Example Code for Arduino-Obtain Accelerometer Data

Hardware Preparation

• DFRduino UNO + Gravity: IO expantion board (SKU:DFR0216-2) ×1
• Gravity: BMI160 6-axis Inertial Motion Sensor（SKU:SEN0250）×2
• Gravity I2C Address shifter（SKU:DFR1193）×1

Software Preparation

• Arduino IDE： Download Arduino IDE
• Library：DFRobot BMI160 Github
• Arduino IDE V1.8.19 (or below) installation library files：How to install library
• Arduino IDE V2.0.0 (or above) can be installed by searching for the ‘DFRobot_BMI160’ library in the library manager.

Wiring Diagram

Other Preparation Work

• Check the on-board dip switch is set to A5=0,A4=0.
• Connect according to the wiring diagram above.

Sample Code

    /*
   @file accelGyroscope.ino
   @brief Obtain accelerometer data in both BMIs.
   @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
   @license The MIT License (MIT)
   @author [thdyyl]([email protected])
   @version V0.1
   @date 2024-08-05
  */
  #include "DFRobot_BMI160.h"
  DFRobot_BMI160 bmi160_1, bmi160_2;
  const int8_t i2c_addr_1 = 0x69, i2c_addr_2 = 0x29;
  
  void setup(){
    Serial.begin(115200);
    delay(100);
  
    //init the default bmi160
    if(bmi160_1.softReset() != BMI160_OK){
      Serial.println("bmi160_1 reset false");
      while(1);
    }

    if(bmi160_2.softReset() != BMI160_OK){
      Serial.println("bmi160_2 reset false");
      while(1);
    }
  
    //set and init the bmi160 i2c address
    if(bmi160_1.I2cInit(i2c_addr_1) != BMI160_OK){
      Serial.println("bmi160_1 init false");
      while(1);
    }

    if(bmi160_2.I2cInit(i2c_addr_2) != BMI160_OK){
      Serial.println("bmi160_2 init false");
      while(1);
    }
  }

  void showAccelGyroData(DFRobot_BMI160 bmi160){
    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);
          Serial.print("\t");
        }else{
          //the following three data accel datas
          Serial.print(accelGyro[i] / 16384.0);
          Serial.print("\t");
        }
      }
      Serial.println();
    }
    else{
      Serial.println("err");
    }
  }
  
  void loop(){
    Serial.print("bmi160_1:\t");
    showAccelGyroData(bmi160_1);
    Serial.print("bmi160_2:\t");
    showAccelGyroData(bmi160_2);
    Serial.println();
    delay(500);
  }

Result

Serial monitor outputs the data of two Gravity: BMI160 6-axis Inertial Motion Sensor。