIndexAltMagY = packetSize
+                packetSize += 2
+                enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LIS3MDL_ALT_MAG.rawValue)
+            case ChannelContentsShimmer3.AlternativeZMag.rawValue:
+                altMagSensor.packetIndexAltMagZ = packetSize
+                packetSize += 2
+                enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_LIS3MDL_ALT_MAG.rawValue)
             case ChannelContentsShimmer3.XGyro.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(GyroSensor.GYROSCOPE_X)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 gyroSensor.packetIndexGyroX = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_MPU9150_GYRO.rawValue)
-                
             case ChannelContentsShimmer3.YGyro.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(GyroSensor.GYROSCOPE_Y)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 gyroSensor.packetIndexGyroY = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_MPU9150_GYRO.rawValue)
-                
             case ChannelContentsShimmer3.ZGyro.rawValue:
-                //if HardwareVersion == ShimmerVersion.SHIMMER3 {
-                signalNameArray.append(GyroSensor.GYROSCOPE_Z)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 gyroSensor.packetIndexGyroZ = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_MPU9150_GYRO.rawValue)
             case ChannelContentsShimmer3.GsrRaw.rawValue:
-                signalNameArray.append(GSRSensor.GSR)
-                signalDataTypeArray.append(SensorDataType.u16)
                 gsrSensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_GSR.rawValue)
             case ChannelContentsShimmer3.Exg1_Status.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG1_STATUS)
-                signalDataTypeArray.append(SensorDataType.u8)
                 packetSize += 1
             case ChannelContentsShimmer3.Exg1_CH1.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG1_CH1_24BIT)
-                signalDataTypeArray.append(SensorDataType.i24MSB)
                 packetSize += 3
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG1_24BIT.rawValue)
             case ChannelContentsShimmer3.Exg1_CH2.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG1_CH2_24BIT)
-                signalDataTypeArray.append(SensorDataType.i24MSB)
                 packetSize += 3
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG1_24BIT.rawValue)
             case ChannelContentsShimmer3.Exg2_Status.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG2_STATUS)
-                signalDataTypeArray.append(SensorDataType.u8)
                 packetSize += 1
             case ChannelContentsShimmer3.Exg2_CH1.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG2_CH1_24BIT)
-                signalDataTypeArray.append(SensorDataType.i24MSB)
                 packetSize += 3
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG2_24BIT.rawValue)
             case ChannelContentsShimmer3.Exg2_CH2.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG2_CH2_24BIT)
-                signalDataTypeArray.append(SensorDataType.i24MSB)
                 packetSize += 3
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG2_24BIT.rawValue)
             case ChannelContentsShimmer3.Exg1_CH1_16Bit.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG1_CH1_16BIT)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG1_16BIT.rawValue)
             case ChannelContentsShimmer3.Exg1_CH2_16Bit.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG1_CH2_16BIT)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG1_16BIT.rawValue)
             case ChannelContentsShimmer3.Exg2_CH1_16Bit.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG2_CH1_16BIT)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG2_16BIT.rawValue)
             case ChannelContentsShimmer3.Exg2_CH2_16Bit.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.EXG2_CH2_16BIT)
-                signalDataTypeArray.append(SensorDataType.i16MSB)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXG2_16BIT.rawValue)
             case ChannelContentsShimmer3.InternalAdc13.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A13.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA13Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_INT_A13.rawValue)
             case ChannelContentsShimmer3.ExternalAdc15.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A15.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA15Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXT_A15.rawValue)
             case ChannelContentsShimmer3.InternalAdc12.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A12.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA12Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_INT_A12.rawValue)
             case ChannelContentsShimmer3.InternalAdc1.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A1.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA1Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_INT_A1.rawValue)
             case ChannelContentsShimmer3.ExternalAdc6.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A6.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA6Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXT_A6.rawValue)
             case ChannelContentsShimmer3.ExternalAdc7.rawValue:
-                signalNameArray.append(ADCSensor.ADCType.Shimmer3_A7.description)
-                signalDataTypeArray.append(SensorDataType.u12)
                 adcA7Sensor.packetIndex = packetSize
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_EXT_A7.rawValue)
             case ChannelContentsShimmer3.Temperature.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.TEMPERATURE)
-                signalDataTypeArray.append(SensorDataType.u16MSB)
                 packetSize += 2
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_BMP180_PRESSURE.rawValue)
             case ChannelContentsShimmer3.Pressure.rawValue:
-                signalNameArray.append(Shimmer3Configuration.SignalNames.PRESSURE)
-                signalDataTypeArray.append(SensorDataType.u24MSB)
                 packetSize += 3
                 enabledSensors |= Int(SensorBitmapShimmer3.SENSOR_BMP180_PRESSURE.rawValue)
-          
             default:
-                signalNameArray.append("")
-                signalDataTypeArray.append(SensorDataType.u12)
                 packetSize += 2
             }
 
@@ -1068,12 +1004,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         }
         
         EnabledSensors = enabledSensors
-        SignalNameArray = signalNameArray
-        SignalDataTypeArray = signalDataTypeArray
         PacketSize = packetSize + Int(CRCMode.rawValue)
-        
-        print(SignalNameArray)
-        print(SignalDataTypeArray)
         print(PacketSize)
         //print("Packet Size : \(PacketSize)  CRC Mode and starting byte not included")
     }
@@ -1130,6 +1061,53 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         }
     }
     
+    func interpretInquiryResponseShimmer3R(packet: [UInt8]) {
+        // Check if this packet is sane and not just random
+        if packet.count >= 4 { // Max number of channels currently allowable
+            let ADCRawSamplingRateValue = Int(packet[0]) + (Int(packet[1]) << 8 & 0xFF00)
+            CurrentSamplingRate = Double(32768) / Double(ADCRawSamplingRateValue)
+
+            let ConfigSetupByte0 = Int64(packet[2]) + (Int64(packet[3]) << 8) + (Int64(packet[4]) << 16) + (Int64(packet[5]) << 24)
+            let AccelHRBit = Int((ConfigSetupByte0 >> 0) & 0x01)
+            let AccelLPBit = Int((ConfigSetupByte0 >> 1) & 0x01)
+            let AccelRange = Int((ConfigSetupByte0 >> 2) & 0x03)
+            let GyroRange = Int((ConfigSetupByte0 >> 16) & 0x03)
+            let MagGain = Int((ConfigSetupByte0 >> 21) & 0x07)
+            let AccelSamplingRate = Int((ConfigSetupByte0 >> 4) & 0xF)
+            let Mpu9150SamplingRate = Int((ConfigSetupByte0 >> 8) & 0xFF)
+            let magSamplingRate = Int((ConfigSetupByte0 >> 18) & 0x07)
+            let PressureResolution = Int((ConfigSetupByte0 >> 28) & 0x03)
+            let GSRRange = Int((ConfigSetupByte0 >> 25) & 0x07)
+            let InternalExpPower = Int((ConfigSetupByte0 >> 24) & 0x01)
+            let Mpu9150AccelRange = Int((ConfigSetupByte0 >> 30) & 0x03)
+            
+            if magSamplingRate == 4 && ADCRawSamplingRateValue < 3200 {
+                // 3200 is the raw ADC value and not in HZ
+                let LowPowerMagEnabled = true
+            }
+            
+            if AccelSamplingRate == 2 && ADCRawSamplingRateValue < 3200 {
+                let LowPowerAccelEnabled = true
+            }
+            
+            if Mpu9150SamplingRate == 0xFF && ADCRawSamplingRateValue < 3200 {
+                let LowPowerGyroEnabled = true
+            }
+            
+            let NumberofChannels = Int(packet[6+3])
+            let BufferSize = Int(packet[7+3])
+            var ListofSensorChannels: [UInt8] = []
+            
+            for i in 0..<NumberofChannels {
+                ListofSensorChannels.append(packet[8 + 3 + i])
+            }
+            
+            let signalIdArray = ListofSensorChannels
+            interpretDataPacketFormat(nC: NumberofChannels, signalid: signalIdArray)
+            //isFilled = true
+        }
+    }
+    
     
