Hi,
If your could read 0x02 register success, the I2C is right.
1 confirm you have enbale fifo mode check by func bmg160_get_fifo_mode(), read FIFO length by bmg160_get_fifo_frame_count(), clear FIFO buffer by wirte 0x3E bit<7,6>. These operation is only register operation, could confirm the FIFO state.
2 From BMG160_driver, you could find fifo read by BMG160_BURST_READ_FUNC.
3 you could lower the odr freq, then fifo fill rate also down.
Best regards.
... View more