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+.. zephyr:code-sample:: bmg160
+   :name: BMG160 3-axis gyroscope
+   :relevant-api: sensor_interface
+
+   Get temperature, and angular velocity data from a BMG160 sensor.
+
+Overview
+********
+
+This sample shows how to use the Zephyr :ref:`sensor` API driver for the
+`Bosch BMG160`_ environmental sensor.
+
+.. _Bosch BMG160:
+   https://web.archive.org/web/20181111220522/https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMG160-DS000-09.pdf
+
+The sample first runs in polling mode for 15 seconds, then in trigger mode, display the temperature and angular velocity data from the BMG160 sensor.
+
+Building and Running
+********************
+
+The sample can be configured to support BMG160 sensors connected via I2C. Configuration is done via :ref:`devicetree <dt-guide>`. The devicetree
+must have an enabled node with ``compatible = "bosch,bmg160";``. See
+:dtcompatible:`bosch,bmg160` for the devicetree binding and see below for
+examples and common configurations.
+
+If the sensor is not built into your board, start by wiring the sensor pins
+according to the connection diagram given in the `BMG160 datasheet`_ at
+page 78.
+
+.. _BMG160 datasheet:
+   https://www.mouser.com/datasheet/2/783/BST-BMG160-DS000-1509613.pdf
+
+Sample Output
+=============
+
+The sample prints output to the serial console. BMG160 device driver messages
+are also logged. Refer to your board's documentation for information on
+connecting to its serial console.
+
+Here is example output for the default application settings, assuming that only
+one BMG160 sensor is connected to the standard Arduino I2C pins:
+
+.. code-block:: none
+
+   *** Booting Zephyr OS v3.7.0 ***
+   Testing the polling mode.
+   Gyro (rad/s): X=3.6, Y=14.0, Z=0.0f,
+   Temperature (Celsius): 29.4
+   Gyro (rad/s): X=5.1, Y=-9.0, Z=0.0f,
+   Temperature (Celsius): 29.5
+   ...
+   Polling mode test finished.
+   Testing the trigger mode.
+   Gyro: Testing anymotion trigger.
+   Gyro: rotate the device and wait for events.
+   Gyro (rad/s): X=13.6, Y=14.0, Z=10.0f,
+   Gyro: Anymotion trigger test finished.
+   Gyro: Testing data ready trigger.
+   Gyro (rad/s): X=3.6, Y=5.4, Z=1.1f,
+   Gyro: Data ready trigger test finished.
+   Trigger mode test finished