     
 
@@ -1283,7 +1261,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         }
     }
     
-    private func sendPressureCalibCoefficientsCommand() async -> Bool?{
+    private func sendBMP280PressureCalibCoefficientsCommand() async -> Bool?{
         
         let bytes:[UInt8] = [PacketTypeShimmer.getBmp280CalibrationCoefficientsCommand.rawValue]
         commandSent = PacketTypeShimmer.getBmp280CalibrationCoefficientsCommand
@@ -1298,6 +1276,10 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         }
     }
     
+    private func sendPressureCalibCoefficientsCommand() async -> Bool?{
+        return true;
+    }
+    
     public func sendSetSamplingRateCommand(samplingRate: Double) async -> Bool?{
         var samplingByteValue = (Int)(32768/samplingRate)
         var bytes = [UInt8]()
@@ -1644,6 +1626,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         case SENSOR_EXG1_16BIT = 0x100000
         case SENSOR_EXG2_16BIT = 0x080000
         case SENSOR_BRIDGE_AMP = 0x8000
+        case SENSOR_LIS3MDL_ALT_MAG = 0x200000
     }
     
     enum ChannelContentsShimmer3: UInt8 {
@@ -1762,6 +1745,8 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         case bmp180CalibrationCoefficientsResponse = 0x58
         case getBmp280CalibrationCoefficientsCommand = 0xA0
         case bmp280CalibrationCoefficientsResponse = 0x9F
+        case getpressureCalibrationCoefficientsCommand = 0xA7
+        case pressureCalibrationCoefficientsResponse = 0xA6
         case setExgRegsCommand = 0x61
         case exgRegsResponse = 0x62
         case getExgRegsCommand = 0x63
diff --git a/ShimmerBluetooth/ShimmerBluetooth/WRAccelSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/WRAccelSensor.swift
index 2237678..26e5273 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/WRAccelSensor.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/WRAccelSensor.swift
@@ -41,7 +41,7 @@ public class WRAccelSensor : IMUSensor , SensorProcessing{
     public static let WIDE_RANGE_ACCELEROMETER_Y = "Wide Range Accelerometer Y"
     public static let WIDE_RANGE_ACCELEROMETER_Z = "Wide Range Accelerometer Z"
     
-    let CALIBRATION_ID = 31
+    var CalibrationID = 31
     var AlignmentMatrix_2G:[[Double]] = [[]]
     var SensitivityMatrix_2G:[[Double]] = [[]]
     var OffsetVector_2G:[Double]=[]
@@ -59,6 +59,12 @@ public class WRAccelSensor : IMUSensor , SensorProcessing{
     var SensitivityMatrix : [[Double]] = [[]]
     var OffsetVector : [Double] = []
     
+    var calibBytes_2G: [UInt8] = []
+    var calibBytes_4G: [UInt8] = []
+    var calibBytes_8G: [UInt8] = []
+    var calibBytes_16G: [UInt8] = []
+
+    
     public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
         let x = Array(sensorPacket[packetIndexAccelX..<packetIndexAccelX+2])
         let y = Array(sensorPacket[packetIndexAccelY..<packetIndexAccelY+2])
@@ -82,22 +88,51 @@ public class WRAccelSensor : IMUSensor , SensorProcessing{
     }
     
     public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        if(HardwareVersion==Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            CalibrationID = 39
+        }
         var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
-        if bytes[0] == CALIBRATION_ID {
+        if bytes[0] == CalibrationID {
             var range = bytes[2]
             var calbytes = bytes
             calbytes.removeFirst(12)
-            if range==0{
-                (AlignmentMatrix_2G,SensitivityMatrix_2G,OffsetVector_2G) = parseIMUCalibrationParameters(bytes: calbytes)
-            }
-            if range==2{
-                (AlignmentMatrix_4G,SensitivityMatrix_4G,OffsetVector_4G) = parseIMUCalibrationParameters(bytes: calbytes)
-            }
-            if range==3{
-                (AlignmentMatrix_8G,SensitivityMatrix_8G,OffsetVector_8G) = parseIMUCalibrationParameters(bytes: calbytes)
-            }
-            if range==1{
-                (AlignmentMatrix_16G,SensitivityMatrix_16G,OffsetVector_16G) = parseIMUCalibrationParameters(bytes: calbytes)
+
+            if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+               
+                if range==0{
+                    calibBytes_2G = calbytes
+                    (AlignmentMatrix_2G,SensitivityMatrix_2G,OffsetVector_2G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==2{
+                    calibBytes_4G = calbytes
+                    (AlignmentMatrix_4G,SensitivityMatrix_4G,OffsetVector_4G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==3{
+                    calibBytes_8G = calbytes
+                    (AlignmentMatrix_8G,SensitivityMatrix_8G,OffsetVector_8G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==1{
+                    calibBytes_16G = calbytes
+                    (AlignmentMatrix_16G,SensitivityMatrix_16G,OffsetVector_16G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+            }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                
+                if range==0{
+                    calibBytes_2G = calbytes
+                    (AlignmentMatrix_2G,SensitivityMatrix_2G,OffsetVector_2G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==1{
+                    calibBytes_4G = calbytes
+                    (AlignmentMatrix_4G,SensitivityMatrix_4G,OffsetVector_4G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==2{
+                    calibBytes_8G = calbytes
+                    (AlignmentMatrix_8G,SensitivityMatrix_8G,OffsetVector_8G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==3{
+                    calibBytes_16G = calbytes
+                    (AlignmentMatrix_16G,SensitivityMatrix_16G,OffsetVector_16G) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
             }
             
