AP_InertialSensor: BMI160: Make it possible to use I2C

The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.

libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp

@@ -146,6 +146,27 @@ AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu,
     return sensor;
 }
 
+AP_InertialSensor_Backend *
+AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu,
+                                AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+{
+    if (!dev) {
+        return nullptr;
+    }
+    auto sensor = new AP_InertialSensor_BMI160(imu, std::move(dev));
+
+    if (!sensor) {
+        return nullptr;
+    }
+
+    if (!sensor->_init()) {
+        delete sensor;
+        return nullptr;
+    }
+
+    return sensor;
+}
+
 void AP_InertialSensor_BMI160::start()
 {
     bool r;

libraries/AP_InertialSensor/AP_InertialSensor_BMI160.h

@@ -17,6 +17,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/SPIDevice.h>
+#include <AP_HAL/I2CDevice.h>
 
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
@@ -26,6 +28,9 @@ public:
     static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
                                             AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
 
+    static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
+                                            AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+
     /**
      * Configure the sensors and start reading routine.
      */