Bmi160 accel works, better tps (Bmi160) #322

	name: Main CI
	on:
	pull_request:
	paths-ignore:
	- .github/workflows/firmware-ci.yml
	- firmware/**

	jobs:
	linting:
	name: Linting
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v3
	- name: Cache cargo dependencies
	uses: Swatinem/rust-cache@v2

	- name: Check formatting
	uses: actions-rs/cargo@v1
	with:
	command: fmt
	args: --all --check

	- name: Clippy lints
	uses: actions-rs/cargo@v1
	with:
	command: clippy
	args: --all --all-features --all-targets --no-deps

	test:
	name: Build and test
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v3
	- name: Cache cargo dependencies
	uses: Swatinem/rust-cache@v2

	- name: Check that docs build
	uses: actions-rs/cargo@v1
	with:
	command: doc
	args: --all --all-features --no-deps --document-private-items

	- name: Run tests
	uses: actions-rs/cargo@v1
	with:
	command: test
	args: --all --all-features --all-targets

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