How to calculate the tilt angle using the data from BMI160?

[Gideon]

Dear All,

Great to know this community.

This is the first time to work with the Bosch sensor.

I'm trying to find out a way to get the tilted angle of BMI160.

If you have any source code or application notes for that, let me get it, please.

Thanks for your help in advance.

[agoransson · Accepted solution]

I think there are loads of examples for calculating the angle from accelerometer (gravity) values. Perhaps something like this will explain? http://www.hobbytronics.co.uk/accelerometer-info 

I haven't tried this code myself though.

To get the accelerometer values you can do something like this:

 u8 int_data[6] = {0, 0, 0, 0, 0, 0};
 s16 acc_x, acc_y, acc_z;
 bmi160_get_regs(0x12, &int_data, 6, dev);

 acc_x = ((int_data[1] << 8 | int_data[0]));
 acc_y = ((int_data[3] << 8 | int_data[2]));
 acc_z = ((int_data[5] << 8 | int_data[4]));

Read the 6 registers (0x12 - 0x17) and combine them into 16 bit signed integers to get the accelerometer values to use for your calculations.

[Gideon]

Appreciate for your help.