diff --git a/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift b/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
index 0a6c76f..bf91fe5 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
@@ -42,6 +42,8 @@ public class ConfigByteLayoutShimmer3{
     static let idxMPU9150GyroCalibration = 52
     static let idxLSM303DLHCMagCalibration = 73
     //static let idxLSM303DLHCAccelCalibration = 94 //94->114
+    static let idxConfigSetupByte4 = 128+2;
+
     static let idxSDExperimentConfig0 =             128+89;
     static let idxSDExperimentConfig1 =             128+90;
     
@@ -51,6 +53,9 @@ 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;
     
@@ -73,6 +78,7 @@ public class ConfigByteLayoutShimmer3{
     static let maskLSM303DLHCAccelSamplingRate =          0x0F;
     
     static let idxLSM6DSVAccelCalibration = 34;
+    static let idxGyroCalibration = 55;
     static let idxLSM303DLHCAccelCalibration = 97;
     
     static let lengthGeneralCalibrationBytes = 21;
diff --git a/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/GyroSensor.swift
index 31a1f96..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 +208,27 @@ public class GyroSensor : IMUSensor , SensorProcessing{
     public func updateInfoMemGyroRange(infomem: [UInt8],range: Range) -> [UInt8]{
         var infomemtoupdate = infomem
         print("oriinfomem: \(infomemtoupdate)")
-        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
-            var gyroRange = 0
+        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)
@@ -130,16 +239,77 @@ public class GyroSensor : IMUSensor , SensorProcessing{
 
             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
+        var calibBytes = calibBytes_125DPS
+        if (range == Range3R.RANGE_125DPS){
+            gyroRange = 0
+            calibBytes = calibBytes_125DPS
+        }else if (range == Range3R.RANGE_250DPS){
+            gyroRange = 1
+            calibBytes = calibBytes_250DPS
+        } else if (range == Range3R.RANGE_500DPS){
+            gyroRange = 2
+            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)
+     
+        print("orivalue range: \(orivalue)")
+        print("value: \(value)")
+        print("range: \(range)")
+
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+        print("updatedinfomem: \(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
@@ -149,30 +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/Shimmer3Protocol.swift b/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
index 4b53e5d..6d24c09 100644
--- a/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
+++ b/ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
@@ -324,6 +324,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
             battVoltageSensor = BattVoltageSensor()
         } else if(REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
             lnAccelSensor = LNAccelSensor(hwid: REV_HW_MAJOR)
+            gyroSensor = GyroSensor(hwid: REV_HW_MAJOR)
             wrAccelSensor = WRAccelSensor(hwid: REV_HW_MAJOR)
             timeSensor = TimeSensor()
         }
@@ -350,6 +351,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
         } else  if (REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
             timeSensor.setInfoMem(infomem: infoMem)
             lnAccelSensor.setInfoMem(infomem: infoMem)
+            gyroSensor.setInfoMem(infomem: infoMem)
             wrAccelSensor.setInfoMem(infomem: infoMem)
         }
     }
diff --git a/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift b/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
index 1ebcdff..e26b27f 100644
--- a/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
+++ b/ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
@@ -263,6 +263,16 @@ struct ContentView: View {
                     }
                 }
                 })
+              
+                Button("WriteInfoMem Gyro Shimmer3R",action:{ Task {
+                    do {
+                        await viewModel.sendInfoMemS3RGyro()
+                    } catch {
+                        print("Error: \(error)")
+                    }
+                }
+                })
+
                 Button("WriteInfoMem WRAccel Shimmer3R",action:{ Task {
                     do {
                         await viewModel.sendInfoMemS3RWRAccel()
@@ -341,6 +351,15 @@ struct ContentView: View {
                     // Update the ViewModel's wrRangeIndex property
                     viewModel.lnAccelRangeIndex = newValue
                 }
+                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()
diff --git a/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift b/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
index bef7257..7cdc6fc 100644
--- a/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
+++ b/ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
@@ -21,6 +21,7 @@ class ViewModel: NSObject, ObservableObject {
     @Published var lnAccelRange = ["2G", "4G", "8G", "16G"]
     @Published var wrRange = ["2G", "4G", "8G", "16G"]
     @Published var gyroRange = ["250DPS", "500DPS", "1000DPS", "2000DPS"]
+    @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"]
@@ -32,6 +33,7 @@ class ViewModel: NSObject, ObservableObject {
     @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
@@ -72,7 +74,9 @@ 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)!)
@@ -153,6 +157,11 @@ class ViewModel: NSObject, ObservableObject {
             infomem = lnAccel?.updateInfoMemLNAccelRange(infomem: infomem!, range: LNAccelSensor.Range.fromValue(UInt8(lnAccelRangeIndex))!)
         }
         
+        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))!)
@@ -205,6 +214,16 @@ class ViewModel: NSObject, ObservableObject {
         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,