On the HW connection, i will suggest you connect SA_GPIO7 (pin 15) to either VDDIO or GND according to the I2C address you select.
What is the result of function call "bhy_driver_init". if it is also successful, this means BHI160B sensor is intialized correctly.
The main code from your paste looks like copy the example code, which should work correctly if bus communication is corret and sensor initialized successfully.
in your main code, you already finish the intialize part code and configure part code, the call back is the read out funciton.
So if you have no data output, i need to know exactly which step you are failed now. and the detail error code
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