diff --git a/boards/arm/cxd56xx/common/src/cxd56_bmi160_scu.c b/boards/arm/cxd56xx/common/src/cxd56_bmi160_scu.c
index aa80ed2395..8d384a8f32 100644
--- a/boards/arm/cxd56xx/common/src/cxd56_bmi160_scu.c
+++ b/boards/arm/cxd56xx/common/src/cxd56_bmi160_scu.c
@@ -31,6 +31,7 @@
 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/sensors/bmi160.h>
+#include <arch/board/cxd56_bmi160.h>
 #include <arch/chip/scu.h>
 
 #if defined(CONFIG_SENSORS_BMI160_SCU_SPI)
diff --git a/boards/arm/cxd56xx/spresense/include/cxd56_bmi160.h b/boards/arm/cxd56xx/spresense/include/cxd56_bmi160.h
index b577fd9076..73ff4f9b3e 100644
--- a/boards/arm/cxd56xx/spresense/include/cxd56_bmi160.h
+++ b/boards/arm/cxd56xx/spresense/include/cxd56_bmi160.h
@@ -60,6 +60,83 @@ extern "C"
 
 int board_bmi160_initialize(int bus);
 
+#ifdef CONFIG_SENSORS_BMI160_SCU
+/****************************************************************************
+ * Name: bmi160_init
+ *
+ * Description:
+ *   Initialize BMI160 accelerometer/gyro device
+ *
+ * Input Parameters:
+ *   dev     - An instance of the SPI or I2C interface to use to communicate
+ *             with BMI160
+ *   port    - I2C port number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_BMI160_I2C
+int bmi160_init(FAR struct i2c_master_s *dev, int port);
+#else /* CONFIG_SENSORS_BMI160_SPI */
+int bmi160_init(struct spi_dev_s *dev);
+#endif
+
+/****************************************************************************
+ * Name: bmi160gyro_register
+ *
+ * Description:
+ *   Register the BMI160 gyro character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/gyro"
+ *   minor   - The number of sequencer
+ *   dev     - An instance of the SPI or I2C interface to use to communicate
+ *             with BMI160
+ *   port    - I2C port number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_BMI160_I2C
+int bmi160gyro_register(const char *devpath, int minor,
+                        struct i2c_master_s *dev, int port);
+#else /* CONFIG_SENSORS_BMI160_SPI */
+int bmi160gyro_register(const char *devpath, int minor,
+                        struct spi_dev_s *dev);
+#endif
+
+/****************************************************************************
+ * Name: bmi160accel_register
+ *
+ * Description:
+ *   Register the BMI160 accelerometer character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/accel"
+ *   minor   - The number of sequencer
+ *   dev     - An instance of the SPI or I2C interface to use to communicate
+ *             with BMI160
+ *   port    - I2C port number
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_BMI160_I2C
+int bmi160accel_register(const char *devpath, int minor,
+                         struct i2c_master_s *dev, int port);
+#else /* CONFIG_SENSORS_BMI160_SPI */
+int bmi160accel_register(const char *devpath, int minor,
+                         struct spi_dev_s *dev);
+#endif
+
+#endif /* CONFIG_SENSORS_BMI160_SCU */
+
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/include/nuttx/sensors/bmi160.h b/include/nuttx/sensors/bmi160.h
index ce7c4ac0b3..5fd08566fa 100644
--- a/include/nuttx/sensors/bmi160.h
+++ b/include/nuttx/sensors/bmi160.h
@@ -131,30 +131,10 @@ extern "C"
  *
  ****************************************************************************/
 
-#ifndef CONFIG_SENSORS_BMI160_SCU
-
-#  ifdef CONFIG_SENSORS_BMI160_I2C
+#ifdef CONFIG_SENSORS_BMI160_I2C
 int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
-#  else /* CONFIG_BMI160_SPI */
+#else /* CONFIG_BMI160_SPI */
 int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
-#  endif
-
-#else /* CONFIG_SENSORS_BMI160_SCU */
-
-#  ifdef CONFIG_SENSORS_BMI160_I2C
-int bmi160_init(FAR struct i2c_master_s *dev, int port);
-int bmi160gyro_register(FAR const char *devpath, int minor,
-                        FAR struct i2c_master_s *dev, int port);
-int bmi160accel_register(FAR const char *devpath, int minor,
-                         FAR struct i2c_master_s *dev, int port);
-#  else /* CONFIG_SENSORS_BMI160_SPI */
-int bmi160_init(FAR struct spi_dev_s *dev);
-int bmi160gyro_register(FAR const char *devpath, int minor,
-                        FAR struct spi_dev_s *dev);
-int bmi160accel_register(FAR const char *devpath, int minor,
-                         FAR struct spi_dev_s *dev);
-#  endif
-
 #endif
 
 #undef EXTERN