From a8e689784f8108c05d68a208fbaa895d71232d50 Mon Sep 17 00:00:00 2001
From: Chris D <32441086+CheesecakeCG@users.noreply.github.com>
Date: Tue, 12 Aug 2025 05:01:00 -0400
Subject: [PATCH] Update BMI160 bulk read function (#466)

---
 src/sensors/softfusion/drivers/bmi160.h | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/src/sensors/softfusion/drivers/bmi160.h b/src/sensors/softfusion/drivers/bmi160.h
index 22493af..1f79be1 100644
--- a/src/sensors/softfusion/drivers/bmi160.h
+++ b/src/sensors/softfusion/drivers/bmi160.h
@@ -30,6 +30,7 @@
 #include <limits>
 
 #include "../../../sensorinterface/RegisterInterface.h"
+#include "callbacks.h"
 #include "vqf.h"
 
 namespace SlimeVR::Sensors::SoftFusion::Drivers {
@@ -182,12 +183,7 @@ struct BMI160 {
 		return to_ret;
 	}
 
-	template <typename AccelCall, typename GyroCall, typename TempCall>
-	void bulkRead(
-		AccelCall&& processAccelSample,
-		GyroCall&& processGyroSample,
-		TempCall&& processTempSample
-	) {
+	void bulkRead(DriverCallbacks<int16_t>&& callbacks) {
 		const auto fifo_bytes = m_RegisterInterface.readReg16(Regs::FifoLength) & 0x7FF;
 
 		const auto bytes_to_read = std::min(
@@ -218,7 +214,7 @@ struct BMI160 {
 					gyro[0] = getFromFifo<uint16_t>(i, read_buffer);
 					gyro[1] = getFromFifo<uint16_t>(i, read_buffer);
 					gyro[2] = getFromFifo<uint16_t>(i, read_buffer);
-					processGyroSample(gyro, GyrTs);
+					callbacks.processGyroSample(gyro, GyrTs);
 				}
 
 				if (header & Fifo::AccelDataBit) {
@@ -226,7 +222,7 @@ struct BMI160 {
 					accel[0] = getFromFifo<uint16_t>(i, read_buffer);
 					accel[1] = getFromFifo<uint16_t>(i, read_buffer);
 					accel[2] = getFromFifo<uint16_t>(i, read_buffer);
-					processAccelSample(accel, AccTs);
+					callbacks.processAccelSample(accel, AccTs);
 				}
 			}
 		}