{"id":20183,"date":"2020-12-08T11:15:08","date_gmt":"2020-12-08T07:45:08","guid":{"rendered":"https:\/\/thecaferobot.com\/learn\/?p=20183"},"modified":"2024-03-28T10:35:49","modified_gmt":"2024-03-28T06:05:49","slug":"interfacing-gy-91-9-axis-mpu9250-bmp280-module-with-arduino","status":"publish","type":"post","link":"https:\/\/thecaferobot.com\/learn\/interfacing-gy-91-9-axis-mpu9250-bmp280-module-with-arduino\/","title":{"rendered":"\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 GY-91 (\u0634\u062a\u0627\u0628 \u0633\u0646\u062c 9 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0648 BMP280) \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"20183\" class=\"elementor elementor-20183\">\n\t\t\t\t\t\t<div class=\"elementor-inner\">\n\t\t\t\t<div class=\"elementor-section-wrap\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-ae4b6d6 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"ae4b6d6\" data-element_type=\"section\">\r\n\t\t\t\r\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\r\n\t\t\t\t\t\t\t\t<div class=\"elementor-row\">\r\n\t\t\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-cfda85f\" data-id=\"cfda85f\" data-element_type=\"column\">\r\n\r\n\t\t\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\r\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\r\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5eb1ae44 elementor-widget elementor-widget-heading\" data-id=\"5eb1ae44\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u0648\u06cc\u0698\u06af\u06cc \u0647\u0627\u06cc \u0645\u0627\u0698\u0648\u0644 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 BMP280 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c 9 \u0645\u062d\u0648\u0631\u0647 MPU9250<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1ee91c7 elementor-widget elementor-widget-text-editor\" data-id=\"1ee91c7\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 IMU \u06cc\u06a9 \u0628\u0631\u062f \u06a9\u0648\u0686\u06a9 \u0627\u0633\u062a \u06a9\u0647 \u062a\u0645\u0627\u0645\u06cc \u0633\u0646\u0633\u0648\u0631 \u0647\u0627\u06cc \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0628\u0631\u0627\u06cc 10 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0631\u0648\u06cc \u0622\u0646 \u0642\u0631\u0627\u0631 \u06af\u0631\u0641\u062a\u0647 \u0627\u0633\u062a. \u0627\u0631\u062a\u0628\u0627\u0637 \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u06cc\u0627 \u0645\u06cc\u06a9\u0631\u0648 \u06a9\u0646\u062a\u0631\u0644 \u0647\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0631\u0627\u0628\u0637 I2C \u0628\u0631\u0642\u0631\u0627\u0631 \u0645\u06cc \u0634\u0648\u062f\u060c \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062a\u0648\u0627\u0628\u0639 \u0648 \u0633\u0648\u0631\u0633 \u06a9\u062f \u0647\u0627\u06cc \u0645\u0648\u062c\u0648\u062f FreeIMU \u0628\u0647 \u0631\u0627\u062d\u062a\u06cc \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0632 \u0627\u06cc\u0646 IMU \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 AHRS \u062f\u0631 \u0633\u0627\u0645\u0627\u0646\u0647 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0631\u0648\u0627\u0632 \u0631\u0628\u0627\u062a \u0647\u0627\u06cc \u067e\u0631\u0646\u062f\u0647 \u060c \u0639\u0645\u0648\u062f \u067e\u0631\u0648\u0627\u0632 \u060c \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u0647\u0627 \u0648 \u0647\u0644\u06cc\u06a9\u0648\u067e\u062a\u0631 \u0647\u0627\u06cc \u0645\u062f\u0644 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0646\u0645\u0627\u06cc\u06cc\u062f \u0648 \u06cc\u0627 \u0628\u0627 \u06a9\u0645\u06cc \u062a\u063a\u06cc\u06cc\u0631 \u0622\u0646 \u0631\u0627 \u062f\u0631 \u0633\u0627\u062e\u062a \u062f\u0633\u062a\u06af\u0627\u0647 \u0647\u0627\u06cc \u0635\u0646\u0639\u062a\u06cc \u060c \u067e\u0632\u0634\u06a9\u06cc \u0648 &#8230; \u0628\u0647 \u06a9\u0627\u0631\u06af\u06cc\u0631\u06cc \u0646\u0645\u0627\u06cc\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-118ac00f elementor-widget elementor-widget-image\" data-id=\"118ac00f\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-1.