Hi, Pg02 of the datasheet says that BMI160 integrates a 16bit digital accel and a 16bit digital gyro that: So, you have to read both registers (MSB and LSB) and combine them, something like this: lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 😎 | lsb);
accel->x = msblsb; /* Accel data in X axis */ Combining both registers you will get a 16bit number that represents LSBs. Then you just need to convert from LSB to m/s2 or degrees/s (depending by your sensor) following the datasheet Hope this heps Nick
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