BMG160 3-axis angular rate sensor and Arduino example

// Distributed with a free-will license.
// Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
// BMG160
// This code is designed to work with the BMG160_I2CS I2C Mini Module available from ControlEverything.com.
// https://www.controleverything.com/content/Gyro?sku=BMG160_I2CS#tabs-0-product_tabset-2
 
#include<Wire.h>
 
// BMG160 I2C address is 0x68(104)
#define Addr 0x69 //my module was 0x69, some are 0x68
 
void setup() 
{
  // Initialise I2C communication as MASTER 
  Wire.begin();
  // Initialise Serial Communication, set baud rate = 9600
  Serial.begin(9600);
 
  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Range register
  Wire.write(0x0F);
  // Configure full scale range 2000 dps
  Wire.write(0x80);
  // Stop I2C Transmission
  Wire.endTransmission();
 
  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Bandwidth register
  Wire.write(0x10);
  // Set bandwidth = 200 Hz
  Wire.write(0x04);
  // Stop I2C Transmission
  Wire.endTransmission();
  delay(300);
}
 
void loop()
{
  unsigned int data[6];
  // Start I2C Transmission
  Wire.beginTransmission(Addr);
  // Select Gyrometer data register
  Wire.write(0x02);
  // Stop I2C Transmission
  Wire.endTransmission();
 
  // Request 6 bytes of data
  Wire.requestFrom(Addr, 6);
  // Read 6 bytes of data
  // xGyro lsb, xGyro msb, yGyro lsb, yGyro msb, zGyro lsb, zGyro msb
  if(Wire.available() == 6)
  {
    data[0] = Wire.read();
    data[1] = Wire.read();
    data[2] = Wire.read();
    data[3] = Wire.read();
    data[4] = Wire.read();
    data[5] = Wire.read();
  }
  delay(300);
 
  // Convert the data
  int xGyro = ((data[1] * 256) + data[0]);
  int yGyro = ((data[3] * 256) + data[2]);
  int zGyro = ((data[5] * 256) + data[4]);
 
  // Output data to the serial monitor
  Serial.print("X-Axis of Rotation:  ");
  Serial.println(xGyro);
  Serial.print("Y-Axis of Rotation:  ");
  Serial.println(yGyro);
  Serial.print("Z-Axis of Rotation:  ");
  Serial.println(zGyro);
  delay(500);
}