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        Grove - 6-Axis Accelerometer&Gyroscope(BMI088)   The Grove - 6-Axis Accelerometer&Gyroscope(BMI088) is a 6 DoF(degrees of freedom) Highperformance Inertial Measurement Unit(IMU) .This sensor is based on BOSCH BMI088, which is a high-performance IMU with high vibration suppression. The 6-axis sensor combines a 16 bit triaxial gyroscope and a 16 bit triaxial accelerometer. Specialy, you can use this sensor on the drone and robotics application in demanding environments. Features    The BM1088 is designed for drones, robotics and industry applications with challenging performance requirements.  Wide acceleration measurment range(up to 24g)  The accelerometer features a low TCO of 0.2 mg/K and low spectral noise of only 230 pg/sqrt(Hz) in the widest measurement range of ± 24 g   Specification Item Value  Operating Voltage  3.3V / 5V  Measurement range and sensitivity  Accelerometer  ±3g @10920 LSB/g  ±6g @5460 LSB/g  ±12g @2730 LSB/g  ±24g @1365 LSB/g  Gyroscope  ±125°/s @262.1 LSB/°/s  ±250°/s @131.1 LSB/°/s  ±500°/s @65.5 LSB/°/s  ±1000°/s @32.8 LSB/°/s  ±2000°/s @16.4 LSB/°/s  Operating Temperature Range  ‐40Ԩ ~ +85Ԩ  Zero Offset  Accelerometer  ±30 mg  Gyroscope  ±1°/s  TCO  Accelerometer  ±0.2 mg/K  Gyroscope  ±0.015°/s/K  External interface  I2C  I2C Address  Accelerometer  0x19(default) \ 0x18(optional)  Gyroscope  ±1°/s0x69(default) \ 0x68(optional)  Typical Applications    Drones and flying toys  Industrial robots, hover boards  Domestic applications(e.g. vacuum cleaner, social robots,etc.)   Hardware Overview Pin Out     Schemaitc Power The operating voltage range of BMI088 is 2.4-3.6V, so we use the XC6206P30 chip to provide a stable 3.0V. The input of XC6206P30 ranges from 1.8V to 6.0V, so you can use this module with your Arduino both in 3.3V and 5V. Bi-directional level shifter circuit     This is a typical Bi-directional level shifter circuit to connect two different voltage section of an I2C bus. The I2C bus of this sensor use 3.3V, if the I2C bus of the Arduino use 5V, this circuit will be needed. In the schematic above, Q1 and Q2 are N-Channel MOSFET CJ2102, which act as a bidirectional switch. In order to better understand this part, you can refer to the AN10441 Platforms Supported Arduino Raspberry Pi BeagleBone Wio LinkIt ONE   Caution The platforms mentioned above as supported is/are an indication of the module's hardware or theoritical compatibility. We only provide software library or code examples for Arduino platform in most cases. It is not possible to provide software library / demo code for all possible MCU platforms. Hence, users have to write their own software library. Getting Started Play With Arduino Hardware Materials required Seeeduino V4.2 Base Shield    Grove (BMI088)    Note 1 Please plug the USB cable gently, otherwise you may damage the port. Please use the USB cable with 4 wires inside, the 2 wires cable can't transfer data. If you are not sure about the wire you have, you can click here to buy       2 Each Grove module comes with a Grove cable when you buy. In case you lose the Grove cable, you can click here to buy.  Step 1. Connect the Grove - 6-Axis Accelerometer&Gyroscope(BMI088) to port I2C of Grove-Base Shield.  Step 2. Plug Grove - Base Shield into Seeeduino.  Step 3. Connect Seeeduino to PC via a USB cable. Note If we don't have Grove Base Shield, We also can directly connect this module to Seeeduino as below. Seeeduino Grove Cable  Grove (BMI088)  GND  Black  GND  5V or 3.3V  Red  VCC  SDA  White  SDA  SCL  Yellow  SCL  Software Attention If this is the first time you work with Arduino, we strongly recommend you to see Getting Started with Arduinobefore the start.      Step 1. Download the Seeed_BMI088 Library from Github.  Step 2. Refer to How to install library to install library for Arduino.  Step 3. Restart the Arduino IDE. Open the example, you can open it in the following three ways： a. Open it directly in the Arduino IDE via the path: File → Examples → Grove 6Axis Accelerometer&Gyroscope → BM1088_Example. b. Open it in your computer by click the BM1088_Example.ino which you can find in the folder XXXX\Arduino\libraries\Grove_6Axis_Accelerometer_And_Gyrosco pe_BMI088-master\examples\BMI088_Example, XXXX is the location you installed the Arduino IDE. c. Or, you can just click the icon in upper right corner of the code block to copy the following code into a new sketch in the Arduino IDE. 1#include "BMI088.h" 2 3float ax = 0, ay = 0, az = 0; 4float gx = 0, gy = 0, gz = 0; 5int16_t temp = 0; 6 7void setup(void) 8{ 9 Wire.begin(); 10 Serial.begin(115200);     11 12 while(!Serial); 13 Serial.println("BMI088 Raw Data"); 14 15 while(1) 16 { if(bmi088.isConnection()) 17 { 18 bmi088.initialize(); 19 Serial.println("BMI088 is connected"); 20 break; 21 } 22 else Serial.println("BMI088 is not connected"); 23 24 delay(2000); 25 26 } 27} 28 29void loop(void) 30{ 31 bmi088.getAcceleration(&ax, &ay, &az); 32 bmi088.getGyroscope(&gx, &gy, &gz); 33 temp = bmi088.getTemperature(); 34 35 Serial.print(ax); 36 Serial.print(","); 37 Serial.print(ay); 38 Serial.print(","); 39 Serial.print(az); 40 Serial.print(","); 41 42 Serial.print(gx); 43 Serial.print(","); 44 Serial.print(gy); 45 Serial.print(","); 46 Serial.print(gz); 47 Serial.print(","); 48 49 Serial.print(temp); 50 51 Serial.println(); 52 53 delay(50); 54} Attention The library file may be updated. This code may not be applicable to the updated library file, so we recommend that you use the first two methods.    Step 4. Upload the demo. If you do not know how to upload the code, please check How to upload code.    Step 5. Open the Serial Monitor of Arduino IDE by click Tool-> Serial Monitor. Or tap the Ctrl + Shift + M key at the same time. Set the baud rate to 115200. Success If every thing goes well, when you open the Serial Monitor, it may show as below: 1BMI088 Raw Data 2BMI088 is connected 3394.41,-383.06,818.66,1.71,-4.88,-2.93,27 4390.20,-385.25,830.38,5.49,0.24,1.83,27 5388.37,-380.31,826.54,0.73,2.93,7.57,27 6395.51,-384.16,823.79,-0.85,-5.74,5.98,27 7385.80,-386.72,824.52,3.78,-5.00,1.59,27 8395.51,-384.52,824.71,1.46,3.17,10.86,27 Tech Support Please do not hesitate to submit the issue into our forum                                                                       http://wiki.seeedstudio.com/Grove‐6‐Axis_Accelerometer%26Gyroscope%28BMI088%29/ 11‐5‐18