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY91-IMU-1.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjAxODYsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMFwvMTFcL0dZOTEtSU1VLTEuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"600\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-1.jpg\" class=\"attachment-large size-large\" alt=\"\u0645\u0627\u0698\u0648\u0644 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 BMP280 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c MPU9250\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4860c1bc elementor-widget elementor-widget-heading\" data-id=\"4860c1bc\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u0645\u0639\u0631\u0641\u06cc \u067e\u0627\u06cc\u0647 \u0647\u0627 (Pinout) \u0645\u0627\u0698\u0648\u0644 GY-91 <\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4b33eabe elementor-widget elementor-widget-text-editor\" data-id=\"4b33eabe\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u0645\u0627\u0698\u0648\u0644 9-AXIS-IMU \u062f\u0627\u0631\u0627\u06cc 8 \u067e\u0627\u06cc\u0647 \u0627\u0633\u062a. \u06a9\u0627\u0631\u0628\u0631\u062f \u067e\u0627\u06cc\u0647 \u0647\u0627\u06cc \u067e\u0631\u06a9\u0627\u0631\u0628\u0631\u062f \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0628\u0647 \u0634\u0631\u062d \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p><ul><li><strong>VIN<\/strong><strong>:<\/strong> \u062a\u063a\u0630\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644 \u2013 5 \u0648\u0644\u062a<\/li><li><strong>GND<\/strong><strong>:<\/strong> \u0632\u0645\u06cc\u0646<\/li><li><strong>3V3<\/strong><strong>:<\/strong> \u062a\u063a\u0630\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644 \u2013 3 \u0648\u0644\u062a<\/li><li><strong>SLC<\/strong>: \u067e\u0627\u06cc\u0647 \u06a9\u0644\u0627\u06a9 \u067e\u0631\u0648\u062a\u06a9\u0644 I2C \/ \u067e\u0627\u06cc\u0647 \u06a9\u0644\u0627\u06a9 \u067e\u0631\u0648\u062a\u06a9\u0644 SPI<\/li><li><strong>SDA<\/strong>: \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062a\u0627 \u067e\u0631\u0648\u062a\u06a9\u0644 I2C \/ \u067e\u0627\u06cc\u0647 MOSI \u067e\u0631\u0648\u062a\u06a9\u0644 SPI<\/li><li><strong>SAO\/SDO<\/strong>: \u067e\u0627\u06cc\u0647 \u062a\u0646\u0638\u06cc\u0645\u0627\u062a \u0622\u062f\u0631\u0633 \u062f\u0631 \u067e\u0631\u0648\u062a\u06a9\u0644 I2C \/ \u067e\u0627\u06cc\u0647 MISO \u067e\u0631\u0648\u062a\u06a9\u0644 SPI<\/li><li><strong>NCS<\/strong>: \u067e\u0627\u06cc\u0647 Chip Select \u062a\u0646\u0647\u0627 \u0628\u0631\u0627\u06cc \u0633\u0646\u0633\u0648\u0631 MPU-9250<\/li><li><strong>CSB<\/strong>: \u067e\u0627\u06cc\u0647 Chip Select \u062a\u0646\u0647\u0627 \u0628\u0631\u0627\u06cc \u0633\u0646\u0633\u0648\u0631 BMP280<\/li><\/ul><p>\u067e\u06cc\u0646 \u0627\u0648\u062a (Pinout) \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u062f\u0631 \u062a\u0635\u0648\u06cc\u0631 \u0632\u06cc\u0631 \u0645\u0634\u0627\u0647\u062f\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-64f068b8 elementor-widget elementor-widget-image\" data-id=\"64f068b8\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-Pin.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY91-IMU-Pin.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjAxODcsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMFwvMTFcL0dZOTEtSU1VLVBpbi5qcGcifQ%3D%3D\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-Pin.jpg\" class=\"attachment-large size-large\" alt=\"\u067e\u06cc\u0646 \u0627\u0648\u062a Pinout \u0645\u0627\u0698\u0648\u0644 BMP280 \u0648 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c MPU9250\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6455d93d elementor-widget elementor-widget-text-editor\" data-id=\"6455d93d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u062c\u0647\u062a \u062f\u0631\u06cc\u0627\u0641\u062a \u062f\u06cc\u062a\u0627\u0634\u06cc\u062a \u0645\u0627\u0698\u0648\u0644 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 BMP280 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c 9 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0627\u06cc\u0646\u062c\u0627 \u06a9\u0644\u06cc\u06a9 \u06a9\u0646\u06cc\u062f.