What is the BMI160 Slave address for I2C communication?
Is it the same as BMI160_CHIP_ID which is 0xD1?
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BMI160 slave interface can only be used s I2C master (connect to external sensors) or SPI slave (OIS interface).
If use as OIS interface, there is only limited register can be accessed. They are data registers from 0x04 - 0x17.
as states in the datasheet, the I2C address is 0x68 (if SDO-pin is gnd) or 0x69 (if SDO-pin is vddio).
The chip id (0xD1) is not used for communication. It is a unique number that all BMI160 sensors share, but that will differ between different sensor types (e.g. the BMX160 sensors will have a different chip ip (0XD8)). This helps the API to identify which sensor it is talking to, so it can be sure, that the sensor on I2C address 0x68 is indeed the BMI160.