BMI160 SoftFusion implementation (#444)

* BMI160 SoftFusion Implementation

* Undo defines.h changes

* Remove BMI160 lib

* Formatting...?

* I HATE CLANG-FORMAT!!!!!!!!!!!!!!!!!!!!!!!!

* Process FIFO length correctly

Author: kounocom

lib/bmi160/BMI160.cpp

@@ -58,7 +58,7 @@ enum class SensorTypeID : uint8_t {
 #define IMU_BNO055 BNO055Sensor
 #define IMU_MPU6050 MPU6050Sensor
 #define IMU_BNO086 BNO086Sensor
-#define IMU_BMI160 BMI160Sensor
+#define IMU_BMI160 SoftFusionBMI160
 #define IMU_ICM20948 ICM20948Sensor
 #define IMU_ICM42688 SoftFusionICM42688
 #define IMU_BMI270 SoftFusionBMI270

lib/bmi160/BMI160.h

@@ -28,8 +28,6 @@
 #include "consts.h"
 #include "debug.h"
 #include "defines.h"
-#include "defines_bmi160.h"
-#include "defines_sensitivity.h"
 
 // clang-format off
 #include "board_default.h"

src/consts.h

@@ -30,7 +30,6 @@
 #include "EmptySensor.h"
 #include "ErroneousSensor.h"
 #include "SensorManager.h"
-#include "bmi160sensor.h"
 #include "bno055sensor.h"
 #include "bno080sensor.h"
 #include "globals.h"
@@ -47,6 +46,7 @@
 #include "sensorinterface/SPIImpl.h"
 #include "sensorinterface/SensorInterfaceManager.h"
 #include "sensorinterface/i2cimpl.h"
+#include "softfusion/drivers/bmi160.h"
 #include "softfusion/drivers/bmi270.h"
 #include "softfusion/drivers/icm42688.h"
 #include "softfusion/drivers/icm45605.h"
@@ -92,6 +92,7 @@ using SoftFusionICM45686
 	= SoftFusionSensor<SoftFusion::Drivers::ICM45686, SFCALIBRATOR>;
 using SoftFusionICM45605
 	= SoftFusionSensor<SoftFusion::Drivers::ICM45605, SFCALIBRATOR>;
+using SoftFusionBMI160 = SoftFusionSensor<SoftFusion::Drivers::BMI160, SFCALIBRATOR>;
 class SensorAuto {};
 
 struct SensorBuilder {