Arduino and BMG160 3-axis angular rate sensor example

The BMG160 is an ultra-small, digital 3-axis angular rate sensor with a measurement range up to 2000°/s and a digital resolution of 16 bit for consumer electronics applications. The BMG160 allows low-noise measurement of angular rates in 3 perpendicular axes and is designed for use in cellular phones, handhelds, computer peripherals, man-machine interfaces, virtual reality features, remote and game controllers.

With its small footprint of only 3 x 3 mm² the BMG160 is unique in the class of low-noise consumer electronics gyroscopes. The zero-rate offset and offset stability over temperature of the BMG160 are outstanding

Connection

These are the only connections that are required

Code

[codesyntax lang=”cpp”]

#include<Wire.h>

// BMG160 I2C address is 0x68(104)
#define Addr 0x68

void setup() 
{
  // Initialise I2C communication as MASTER 
  Wire.begin();
  // Initialise Serial Communication, set baud rate = 9600
  Serial.begin(9600);

  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Range register
  Wire.write(0x0F);
  // Configure full scale range 2000 dps
  Wire.write(0x80);
  // Stop I2C Transmission
  Wire.endTransmission();

  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Bandwidth register
  Wire.write(0x10);
  // Set bandwidth = 200 Hz
  Wire.write(0x04);
  // Stop I2C Transmission
  Wire.endTransmission();
  delay(300);
}

void loop()
{
  unsigned int data[6];
  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Gyrometer data register
  Wire.write(0x02);
  // Stop I2C Transmission
  Wire.endTransmission();

  // Request 6 bytes of data
  Wire.requestFrom(Addr, 6);
  // Read 6 bytes of data
  // xGyro lsb, xGyro msb, yGyro lsb, yGyro msb, zGyro lsb, zGyro msb
  if(Wire.available() == 6)
  {
    data[0] = Wire.read();
    data[1] = Wire.read();
    data[2] = Wire.read();
    data[3] = Wire.read();
    data[4] = Wire.read();
    data[5] = Wire.read();
  }
  delay(300);
  
  // Convert the data
  int xGyro = ((data[1] * 256) + data[0]);
  int yGyro = ((data[3] * 256) + data[2]);
  int zGyro = ((data[5] * 256) + data[4]);
  
  // Output data to the serial monitor
  Serial.print("X-Axis of Rotation:  ");
  Serial.println(xGyro);
  Serial.print("Y-Axis of Rotation:  ");
  Serial.println(yGyro);
  Serial.print("Z-Axis of Rotation:  ");
  Serial.println(zGyro);
  delay(500);
}

[/codesyntax]

Output

Open the serial monitor and you should see something like this

X-Axis of Rotation: -336
Y-Axis of Rotation: 572
Z-Axis of Rotation: -1602
X-Axis of Rotation: -158
Y-Axis of Rotation: -256
Z-Axis of Rotation: 496
X-Axis of Rotation: -4916
Y-Axis of Rotation: 2098
Z-Axis of Rotation: 1128

Link

CJMCU-160 Sensortec three axis gyro attitude sensor module BMG160