         }
@@ -106,22 +141,48 @@ public class WRAccelSensor : IMUSensor , SensorProcessing{
     public func updateInfoMemAccelRange(infomem: [UInt8],range: Range) -> [UInt8]{
         var infomemtoupdate = infomem
         var wrAccelRange = 0
-        if (range == Range.RANGE_2G){
-            wrAccelRange = 0
-        } else if (range == Range.RANGE_4G){
-            wrAccelRange = 2
-        } else if (range == Range.RANGE_8G){
-            wrAccelRange = 3
-        } else if (range == Range.RANGE_16G){
-            wrAccelRange = 1
+        var calibBytes = calibBytes_2G
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            if (range == Range.RANGE_2G){
+                wrAccelRange = 0
+                calibBytes = calibBytes_2G
+            } else if (range == Range.RANGE_4G){
+                wrAccelRange = 2
+                calibBytes = calibBytes_4G
+            } else if (range == Range.RANGE_8G){
+                wrAccelRange = 3
+                calibBytes = calibBytes_8G
+            } else if (range == Range.RANGE_16G){
+                wrAccelRange = 1
+                calibBytes = calibBytes_16G
+            }
+        }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if (range == Range.RANGE_2G){
+                wrAccelRange = 0
+                calibBytes = calibBytes_2G
+            } else if (range == Range.RANGE_4G){
+                wrAccelRange = 1
+                calibBytes = calibBytes_4G
+            } else if (range == Range.RANGE_8G){
+                wrAccelRange = 2
+                calibBytes = calibBytes_8G
+            } else if (range == Range.RANGE_16G){
+                wrAccelRange = 3
+                calibBytes = calibBytes_16G
+            }
         }
-        let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0]
-        let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCAccelRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange)
-        let range = UInt8(wrAccelRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange)
+            
+            infomemtoupdate.replaceSubrange(
+                ConfigByteLayoutShimmer3.idxLSM303DLHCAccelCalibration..<ConfigByteLayoutShimmer3.idxLSM303DLHCAccelCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+                with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+            
+            let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0]
+            let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCAccelRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange)
+            let range = UInt8(wrAccelRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange)
+            
+            infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0] = value | range
         
-        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte0] = value | range
         return infomemtoupdate
-        
     }
     
     public func getRange()->Range{
@@ -138,31 +199,58 @@ public class WRAccelSensor : IMUSensor , SensorProcessing{
         }
         
         wrAccelRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte0]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange) & ConfigByteLayoutShimmer3.maskLSM303DLHCAccelRange)
-        if (wrAccelRange == 0){
-            CurrentRange = Range.RANGE_2G
-            AlignmentMatrix = AlignmentMatrix_2G
-            SensitivityMatrix = SensitivityMatrix_2G
-            OffsetVector = OffsetVector_2G
-        }
-        if (wrAccelRange == 2){
-            CurrentRange = Range.RANGE_4G
-            AlignmentMatrix = AlignmentMatrix_4G
-            SensitivityMatrix = SensitivityMatrix_4G
-            OffsetVector = OffsetVector_4G
-        }
-        if (wrAccelRange == 3){
-            CurrentRange = Range.RANGE_8G
-            AlignmentMatrix = AlignmentMatrix_8G
-            SensitivityMatrix = SensitivityMatrix_8G
-            OffsetVector = OffsetVector_8G
-        }
-        if (wrAccelRange == 1){
-            CurrentRange = Range.RANGE_16G
-            AlignmentMatrix = AlignmentMatrix_16G
-            SensitivityMatrix = SensitivityMatrix_16G
-            OffsetVector = OffsetVector_16G
+        
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+            if (wrAccelRange == 0){
+                CurrentRange = Range.RANGE_2G
+                AlignmentMatrix = AlignmentMatrix_2G
+                SensitivityMatrix = SensitivityMatrix_2G
+                OffsetVector = OffsetVector_2G
+            }
+            if (wrAccelRange == 2){
+                CurrentRange = Range.RANGE_4G
+                AlignmentMatrix = AlignmentMatrix_4G
+                SensitivityMatrix = SensitivityMatrix_4G
+                OffsetVector = OffsetVector_4G
+            }
+            if (wrAccelRange == 3){
+                CurrentRange = Range.RANGE_8G
+                AlignmentMatrix = AlignmentMatrix_8G
+                SensitivityMatrix = SensitivityMatrix_8G
+                OffsetVector = OffsetVector_8G
+            }
+            if (wrAccelRange == 1){
+                CurrentRange = Range.RANGE_16G
+                AlignmentMatrix = AlignmentMatrix_16G
+                SensitivityMatrix = SensitivityMatrix_16G
+                OffsetVector = OffsetVector_16G
+            }
+        }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if (wrAccelRange == 0){
+                CurrentRange = Range.RANGE_2G
+                AlignmentMatrix = AlignmentMatrix_2G
+                SensitivityMatrix = SensitivityMatrix_2G
+                OffsetVector = OffsetVector_2G
+            }
+            if (wrAccelRange == 1){
+                CurrentRange = Range.RANGE_4G
+                AlignmentMatrix = AlignmentMatrix_4G
+                SensitivityMatrix = SensitivityMatrix_4G
+                OffsetVector = OffsetVector_4G
+            }
+            if (wrAccelRange == 2){
+                CurrentRange = Range.RANGE_8G
+                AlignmentMatrix = AlignmentMatrix_8G
+                SensitivityMatrix = SensitivityMatrix_8G
+                OffsetVector = OffsetVector_8G
+            }
+            if (wrAccelRange == 3){
+                CurrentRange = Range.RANGE_16G
+                AlignmentMatrix = AlignmentMatrix_16G
+                SensitivityMatrix = SensitivityMatrix_16G
+                OffsetVector = OffsetVector_16G
+            }
         }
-
     }
     
     public func setLowPowerWRAccel(enable: Bool, isShimmer3withUpdatedSensors: Bool, samplingRate: Double, infomem: [UInt8])-> [UInt8]{
diff --git a/ShimmerBluetooth/ShimmerBluetoothTests/SensorTest.swift b/ShimmerBluetooth/ShimmerBluetoothTests/SensorTest.swift
index 059ebdc..4846cf6 100644
--- a/ShimmerBluetooth/ShimmerBluetoothTests/SensorTest.swift
+++ b/ShimmerBluetooth/ShimmerBluetoothTests/SensorTest.swift
@@ -13,11 +13,17 @@ import CoreBluetooth
 class SensorTest: XCTestCase {
     
     func testSensorWRAccel(){
-        var wrAccelSensor: WRAccelSensor = WRAccelSensor()
+        var wrAccelSensor: WRAccelSensor = WRAccelSensor(hwid: Shimmer3Protocol.HardwareType.Shimmer3.rawValue)
         var infomwracc:[UInt8] = [ 0x80,0x02,0x01,0xE0,0x20,0x00,0x01,0x9B,0x0D,0x08,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x09,0x00,0x00,0x00,0x08,0xCD,0x08,0xCD,0x08,0xCD,0x00,0x5C,0x00,0x5C,0x00,0x5C,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x19,0x96,0x19,0x96,0x19,0x96,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x9B,0x02,0x9B,0x02,0x9B,0x00,0x9C,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
             0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53,0x68,0x69,0x6D,0x6D,0x65,0x72,0x5F,0x36,0x38,0x44,0x44,0x44,0x65,0x66,0x61,0x75,0x6C,0x74,0x54,0x72,0x69,0x61,0x6C,0x65,0x54,0x7E,0x40,0x00,0x00,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
             0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 ]
         
