Hello,
Our API delay code refers to datasheet, so it mentions not only FOC and self test, but also other parts.
Some comments don't match with current datasheet numbering, but could cover it.
I checked BMI160 API and there are comments why there is delay.
If you can't use our API for your limitation, please refer to our delay point in API.
I can capture sensor read for you based on API example. ( I think I already did for you though)
Thanks,
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