Introduction

The BMI160 6-axis inertial motion sensor is a new product from DFRobot. It is based on Bosch BMI160 6-axis MEMS sensor which integrates 16-bit 3-axis accelerometer with ultra-low-power 3-axis gyroscope. Bosch BMI160 is designed for smartphones, tablets, wearable devices. It has built-in intelligent step-counting algorithms that can be read directly through registers. Built-in 3-axis acceleration and 3-axis gyroscope can detect running, fitness and other motion. Built-in LDO power management chip, supports 3.2~6V wide voltage power supply, and also has I2C level conversion circuit, compatible with Arduino 3.3V and 5V micro controller.

Application Scenarios

• Step Count
• Acceleration Detection
• Inclination Measurement
• Display Toggle Horizontal / Vertical Mode

Specifications

• Operating Voltage: 3.2V~6V
• Current Consumption: <1mA
• Interface: Gravity-IIC
• Acceleration Range: ±2g/±4g/±8g/±16g
• Gyroscopes Range: ±125°/s,±250°/s,±500°/s,±1000°/s,±2000°/s
• Acceleration Zero-g Offset: ±40mg
• Gyroscopes Zero-g Offset: ±10°/s
• Programmable Frequency: 25/32Hz~1600Hz
• 6D Detection and Location
• 16-bit Data Output
• Shock Resistance: 1000gx 200us
• 2 Independent Programmable Interrupt Generators
• In-built 1024 Byte FIFO
• Working Temperature:-40℃~ 85℃
• Dimension: 22X27mm/0.87x1.06 in

Appearance and Size Chart

BMI160 6-Axis IMU Sensor Pin Description

Hardware

Hardware Preparation

• 1 x BMI160 6-axis IMU
• 1 x Arduino Uno

Hardware Connection

• Connect the BMI160 6-axis IMU to Arduino board by I2C (" "can connect "3V3" or "5V")
• Connect the INT1 or INT2 to the corresponding pins on the Arduino board, as shown in the following table

Connection Diagram

Examples

• Click to download Arduino IDE
• DFRobot_BMI160 library (GitHub)

Step Count

• Tip: The pedometer algorithm does not recognize steps until after seven consecutive steps, and then if you stop walking at a certain time for too long, the counter will reset,it is also applies to INT1, INT2.
• Note: At some point there is a discrepancy between the number of steps and the actual number of steps, due to the problem of the BMI chip itself."

#include <DFRobot_BMI160.h>

DFRobot_BMI160 bmi160;
const int8_t i2c_addr = 0x69;
bool readStep = false;

#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_PRO
  //interrupt number of uno and mega2560 is 0
  int pbIn = 2;
#elif ARDUINO_AVR_LEONARDO
  //interrupt number of uno and leonardo is 0
  int pbIn = 3;
#else
  int pbIn = 13;
#endif
/*the bmi160 have two interrput interfaces*/
int int1 = 1;
int int2 = 2;

void stepChange()
{
  //once the step conter is changed, the value can be read
  readStep = true;
}

void setup(){
  Serial.begin(115200);
  delay(100);

  //set and init the bmi160 i2c address
  while (bmi160.I2cInit(i2c_addr) != BMI160_OK){
    Serial.println("i2c init fail");
    delay(1000);
  }

  //set interrput number to int1 or int2
  if (bmi160.setInt(int1) != BMI160_OK){
    Serial.println("set interrput fail");
    while(1);
  }

  //set the bmi160 mode to step counter
  if (bmi160.setStepCounter() != BMI160_OK){
    Serial.println("set step fail");
    while(1);
  }
#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_LEONARDO || defined ARDUINO_AVR_PRO
  //set the pin in the board to connect to int1 or int2 of bmi160
  attachInterrupt(digitalPinToInterrupt(pbIn), stepChange, FALLING);
#else
  attachInterrupt(pbIn, stepChange, FALLING);
#endif
}

void loop(){
  if (readStep){
    uint16_t stepCounter = 0;
    //read step counter from hardware bmi160
    if (bmi160.readStepCounter(&stepCounter)==BMI160_OK){
      Serial.print("step counter = ");Serial.println(stepCounter);
    }
    readStep = false;
  }
}

Acceleration Gyroscope

• Fig2: Gravity:BMI160 6-axis IMU Acceleration Gyroscope
• Tip：The first three columns are the data of the gyroscope in the direction of the X, Y, and Z axis, and the last three are the data of the acceleration in the direction of the X, Y, and Z axis.

#include "DFRobot_BMI160.h"

DFRobot_BMI160 bmi160;
const int8_t i2c_addr = 0x69;
void setup(){
  Serial.begin(115200);
  delay(100);

  //init the hardware bmin160
  if (bmi160.softReset() != BMI160_OK){
    Serial.println("reset false");
    while(1);
  }

  //set and init the bmi160 i2c address
  if (bmi160.I2cInit(i2c_addr) != BMI160_OK){
    Serial.println("init false");
    while(1);
  }
}

void loop(){
  int i = 0;
  int rslt;
  int16_t accelGyro[6]={0};

  //get both accel and gyro data from bmi160
  //parameter accelGyro is the pointer to store the data
  rslt = bmi160.getAccelGyroData(accelGyro);
  if(rslt == 0){
    for(i=0;i<6;i  ){
      if (i<3){
        //the first three are gyro datas
        Serial.print(accelGyro[i]*3.14/180.0);Serial.print("\t");
      }else{
        //the following three data are accel datas
        Serial.print(accelGyro[i]/16384.0);Serial.print("\t");
      }
    }
    Serial.println();
  }else{
    Serial.println("err");
  }
}

FAQ

More Documents

• Schematic & Layout
• Datasheet

FAQ

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