+        //parse calib bytes for all accel ranges
+        wrAccelSensor.parseSensorCalibrationDump(bytes: [0x1F, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        wrAccelSensor.parseSensorCalibrationDump(bytes: [0x1F, 0x00, 0x01, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD1, 0x00, 0xD1, 0x00, 0xD1, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        wrAccelSensor.parseSensorCalibrationDump(bytes: [0x1F, 0x00, 0x02, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x44, 0x03, 0x44, 0x03, 0x44, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        wrAccelSensor.parseSensorCalibrationDump(bytes: [0x1F, 0x00, 0x03, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xA2, 0x01, 0xA2, 0x01, 0xA2, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C])
+
         infomwracc = wrAccelSensor.updateInfoMemAccelRange(infomem: infomwracc,range: WRAccelSensor.Range.RANGE_16G)
         var wrAccelRange = (Int(infomwracc[ConfigByteLayoutShimmer3.idxConfigSetupByte0]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCAccelRange) & ConfigByteLayoutShimmer3.maskLSM303DLHCAccelRange)
         XCTAssertEqual(wrAccelRange, 1, "Failed to set accel range")
@@ -37,11 +43,17 @@ class SensorTest: XCTestCase {
     }
     
     func testSensorGyroRange(){
-        var gyroSensor: GyroSensor = GyroSensor()
+        var gyroSensor: GyroSensor = GyroSensor(hwid: Shimmer3Protocol.HardwareType.Shimmer3.rawValue)
         var infomgyro:[UInt8] = [ 0x20, 0x00, 0x01, 0x40, 0x00, 0x00, 0x01, 0x06, 0x01, 0x08, 0x04, 0x88, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x04, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x0B, 0x00, 0x00, 0x00, 0x08, 0xCD, 0x08, 0xCD, 0x08, 0xCD, 0x00, 0x5C, 0x00, 0x5C, 0x00, 0x5C, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x96, 0x19, 0x96, 0x19, 0x96, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x68, 0x69, 0x6D, 0x6D, 0x65, 0x72, 0x5F, 0x36, 0x38, 0x44, 0x44, 0x74, 0x72, 0x74, 0x72, 0x74, 0x72, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x66, 0x4C, 0x45, 0xA6, 0x00, 0x00, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD8, 0x47, 0x8F, 0x04, 0xBD, 0xA2, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                     0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 ]
         
+        //parse calib bytes for all gyro ranges
+        gyroSensor.parseSensorCalibrationDump(bytes: [0x1E, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x2C, 0x33, 0x2C, 0x33, 0x2C, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        gyroSensor.parseSensorCalibrationDump(bytes: [0x1E, 0x00, 0x01, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x96, 0x19, 0x96, 0x19, 0x96, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        gyroSensor.parseSensorCalibrationDump(bytes: [0x1E, 0x00, 0x02, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0xD0, 0x0C, 0xD0, 0x0C, 0xD0, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C])
+        gyroSensor.parseSensorCalibrationDump(bytes: [0x1E, 0x00, 0x03, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x68, 0x06, 0x68, 0x06, 0x68, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C])
+
         infomgyro = gyroSensor.updateInfoMemGyroRange(infomem: infomgyro,range: GyroSensor.Range.RANGE_250DPS)
         var gyroRange = (Int(infomgyro[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftMPU9150GyroRange) & ConfigByteLayoutShimmer3.maskMPU9150GyroRange)
 
@@ -60,7 +72,7 @@ class SensorTest: XCTestCase {
         XCTAssertEqual(gyroRange, 3, "Failed to set gyro range")
     }
     func testSensorPressureResolution(){
-        var pressTempSensor: PressureTempSensor = PressureTempSensor()
+        var pressTempSensor: PressureTempSensor = PressureTempSensor(hwid: Shimmer3Protocol.HardwareType.Shimmer3.rawValue)
         var infompressuretemp:[UInt8] = [0x80, 0x02, 0x01, 0x00, 0x00, 0x04, 0x01, 0xFF, 0x01, 0x08, 0x00, 0x88, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x09, 0x00, 0x00, 0x00, 0x08, 0xCD, 0x08, 0xCD, 0x08, 0xCD, 0x00, 0x5C, 0x00, 0x5C, 0x00, 0x5C, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x96, 0x19, 0x96, 0x19, 0x96, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
                                          
                                          0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x68, 0x69, 0x6D, 0x6D, 0x65, 0x72, 0x5F, 0x36, 0x38, 0x44, 0x44, 0x74, 0x72, 0x74, 0x72, 0x74, 0x72, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x65, 0xD4, 0xBD, 0x5F, 0x00, 0x00, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE8, 0xEB, 0x1B, 0x97, 0x67, 0xFC, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
diff --git a/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift b/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
index 89df7d2..0da8f55 100644
--- a/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
+++ b/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
@@ -7,6 +7,7 @@
 
 import SwiftUI
 import Charts
+import ShimmerBluetooth
 
 struct ToyShape: Identifiable {
     var type: String
@@ -61,7 +62,7 @@ struct ContentView: View {
     @State private var rangeSelection = 0
     @State private var protocolSelection = 0
     @State private var deviceSelection = 0
-
+    
     var body: some View {
         ScrollView {
             Picker(selection: $selectionS, label: Text("Number Of Signals (Max 3)")) {
@@ -134,7 +135,7 @@ struct ContentView: View {
                 print(protocolSelection)
                 viewModel.protocolShimmer3 = protocolSelection
             }
-
+            
             Text("BT State: \(viewModel.stateText)")
             Button("Connect Shimmer3",action: {Task {
                 do {
@@ -155,162 +156,250 @@ struct ContentView: View {
             }
             })
             
-        Button("StartStreaming Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendStartStreamingCommandDev2()
-            } catch {
-                print("Error: \(error)")
-            }
-        }
-        })
-        Button("StopStreaming Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendStopStreamingCommandDev2()
-            } catch {
-                print("Error: \(error)")
-            }
-        }
-        })
-        Button("WriteInfoMem WRAccel Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemAccel()
-            } catch {
-                print("Error: \(error)")
-            }
-        }
-        })
-        Button("WriteInfoMem IMU Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemIMU()
-            } catch {
-                print("Error: \(error)")
+            Button("StartStreaming Shimmer3",action:{ Task {
+                do {
+                    await viewModel.sendStartStreamingCommandDev2()
+                } catch {
+                    print("Error: \(error)")
+                }
             }
-        }
-        })
-        Button("WriteInfoMem PPG+GSR Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemPPGGSR()
-            } catch {
-                print("Error: \(error)")
+            })
+            Button("StopStreaming Shimmer3",action:{ Task {
+                do {
+                    await viewModel.sendStopStreamingCommandDev2()
+                } catch {
+                    print("Error: \(error)")
+                }
             }
-        }
-        })
+            })
+            if (viewModel.shimmer3Protocol?.REV_HW_MAJOR==Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                Button("WriteInfoMem WRAccel Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemWRAccel()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem IMU Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemIMU()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem Pressure Temperature Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemPressureAndTemperature()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem PPG+GSR Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemPPGGSR()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                
+                Button("WriteInfoMem ECG 24-bit Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemECG24Bit()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem ECG 16-bit Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemECG16Bit()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem EMG Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemEMG()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem EXG Test Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemEXGTest()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem Respiration Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemRespiration()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                Button("WriteInfoMem Battery Voltage Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemBattery()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+            } else if (viewModel.shimmer3Protocol?.REV_HW_MAJOR==Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                Button("WriteInfoMem LNAccel Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RLNAccel()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
                 
