Gravity: 9DOF IMU Sensor for Motion, Heading & Orientation (I2C / UART, Plug & Play)

The Gravity BMI323+BMM350 9DOF IMU Sensor combines a Bosch BMI323 3-axis accelerometer and 3-axis gyroscope with a Bosch BMM350 3-axis magnetometer. It provides acceleration, angular velocity and magnetic field data for heading-aware motion evaluation, electronic compass projects, robot direction feedback and wearable orientation applications. Gravity wiring, I2C/UART communication, 3.3–5 V operation, selectable addresses and one integrated DFRobot library reduce multi-sensor bring-up work. It suitable for fast Arduino, ESP32 and Raspberry Pi prototyping.

Choose this Gravity version when the goal is to connect quickly, view data before writing application code and use one integrated DFRobot library. For compact, low-power product integration and direct access to the original BMI323 interface, choose the Fermion 9DOF version instead.

High-Rate 6-Axis Motion Sensing up to 6400 Hz

BMI323 supplies 16-bit 3-axis acceleration and 3-axis angular velocity data. Its accelerometer supports ±2 g to ±16 g, the gyroscope supports ±125 °/s to ±2000 °/s, and both can reach 6400 Hz in Normal or High Performance mode for fast movement, rotation and vibration capture.

BMM350 Adds Wide-Range Magnetic Heading Data

The BMM350 3-axis magnetometer adds the magnetic reference missing from a 6DOF IMU. It measures up to ±2000 μT with approximately 0.1 μT resolution, supports output rates from 1.5625 Hz to 400 Hz, and specifies 190 nTrms X/Y-axis output noise and 450 nTrms Z-axis output noise.

Hardware Motion Events Plus Magnetic Data

BMI323 hardware supports step, tap, tilt, free-fall and activity events, while BMM350 provides magnetic field data for heading-aware algorithms. Three programmable interrupt pins let sensor conditions trigger the host, allowing projects to combine event-driven motion detection with electronic-compass or orientation processing.

Gravity Integration Makes BMI323 and BMM350 Easier to Use

The onboard MCU exposes BMI323 and BMM350 through one integrated DFRobot library, I2C/UART and four selectable module addresses (0x4A–0x4D). The PH2.0-4P connector, 3.3–5 V operation and Gravity GUI reduce two-sensor wiring, communication setup and initial data verification.