Example Code for Arduino-Reading Data via I2C

Hardware Preparation

• DFR1222 FireBeetle 2 ESP32-C5 ×1
• SEN0693 Fermion: BMI323 6 DOF IMU Sensor ×1

Software Preparation

• Download and install Arduino IDE: Download Arduino IDE

• Download and install the DFRobot_BMI323 library: Download the DFRobot_BMI323 library

• Library Installation Guide: View Installation Guide

Wiring Diagram

Connect the 6-axis IMU sensor to the ESP32-C5 as shown in the diagram. The main connections are:

• Sensor pin “3V3” → ESP32-C5 3.3V
• Sensor pin “GND” → ESP32-C5 GND
• Sensor I2C pin “SCL” → ESP32-C5 SCL (default GPIO10)
• Sensor I2C pin “SDA” → ESP32-C5 SDA (default GPIO9)
• I2C address pad configuration: Leave the pad open, the I2C address will be 0x69 (factory default mode)

Sample Code

#include "DFRobot_BMI323.h"

#define BMI323_I2C_ADDR 0x69    

DFRobot_BMI323 bmi323(&Wire, BMI323_I2C_ADDR);

void setup()
{
  Serial.begin(115200);
  while (!Serial) {
    delay(10);
  }

  Serial.println("BMI323 Six-Axis Data");
  Serial.println("====================");

  while (!bmi323.begin()) {
    Serial.println("Sensor init failed, please check wiring. Retry in 1s.");
    delay(1000);
  }

  if (!bmi323.configAccel(bmi323.eAccelODR50Hz, bmi323.eAccelRange8G, bmi323.eAccelModeNormal)) {
    Serial.println("Accel config failed!");
    while (1) {
      delay(1000);
    }
  }

  if (!bmi323.configGyro(bmi323.eGyroODR800Hz, bmi323.eGyroRange2000DPS, bmi323.eGyroModeNormal)) {
    Serial.println("Gyro config failed!");
    while (1) {
      delay(1000);
    }
  }

  delay(1000);
  Serial.println("Setup complete!\n");
}

void loop()
{
  DFRobot_BMI323::sSensorData accel;
  DFRobot_BMI323::sSensorData gyro;

  if (bmi323.getAccelGyroData(&accel, &gyro)) {
    Serial.print("Accel (g)  : ");
    Serial.print(accel.x, 3);
    Serial.print(", ");
    Serial.print(accel.y, 3);
    Serial.print(", ");
    Serial.println(accel.z, 3);

    Serial.print("Gyro (dps) : ");
    Serial.print(gyro.x, 2);
    Serial.print(", ");
    Serial.print(gyro.y, 2);
    Serial.print(", ");
    Serial.println(gyro.z, 2);
    Serial.println("---");
  } else {
    Serial.println("Failed to read sensor data.");
  }

  delay(200);
}

Result