-        Button("WriteInfoMem ECG 24-bit Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemECG24Bit()
-            } catch {
-                print("Error: \(error)")
+                Button("WriteInfoMem Alt Mag Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RAltMag()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+
+                Button("WriteInfoMem Mag Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RMag()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                
+                Button("WriteInfoMem Gyro Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RGyro()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+                
+                Button("WriteInfoMem WRAccel Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RWRAccel()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
             }
-        }
-        })
-        Button("WriteInfoMem ECG 16-bit Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemECG16Bit()
-            } catch {
-                print("Error: \(error)")
+            Picker("Select EXG Gain", selection: $viewModel.exgGainIndex) {
+                ForEach(0..<viewModel.exgGain.count, id: \.self) { index in
+                    Text(viewModel.exgGain[index])
+                }
             }
-        }
-        })
-        Button("WriteInfoMem EMG Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemEMG()
-            } catch {
-                print("Error: \(error)")
+            .onChange(of: viewModel.exgGainIndex) { newValue in
+                // Update the ViewModel's exgGainIndex property
+                viewModel.exgGainIndex = newValue
             }
-        }
-        })
-        Button("WriteInfoMem EXG Test Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemEXGTest()
-            } catch {
-                print("Error: \(error)")
+            Picker("Select EXG Resolution", selection: $viewModel.exgResIndex) {
+                ForEach(0..<viewModel.exgResolution.count, id: \.self) { index in
+                    Text(viewModel.exgResolution[index])
+                }
             }
-        }
-        })
-        Button("WriteInfoMem Respiration Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemRespiration()
-            } catch {
-                print("Error: \(error)")
+            .onChange(of: viewModel.exgResIndex) { newValue in
+                // Update the ViewModel's exgResIndex property
+                viewModel.exgResIndex = newValue
             }
-        }
-        })
-        Button("WriteInfoMem Pressure Temperature Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemPressureAndTemperature()
-            } catch {
-                print("Error: \(error)")
+            Picker("Select WR Accel Range", selection: $viewModel.wrRangeIndex) {
+                ForEach(0..<viewModel.wrRange.count, id: \.self) { index in
+                    Text(viewModel.wrRange[index])
+                }
             }
-        }
-        })
-        Button("WriteInfoMem Battery Voltage Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemBattery()
-            } catch {
-                print("Error: \(error)")
+            .onChange(of: viewModel.wrRangeIndex) { newValue in
+                // Update the ViewModel's wrRangeIndex property
+                viewModel.wrRangeIndex = newValue
             }
-        }
-        })
-        
-
-        Picker("Select WR Range", selection: $viewModel.wrRangeIndex) {
-                        ForEach(0..<viewModel.wrRange.count, id: \.self) { index in
-                            Text(viewModel.wrRange[index])
-                        }
+            if (viewModel.shimmer3Protocol?.REV_HW_MAJOR==Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                
+                Picker("Select Gyro Range", selection: $viewModel.gyroRangeIndex) {
+                    ForEach(0..<viewModel.gyroRange.count, id: \.self) { index in
+                        Text(viewModel.gyroRange[index])
                     }
-                    .onChange(of: viewModel.wrRangeIndex) { newValue in
-                        // Update the ViewModel's wrRangeIndex property
-                        viewModel.wrRangeIndex = newValue
+                }
+                .onChange(of: viewModel.gyroRangeIndex) { newValue in
+                    // Update the ViewModel's gyroRangeIndex property
+                    viewModel.gyroRangeIndex = newValue
+                }
+                Picker("Select Pressure Resolution", selection: $viewModel.pressResIndex) {
+                    ForEach(0..<viewModel.pressResolution.count, id: \.self) { index in
+                        Text(viewModel.pressResolution[index])
                     }
-        Picker("Select Gyro Range", selection: $viewModel.gyroRangeIndex) {
-                        ForEach(0..<viewModel.gyroRange.count, id: \.self) { index in
-                            Text(viewModel.gyroRange[index])
-                        }
+                }
+                .onChange(of: viewModel.pressResIndex) { newValue in
+                    // Update the ViewModel's pressResIndex property
+                    viewModel.pressResIndex = newValue
+                }
+                Button("WriteInfoMem Shimmer3",action:{ Task {
+                    do {
+                        await viewModel.sendS3InfoMemConfigUpdate()
+                        //await viewModel.sendInfoMemGyroRange()
+                        //await viewModel.sendInfoMemPPGGSR()
+                        
+                    } catch {
+                        print("Error: \(error)")
                     }
-                    .onChange(of: viewModel.gyroRangeIndex) { newValue in
-                        // Update the ViewModel's gyroRangeIndex property
-                        viewModel.gyroRangeIndex = newValue
+                }
+                    
+                })
+            } else if (viewModel.shimmer3Protocol?.REV_HW_MAJOR==Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                Picker("Select LN Accel Range", selection: $viewModel.lnAccelRangeIndex) {
+                    ForEach(0..<viewModel.lnAccelRange.count, id: \.self) { index in
+                        Text(viewModel.lnAccelRange[index])
                     }
-        Picker("Select Pressure Resolution", selection: $viewModel.pressResIndex) {
-                               ForEach(0..<viewModel.pressResolution.count, id: \.self) { index in
-                                   Text(viewModel.pressResolution[index])
-                               }
-                           }
-                           .onChange(of: viewModel.pressResIndex) { newValue in
-                               // Update the ViewModel's pressResIndex property
-                               viewModel.pressResIndex = newValue
-                           }
-        Picker("Select EXG Gain", selection: $viewModel.exgGainIndex) {
-                                       ForEach(0..<viewModel.exgGain.count, id: \.self) { index in
-                                           Text(viewModel.exgGain[index])
-                                       }
-                                   }
-                                   .onChange(of: viewModel.exgGainIndex) { newValue in
-                                       // Update the ViewModel's exgGainIndex property
-                                       viewModel.exgGainIndex = newValue
-                                   }
-        Picker("Select EXG Resolution", selection: $viewModel.exgResIndex) {
-                                       ForEach(0..<viewModel.exgResolution.count, id: \.self) { index in
-                                           Text(viewModel.exgResolution[index])
-                                       }
-                                   }
-                                   .onChange(of: viewModel.exgResIndex) { newValue in
-                                       // Update the ViewModel's exgResIndex property
-                                       viewModel.exgResIndex = newValue
-                                   }
-        
-        Button("WriteInfoMem Shimmer3",action:{ Task {
-            do {
-                await viewModel.sendInfoMemConfigUpdate()
-                //await viewModel.sendInfoMemGyroRange()
-                //await viewModel.sendInfoMemPPGGSR()
+                }
+                .onChange(of: viewModel.lnAccelRangeIndex) { newValue in
+                    // Update the ViewModel's wrRangeIndex property
+                    viewModel.lnAccelRangeIndex = newValue
+                }
+                
+                Picker("Select Alt Mag Range", selection: $viewModel.altMagRange3RIndex) {
+                    ForEach(0..<viewModel.altMagRange3R.count, id: \.self) { index in
+                        Text(viewModel.altMagRange3R[index])
+                    }
+                }
+                .onChange(of: viewModel.altMagRange3RIndex) { newValue in
+                    // Update the ViewModel's wrRangeIndex property
+                    viewModel.altMagRange3RIndex = newValue
+                }
                 
