The Bosch Sensortec BMI160 Inertial Measurement Unit attaches to the Jetson board via the 40 pin GPIO Expansion Header. The IMU sample app is configured to look for the BMI160 on I2C bus 1. Here are instructions on how to wire the IMU to I2C bus 1.
The BMI160 IMU is an exposed PCB. When handling this device, avoid contact that could lead to electrostatic discharge (ESD), which may damage the device.
From the BMI160 to the Jetson Nano 40 pin connector attach VIN to GPIO 1, GND to GPIO 6, SCL to GPIO 5, and SDA to GPIO 3.
| BMI160 | GPIO |
|---|---|
| VIN | 1 |
| GND | 6 |
| SCL | 5 |
| SDA | 3 |
It is a little hard to see the wiring in these photos since the Nano is attached to a robot, so multiple photos are included.
Wiring:
Green wire: VIN => GPIO 1
Red wire: SDA => GPIO 3
Orange wire: SCL => GPIO 5
Yellow wire: GND => GPIO 6
From the BMI160 to the Jetson Xavier 40 pin connector attach VIN to GPIO 17, GND to GPIO 25, SCL to GPIO 28, and SDA to GPIO 27.
| BMI160 | GPIO |
|---|---|
| VIN | 17 |
| GND | 25 |
| SCL | 28 |
| SDA | 27 |
Wiring:
Green wire: VIN => GPIO 17
Yellow wire: GND => GPIO 25
Red wire: SDA => GPIO 27
Orange wire: SCL => GPIO 28
On the Jetson, /dev/i2c-* is owned by the user root, and are in the
group i2c. The sample app will need to run as either root, or by a
user in the i2c group.
To add the current user to the i2c group, use the following command:
sudo usermod -a -G i2c $USER