I had the same issue and after looking at the solution in this thread, I determined that it is necesary to set the register 0x6B to 0x02. Aaccording to the BMI160 manual, thi sets Primary interface: autoconfig / secondary interface: Magnetometer. The BMX160 manual indicates that these bits are reserved. Table 16 should have as the first instruction: Write, 0x6B, IF_CONF, 0x02, set secondary interface to Magnetometer
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