-            } catch {
-                print("Error: \(error)")
+                Picker("Select Gyro Range", selection: $viewModel.gyroRange3RIndex) {
+                    ForEach(0..<viewModel.gyroRange3R.count, id: \.self) { index in
+                        Text(viewModel.gyroRange3R[index])
+                    }
+                }
+                .onChange(of: viewModel.gyroRange3RIndex) { newValue in
+                    // Update the ViewModel's wrRangeIndex property
+                    viewModel.gyroRange3RIndex = newValue
+                }
+                
+                Button("WriteInfoMem Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendS3RInfoMemConfigUpdate()
+                        
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
             }
-        }
-        })
             Picker("Sampling Rate", selection: $viewModel.samplingRateIndex) {
                 ForEach(0..<viewModel.samplingRate.count, id: \.self) { index in
                     Text(viewModel.samplingRate[index])
@@ -344,3 +433,4 @@ extension ContentView: ViewModelDelegate {
 #Preview {
     ContentView()
 }
+
diff --git a/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift b/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
index 9913b8d..cc4ef83 100644
--- a/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
+++ b/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
@@ -8,7 +8,7 @@ private var pendingData=[Data]()
 @MainActor
 class ViewModel: NSObject, ObservableObject {
     private var radio: BleByteRadio?
-    private var shimmer3Protocol: Shimmer3Protocol?
+    public var shimmer3Protocol: Shimmer3Protocol?
     private var shimmer3SpeedTestProtocol: Shimmer3SpeedTestProtocol?
     private var bluetoothManager: BluetoothManager?
     private var centralManager: CBCentralManager?
@@ -18,8 +18,11 @@ class ViewModel: NSObject, ObservableObject {
     @Published var pickerData = ["No Signal"]
     @Published var pickerProtocol = ["LogAndStream","SpeedTest"]
     @Published var pickerDevices = ["Please scan"]
+    @Published var lnAccelRange = ["2G", "4G", "8G", "16G"]
     @Published var wrRange = ["2G", "4G", "8G", "16G"]
     @Published var gyroRange = ["250DPS", "500DPS", "1000DPS", "2000DPS"]
+    @Published var altMagRange3R = ["4Ga", "8Ga", "12Ga", "16Ga"]
+    @Published var gyroRange3R = ["125DPS","250DPS", "500DPS", "1000DPS", "2000DPS","4000DPS"]
     @Published var exgGain = ["1", "2", "3", "4", "6", "8", "12"]
     @Published var exgResolution = ["16 BIT", "24 BIT"]
     @Published var pressResolution = ["LOW", "STANDARD", "HIGH", "ULTRAHIGH"]
@@ -28,12 +31,15 @@ class ViewModel: NSObject, ObservableObject {
     private var updatedPicker = false;
     public var delegate: ViewModelDelegate?
     var count = 1
+    @Published var lnAccelRangeIndex = 0 // Initial value
     @Published var wrRangeIndex = 0 // Initial value
     @Published var gyroRangeIndex = 0 // Initial value
+    @Published var gyroRange3RIndex = 0 // Initial value
     @Published var pressResIndex = 0 // Initial value
     @Published var exgGainIndex = 0 // Initial value
     @Published var exgResIndex = 0 // Initial value
     @Published var samplingRateIndex = 0 // Initial value
+    @Published var altMagRange3RIndex = 0 // Initial value
     public var startIndex = 0
     public var protocolShimmer3 = 0
     public var numberOfSignals = 1
@@ -68,12 +74,17 @@ class ViewModel: NSObject, ObservableObject {
     }
     
     func refreshUISettings(){
+        lnAccelRangeIndex = Int((shimmer3Protocol?.lnAccelSensor.getRange().rawValue)!)
         wrRangeIndex = Int((shimmer3Protocol?.wrAccelSensor.getRange().rawValue)!)
+        
         gyroRangeIndex = Int((shimmer3Protocol?.gyroSensor.getRange().rawValue)!)
+        gyroRange3RIndex = Int((shimmer3Protocol?.gyroSensor.get3RRange().rawValue)!)
         pressResIndex = Int((shimmer3Protocol?.pressureTempSensor.getResolution().rawValue)!)
         exgGainIndex = Int((shimmer3Protocol?.exgSensor.getGain().rawValue)!)
         exgResIndex = Int((shimmer3Protocol?.exgSensor.getResolution().rawValue)!)
         samplingRateIndex = Int((shimmer3Protocol?.getSamplingRateIndex())!)
+        
+        altMagRange3RIndex = Int((shimmer3Protocol?.altMagSensor.get3RRange().rawValue)!)
     }
     
     func connectDev2() async{
@@ -116,21 +127,54 @@ class ViewModel: NSObject, ObservableObject {
        
     }
     
-    func sendInfoMemConfigUpdate() async {
+    func sendS3InfoMemConfigUpdate() async {
         var infomem =  shimmer3Protocol?.getInfoMemByteArray()
-        var wrAccel = WRAccelSensor()
-        infomem = wrAccel.updateInfoMemAccelRange(infomem: infomem!, range: WRAccelSensor.Range.fromValue(UInt8(wrRangeIndex))!)
         
