Gravity: 9DOF IMU Sensor for Motion, Heading & Orientation (I2C / UART, Plug & Play)
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Description
The Gravity 9DOF IMU Sensor combines a Bosch BMI323 6-axis inertial sensor with a Bosch BMM350 3-axis magnetometer to provide acceleration, angular rate, and magnetic heading data. Featuring plug-and-play Gravity wiring and switchable I2C and UART communication, it operates on 3.3 V to 5 V systems. It is ideal for students, educators, and robotics hobbyists building electronic compasses, mobile robot navigation, and wearable orientation tracking projects.
High-rate 6-axis inertial sensing
The onboard Bosch BMI323 supplies 16-bit 3-axis acceleration from ±2 g to ±16 g and angular velocity from ±125 °/s to ±2000 °/s. It supports output data rates up to 6400 Hz in Normal and High Performance modes to accurately capture fast movement, rapid rotations, and high-frequency vibrations.
Wide-range magnetic heading reference
The Bosch BMM350 3-axis magnetometer adds an absolute magnetic heading reference with a wide measurement range of ±2000 µT and approximately 0.1 µT resolution. It delivers low noise performance of 190 nTrms on the X/Y axes and 450 nTrms on the Z axis across output rates from 1.5625 Hz to 400 Hz.
Built-in hardware motion detection
Integrated hardware detection handles step counting, tap detection, tilt sensing, free-fall events, and activity recognition directly on the module. Three programmable interrupt pins allow these hardware triggers to alert the host microcontroller instantly without continuous polling.
Simple Gravity and multi-sensor integration
An onboard MCU manages both sensor ICs through one unified DFRobot library over I2C or UART. The module includes a standard PH2.0-4P Gravity connector, 3.3–5 V power compatibility, and four selectable I2C addresses (0x4A to 0x4D) to prevent bus address conflicts.
Versatile robotics and embedded applications
Measuring 32 mm × 27 mm with 20 mm mounting holes, the board is compatible with Arduino, ESP32, and Raspberry Pi platforms. It is suited for electronic compass prototypes, mobile robot direction feedback, handheld controllers, and wearable tracking devices.
Downloads & documentation
Specifications
| Operating Voltage | DC 3.3–5 V |
| Operating Current | 3.42 mA |
| Communication Interface | I²C / UART |
| Connector Type | PH2.0-4P (Gravity pinout) / 2.54 mm pin header holes |
| I²C Addresses | 0x4A (default) / 0x4B / 0x4C / 0x4D |
| Programmable Interrupt Pins | ×3 |
| Measurement Ranges | ±2 g, ±4 g, ±8 g, ±16 g |
| ADC Resolution | 16-bit |
| ±2 g range | 16384 LSB/g |
| ±4 g range | 8192 LSB/g |
| ±8 g range | 4096 LSB/g |
| ±16 g range | 2048 LSB/g |
| Sensitivity Error | ±0.5% |
| Zero-g Offset | ±50 mg |
| High Performance / Normal mode | 12.5 Hz ~ 6400 Hz |
| Low Power mode | 0.78125 Hz ~ 400 Hz |
| Angular Rate Ranges | ±125, ±250, ±500, ±1000, ±2000 °/s |
| ±2000 °/s range | 16.384 LSB/(°/s) |
| ±1000 °/s range | 32.768 LSB/(°/s) |
| ±500 °/s range | 65.536 LSB/(°/s) |
| ±250 °/s range | 131.072 LSB/(°/s) |
| Zero-Rate Offset | ±1 °/s |
| Operating Modes | Normal periodic measurement, triggered forced measurement, low-power sleep standby |
| Measurement Range | ±2000 µT |
| Magnetic Field Resolution | approx. 0.1 µT |
| Zero-Field Offset Drift | ±2 µT (-40 °C ~ +85 °C, after calibration) |
| X/Y-Axis Gain Error | ±1% (25 °C, after compensation) |
| Z-Axis Gain Error | ±3% (25 °C, after compensation) |
| Sensitivity Temperature Drift | ±0.010 %/K |
| Offset Temperature Error | ±200 nT/K |
| Normal Mode Output Data Rate | 400/200/100/50/25/12.5/6.25/3.125/1.5625 Hz, typical deviation ±2% |
| Forced Mode Maximum Trigger Frequency | 200 Hz |
| X/Y-Axis Output Noise | 190 nTrms |
| Z-Axis Output Noise | 450 nTrms |
| PCB Size | 32 mm × 27 mm |
| Mounting Hole Spacing | 20 mm |
| Mounting Hole Diameter | 3 mm |
In the box
| Gravity: High Precision 9 DOF IMU Sensor ×1 | 1 |
| Gravity 4P Sensor Cable ×1 | 1 |
| 2.54 mm Black Single Row Pin Header – 10-Pin ×1 | 1 |
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