TI already has a solution for MSP432 - BOOSTXL-SENSORS booster pack. It has such Bosch sensors: BMI160 (Accelerometer and Gyro using DSP), BMM150 (magnetometer), BME280 (humidity, temperature and pressure), TI's TMP007 (infrared remote temperature sensor), OPT3001 (light sensor) with additional sample code and GUI support. They all are connected by I2C.
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