-        var gyro = GyroSensor()
-        infomem = gyro.updateInfoMemGyroRange(infomem: infomem!, range: GyroSensor.Range.fromValue(UInt8(gyroRangeIndex))!)
+        if(shimmer3Protocol?.wrAccelSensor.sensorEnabled != false){
+            let wrAccel = shimmer3Protocol?.wrAccelSensor
+            infomem = wrAccel?.updateInfoMemAccelRange(infomem: infomem!, range: WRAccelSensor.Range.fromValue(UInt8(wrRangeIndex))!)
+        }
         
-        var press = PressureTempSensor()
-        infomem = press.updateInfoMemPressureResolution(infomem: infomem!, res: PressureTempSensor.Resolution.fromValue(UInt8(pressResIndex))!)
+        if(shimmer3Protocol?.gyroSensor.sensorEnabled != false){
+            let gyro = shimmer3Protocol?.gyroSensor
+            infomem = gyro?.updateInfoMemGyroRange(infomem: infomem!, range: GyroSensor.Range.fromValue(UInt8(gyroRangeIndex))!)
+        }
+        if(shimmer3Protocol?.pressureTempSensor.sensorEnabled != false){
+            let press = shimmer3Protocol?.pressureTempSensor
+            infomem = press?.updateInfoMemPressureResolution(infomem: infomem!, res: PressureTempSensor.Resolution.fromValue(UInt8(pressResIndex))!)
+        }
         
-        infomem = shimmer3Protocol?.exgSensor.updateInfoMemExgGain(infomem: infomem!, gain: EXGSensor.Gain.fromValue(UInt8(exgGainIndex))!)
-        infomem = shimmer3Protocol?.exgSensor.updateInfoMemExgResolution(infomem: infomem!, resolution: EXGSensor.Resolution.fromValue(UInt8(exgResIndex))!)
+        if(shimmer3Protocol?.exgSensor.sensorEnabled != false){
+            infomem = shimmer3Protocol?.exgSensor.updateInfoMemExgGain(infomem: infomem!, gain: EXGSensor.Gain.fromValue(UInt8(exgGainIndex))!)
+            infomem = shimmer3Protocol?.exgSensor.updateInfoMemExgResolution(infomem: infomem!, resolution: EXGSensor.Resolution.fromValue(UInt8(exgResIndex))!)
+        }
+         
         await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomem!)
         //refreshUISettings()
+    }                
+    
+    func sendS3RInfoMemConfigUpdate() async {
+        var infomem =  shimmer3Protocol?.getInfoMemByteArray()
+        
+        if(shimmer3Protocol?.lnAccelSensor.sensorEnabled != false){
+            var lnAccel = shimmer3Protocol?.lnAccelSensor
+            infomem = lnAccel?.updateInfoMemLNAccelRange(infomem: infomem!, range: LNAccelSensor.Range.fromValue(UInt8(lnAccelRangeIndex))!)
+        }
+        
+        if(shimmer3Protocol?.altMagSensor.sensorEnabled != false){
+                    var mag = shimmer3Protocol?.altMagSensor
+                    infomem = mag?.updateInfoMem3RAltMagRange(infomem: infomem!, range: AltMagSensor.Range3R.fromValue(UInt8(altMagRange3RIndex))!)
+        }
+        if(shimmer3Protocol?.gyroSensor.sensorEnabled != false){
+            var gyro = shimmer3Protocol?.gyroSensor
+            infomem = gyro?.updateInfoMem3RGyroRange(infomem: infomem!, range: GyroSensor.Range3R.fromValue(UInt8(gyroRange3RIndex))!)
+        }
+
+        if(shimmer3Protocol?.wrAccelSensor.sensorEnabled != false){
+            var wrAccel = shimmer3Protocol?.wrAccelSensor
+            infomem = wrAccel?.updateInfoMemAccelRange(infomem: infomem!, range: WRAccelSensor.Range.fromValue(UInt8(wrRangeIndex))!)
+        }         
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomem!)
     }
     
     func sendInfoMemSamplingRate() async {
@@ -140,14 +184,14 @@ class ViewModel: NSObject, ObservableObject {
         infomem = shimmer3Protocol?.updateInfoMemSamplingRate(infomem: infomem!,samplingRateFreq: samplingRate!)
         infomem = shimmer3Protocol?.exgSensor.updateInfoMemExgRate(infomem: infomem!,samplingRateFreq: samplingRate!)
         let updatedSensors = shimmer3Protocol?.isShimmer3withUpdatedSensors()
-        var mag = MagSensor()
-        infomem = mag.setLowPowerMag(enable:false, isShimmer3withUpdatedSensors: updatedSensors!, isShimmer3Sensor: (shimmer3Protocol?.isShimmer3Sensor())!, samplingRate: samplingRate!, infomem: infomem!)
+        var mag = shimmer3Protocol?.magSensor
+        infomem = mag?.setLowPowerMag(enable:false, isShimmer3withUpdatedSensors: updatedSensors!, isShimmer3Sensor: (shimmer3Protocol?.isShimmer3Sensor())!, samplingRate: samplingRate!, infomem: infomem!)
 
-        var wrAccel = WRAccelSensor()
-        infomem = wrAccel.setLowPowerWRAccel(enable:false, isShimmer3withUpdatedSensors: updatedSensors!, samplingRate: samplingRate!, infomem: infomem!)
+        var wrAccel = shimmer3Protocol?.wrAccelSensor
+        infomem = wrAccel?.setLowPowerWRAccel(enable:false, isShimmer3withUpdatedSensors: updatedSensors!, samplingRate: samplingRate!, infomem: infomem!)
         
-        var gyro = GyroSensor()
-        infomem = gyro.setLowPowerGyro(enable:false, samplingRate: samplingRate!, infomem: infomem!)
+        var gyro = shimmer3Protocol?.gyroSensor
+        infomem = gyro?.setLowPowerGyro(enable:false, samplingRate: samplingRate!, infomem: infomem!)
         await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomem!)
 
     }
@@ -168,7 +212,58 @@ class ViewModel: NSObject, ObservableObject {
         refreshUISettings()
     }
     
