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Connect BMI160 sensor on Raspberry Pi hardware I2C bus

Since R2023a


The bmi160 object reads linear acceleration, angular velocity, and temperature along the X, Y, and Z axes using the BMI160 sensor interfaced with the Raspberry Pi® hardware. If BMM150 is connected as a secondary sensor to BMI160, the bmi160 object also outputs magnetic field along x-, y- and z- axes as measured by the BMM150 sensor. Before you use the bmi160 object, ensure that the I2C interface is enabled on your Raspberry Pi kernel. You can then create a connection to the Raspberry Pi board using the raspi object and set its properties. For more information, see enableI2C and raspi.




sensor = bmi160(mypi) creates a BMI160 sensor object with default property values. The object represents a connection to the sensor on the Raspberry Pi hardware mypi.


sensor = bmi160(mypi,Name,Value) creates a BMI160 sensor object with properties using one or more Name,Value arguments.

Input Arguments

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Raspberry Pi hardware board connection specified as a raspi object.

Example: sensor = bmi160(mypi) creates a connection to the BMI160 sensor on the Raspberry Pi object mypi.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

I2C bus address of the Raspberry Pi hardware board.

Example: sensor = bmi160(mypi, 'Bus', 'i2c-1') creates the sensor object on the 'i2c-1' bus of the Raspberry Pi board.

Data Types: char

Specify the I2C address of the sensors when multiple I2C devices with the expected address for BMI160 are connected to the same hardware board. BMI160 can have multiple I2C addresses depending on the logic level on pin AD0 of the sensor.

Pin NamePin StateI2C Address

You can specify the I2C address in:

  • Numeric array of hexadecimal, decimal, or binary format of I2C Addresses

  • String array of hexadecimal value of I2C Addresses

  • Cell array of character vector of hexadecimal value of I2C Addresses

0x68 is the I2C address of the BMI160 connected to Raspberry Pi board.

Example: imu = bmi160(mypi,I2CAddress=[0x69, 0x0C])

'0x69' is the I2C address of the accelerometer and gyroscope of BMI160. '0x0C' is the I2C address of the magnetometer of BMI160.

If not specified, the object will be created with one of the available I2C device address in the table. Availability of I2C device with the expected address will be determined by using scanI2CBus.

Object Functions

readAccelerationRead one sample of acceleration from sensor
readAngularVelocityRead one sample of angular velocity from sensor
readTemperatureRead one sample of temperature from sensor
readMagneticFieldRead one sample of magnetic field from sensor


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Ensure that the I2C interface on the Raspberry Pi kernel is enabled and then create an bmi160 sensor object.

You can enable the I2C interface using:

Create a connection from MATLAB® to the Raspberry Pi hardware board.

mypi = raspi('raspberrypi-hysdu8X38o','rocky','bullwinkle')
mypi = 

  Raspi with Properties:

           DeviceAddress: 'raspberrypi-hysdu8X38o'
                    Port: 18734
               BoardName: 'Raspberry Pi 3 Model B+'
           AvailableLEDs: {'led0'}
    AvailableDigitalPins: [4,5,6,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27]
    AvailableSPIChannels: {‘CE0’,’CE1’}
       AvailableI2CBuses: {'i2c-1'}
             I2CBusSpeed: 100000
        AvailabelWebCams: mmal service 16.1 (platform:bcm2835-v4l2)

GPIO header pins I2C_SDA (GPIO 2) and I2C_SCL (GPIO 3) are used for I2C functionality. Display pin mapping of the Raspberry Pi hardware board.

Raspberry Pi 3 Model B+ GPIO Pin Map diagram

Get the addresses of the BMI160 sensor connected to the I2C bus 'i2c-1'.

sensor = scanI2CBus(mypi,'i2c-1');
ans =

  1×2 cell array

    {'0x69'}    {'0xC'}

Create an bmi160 sensor object on the I2C bus 'i2c-1' on addresses '0x69' and '0x0C'.

sensor = bmi160(mypi,'Bus','i2c-1','I2CAddress',{'0x69','0x0C'});
sensor = 

  bmi160 with properties:

                         I2CAddress: 105 ("0x69")
                                   : 12 ("0xC")
                                Bus: i2c-1

Extended Capabilities

Version History

Introduced in R2023a