Hello tmeeusen,
Sorry for late response.
I think you already referred our example,
https://github.com/BoschSensortec/BMI160_driver
But, could you test with our code without modification.
From my side, I could get it properly. Of course, printf would be burden for you if you are using low speed of UART.
But, if not, please try it. If it is burden for your system, you need to capture thru logic analyzer and check it.
If you seem like your system is not capable of our example, please slow down ODR.
Then, our FIFO would reach out to water level slower.
Thanks,
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