-    func sendInfoMemAccel() async{
+    func sendInfoMemS3RAltMag() async{
+        let infomaltmag:[UInt8] = [
+            0x80, 0x02, 0x01, 0x00, 0x00, 0x20, 0x02, 0x00, 0x01, 0x08, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x88, 0x06, 0x88, 0x06, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x88, 0x2C, 0x88, 0x2C, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+             
+            0x00, 0x00, 0x00, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x68, 0x69, 0x6D, 0x6D, 0x65, 0x72, 0x5F, 0x44, 0x37, 0x45, 0x30, 0x33, 0x52, 0x5F, 0x31, 0x37, 0x35, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x68, 0x33, 0xF5, 0xF5, 0x01, 0x01, 0x31, 0x01, 0x00, 0x36, 0x01, 0x00, 0x00, 0xE8, 0xDD, 0x50, 0xBB, 0xD7, 0xE0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+             
+            0x00, 0x0A, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x64, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1A, 0xBA, 0x1A, 0xBA, 0x1A, 0xBA, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00]
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomaltmag)
+        refreshUISettings()
+    }
+    
+    func sendInfoMemS3RLNAccel() async{
+        let infomlnacc:[UInt8] = [
+            0x80,0x02,0x01,0x80,0x00,0x00,0x02,0x05,0x21,0x08,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x09,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x88,0x06,0x88,0x06,0x88,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x2C,0x88,0x2C,0x88,0x2C,0x88,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x0D,0x5D,0x0D,0x5D,0x0D,0x5D,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x00,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53,0x68,0x69,0x6D,0x6D,0x65,0x72,0x5F,0x36,0x38,0x44,0x44,0x44,0x65,0x66,0x61,0x75,0x6C,0x74,0x54,0x72,0x69,0x61,0x6C,0x68,0x0F,0x2F,0x99,0x01,0x01,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0xE8,0xDD,0x50,0xBB,0xD7,0xE0,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x0A,0x00,0x0A,0x00,0x0A,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x64,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x9B,0x02,0x9B,0x02,0x9B,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00]
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomlnacc)
+        refreshUISettings()
+    }
+    
+    func sendInfoMemS3RMag() async{
+        let infommag:[UInt8] = [
+            0x80, 0x02, 0x01, 0x20, 0x00, 0x00, 0x02, 0x00, 0x21, 0x08, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x88, 0x06, 0x88, 0x06, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x88, 0x2C, 0x88, 0x2C, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+             
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x68, 0x69, 0x6D, 0x6D, 0x65, 0x72, 0x5F, 0x44, 0x37, 0x45, 0x30, 0x33, 0x52, 0x5F, 0x31, 0x37, 0x35, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x68, 0x35, 0x5F, 0xBA, 0x01, 0x01, 0x31, 0x01, 0x00, 0x36, 0x01, 0x00, 0x00, 0xE8, 0xDD, 0x50, 0xBB, 0xD7, 0xE0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+             
+            0x00, 0x0A, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x64, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0D, 0x5D, 0x0D, 0x5D, 0x0D, 0x5D, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00]
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infommag)
+        refreshUISettings()
+    }
+    
+    func sendInfoMemS3RGyro() async{
+        let infomlnacc:[UInt8] = [
+            0x80,0x02,0x01,0x40,0x00,0x00,0x02,0x05,0x21,0xC8,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x0C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD1,0x00,0xD1,0x00,0xD1,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x2C,0x88,0x2C,0x88,0x2C,0x88,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x0D,0x5D,0x0D,0x5D,0x0D,0x5D,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x00,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53,0x68,0x69,0x6D,0x6D,0x65,0x72,0x5F,0x36,0x38,0x44,0x44,0x44,0x65,0x66,0x61,0x75,0x6C,0x74,0x54,0x72,0x69,0x61,0x6C,0x68,0x1B,0x47,0x84,0x01,0x01,0x31,0x00,0x00,0x00,0x01,0x00,0x00,0xE8,0xDD,0x50,0xBB,0xD7,0xE0,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x0A,0x00,0x0A,0x00,0x0A,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x64,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x9B,0x02,0x9B,0x02,0x9B,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00]
+        
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomlnacc)
+        refreshUISettings()
+    }
+
+    func sendInfoMemS3RWRAccel() async{
+        let infomlnacc:[UInt8] = [
+            0x80,0x02,0x01,0x00,0x10,0x00,0x51,0x00,0x21,0xC8,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x09,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD1,0x00,0xD1,0x00,0xD1,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x2C,0x88,0x2C,0x88,0x2C,0x88,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x0D,0x5D,0x0D,0x5D,0x0D,0x5D,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x00,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53,0x68,0x69,0x6D,0x6D,0x65,0x72,0x5F,0x36,0x38,0x44,0x44,0x44,0x65,0x66,0x61,0x75,0x6C,0x74,0x54,0x72,0x69,0x61,0x6C,0x68,0x1A,0xF0,0xB4,0x01,0x01,0x31,0x00,0x00,0x00,0x01,0x00,0x00,0xE8,0xDD,0x50,0xBB,0xD7,0xE0,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+            0x00,0x0A,0x00,0x0A,0x00,0x0A,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x64,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x9B,0x02,0x9B,0x02,0x9B,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00
+             ]
+        await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infomlnacc)
+        refreshUISettings()
+    }
+    
+    func sendInfoMemWRAccel() async{
         let infomwracc:[UInt8] = [ 0x80,0x02,0x01,0x00,0x10,0x00,0x41,0xFF,0x01,0x08,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x09,0x00,0x00,0x00,0x08,0xCD,0x08,0xCD,0x08,0xCD,0x00,0x5C,0x00,0x5C,0x00,0x5C,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x19,0x96,0x19,0x96,0x19,0x96,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x9B,0x02,0x9B,0x02,0x9B,0x00,0x9C,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x64,0x00,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
                     0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53,0x68,0x69,0x6D,0x6D,0x65,0x72,0x5F,0x36,0x38,0x44,0x44,0x44,0x65,0x66,0x61,0x75,0x6C,0x74,0x54,0x72,0x69,0x61,0x6C,0x65,0x55,0x8C,0x9F,0x00,0x00,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
                     0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
@@ -303,43 +398,45 @@ extension ViewModel : ShimmerProtocolDelegate {
     }
 
     func shimmerProtocolNewObjectCluster(message: ShimmerBluetooth.ObjectCluster) {
-        print(message)
-        
-        if (!updatedPicker){
-            pickerData = message.SignalNames;
-            updatedPicker = true;
-        }
-        
-        if (message.SignalData.count>=1){
-            if (message.SignalData.count<startIndex+numberOfSignals){
-                startIndex=0
+        DispatchQueue.main.async {
+            print(message)
+            
+            if (!self.updatedPicker) {
+                self.pickerData = message.SignalNames
+                self.updatedPicker = true
             }
-            if (numberOfSignals>0){
-                self.signal1.append(message.SignalData[startIndex+0])
+            
+            if (message.SignalData.count >= 1) {
+                if (message.SignalData.count < self.startIndex + self.numberOfSignals) {
+                    self.startIndex = 0
+                }
+                if (self.numberOfSignals > 0) {
+                    self.signal1.append(message.SignalData[self.startIndex + 0])
+                }
             }
-        }
-        if (message.SignalData.count>=2){
-            if (numberOfSignals>1){
-                self.signal2.append(message.SignalData[startIndex+1])
+            if (message.SignalData.count >= 2) {
+                if (self.numberOfSignals > 1) {
+                    self.signal2.append(message.SignalData[self.startIndex + 1])
+                }
             }
-        }
-        if (message.SignalData.count>=3){
-            if (numberOfSignals>2){
-                self.signal3.append(message.SignalData[startIndex+2])
+            if (message.SignalData.count >= 3) {
+                if (self.numberOfSignals > 2) {
+                    self.signal3.append(message.SignalData[self.startIndex + 2])
+                }
+            }
+            if (self.signal1.count == 500) {
+                self.signal1.removeFirst()
+            }
+            if (self.signal2.count == 500) {
+                self.signal2.removeFirst()
+            }
+            if (self.signal3.count == 500) {
+                self.signal3.removeFirst()
+            }
+            self.count += 1
+            if (self.count % 10 == 0) {
+                self.delegate?.plotEvent(message: "")
             }
-        }
-        if (signal1.count==500){
-            signal1.removeFirst()
-        }
-        if (signal2.count==500){
-            signal2.removeFirst()
-        }
-        if (signal3.count==500){
-            signal3.removeFirst()
-        }
-        self.count+=1
-        if (self.count%10 == 0){
-            self.delegate?.plotEvent(message: "")
         }
     }