Example Code for Arduino-Acceleration Gyroscope

Hardware Preparation

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

Software Preparation

• Click to download Arduino IDE

Wiring Diagram

• 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

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.

Sample Code

#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");
  }
}

Result

The serial port will output 6 columns of data: the first three are gyroscope data (X, Y, Z axes) in radians per second, and the last three are accelerometer data (X, Y, Z axes) in g.

• Fig2: Gravity:BMI160 6-axis IMU Acceleration Gyroscope