<\/p><p><div class='w3eden'><!-- WPDM Link Template: Default Template -->\n\n<div class=\"link-template-default card mb-2\">\n    <div class=\"card-body\">\n        <div class=\"media\">\n            <div class=\"mr-3 img-48\"><img class=\"wpdm_icon\" alt=\"Icon\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/plugins\/download-manager\/assets\/file-type-icons\/pdf.svg\" \/><\/div>\n            <div class=\"media-body\">\n                <h3 class=\"package-title\"><a href='https:\/\/thecaferobot.com\/learn\/download\/mpu-datasheet\/'>MPU Datasheet<\/a><\/h3>\n                <div class=\"text-muted text-small\"><i class=\"fas fa-copy\"><\/i> 1 file(s) <i class=\"fas fa-hdd ml-3\"><\/i> 939.94 KB<\/div>\n            <\/div>\n            <div class=\"ml-3\">\n                <a class='wpdm-download-link download-on-click btn btn-primary ' rel='nofollow' href='#' data-downloadurl=\"https:\/\/thecaferobot.com\/learn\/download\/mpu-datasheet\/?wpdmdl=20195&#038;refresh=6a05ab69958d81778756457\">Download<\/a>\n            <\/div>\n        <\/div>\n    <\/div>\n<\/div>\n\n<\/div><\/p><p><div class='w3eden'><!-- WPDM Link Template: Default Template -->\n\n<div class=\"link-template-default card mb-2\">\n    <div class=\"card-body\">\n        <div class=\"media\">\n            <div class=\"mr-3 img-48\"><img class=\"wpdm_icon\" alt=\"Icon\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/plugins\/download-manager\/assets\/file-type-icons\/pdf.svg\" \/><\/div>\n            <div class=\"media-body\">\n                <h3 class=\"package-title\"><a href='https:\/\/thecaferobot.com\/learn\/download\/bmp280-datasheet\/'>BMP280 Datasheet<\/a><\/h3>\n                <div class=\"text-muted text-small\"><i class=\"fas fa-copy\"><\/i> 1 file(s) <i class=\"fas fa-hdd ml-3\"><\/i> 1.42 MB<\/div>\n            <\/div>\n            <div class=\"ml-3\">\n                <a class='wpdm-download-link download-on-click btn btn-primary ' rel='nofollow' href='#' data-downloadurl=\"https:\/\/thecaferobot.com\/learn\/download\/bmp280-datasheet\/?wpdmdl=20196&#038;refresh=6a05ab69d82f51778756457\">Download<\/a>\n            <\/div>\n        <\/div>\n    <\/div>\n<\/div>\n\n<\/div><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-694a9915 elementor-widget elementor-widget-heading\" data-id=\"694a9915\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u0644\u0648\u0627\u0632\u0645\u06cc \u06a9\u0647 \u0628\u0647 \u0622\u0646 \u0627\u062d\u062a\u06cc\u0627\u062c \u062f\u0627\u0631\u06cc\u062f<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-329c72b5 elementor-widget elementor-widget-image\" data-id=\"329c72b5\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-Required-Materials.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY91-IMU-Required-Materials.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjAxODgsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMFwvMTFcL0dZOTEtSU1VLVJlcXVpcmVkLU1hdGVyaWFscy5qcGcifQ%3D%3D\">\n\t\t\t\t\t\t\t<img width=\"600\" height=\"500\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-Required-Materials.jpg\" class=\"attachment-large size-large\" alt=\"\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-151c67d7 elementor-widget elementor-widget-heading\" data-id=\"151c67d7\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h3 class=\"elementor-heading-title elementor-size-default\">\u0642\u0637\u0639\u0627\u062a \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 <\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-40afdfa5 elementor-widget elementor-widget-html\" data-id=\"40afdfa5\" data-element_type=\"widget\" data-widget_type=\"html.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"table-2\">\r\n<table width=\"100%\" class=\"zebra\">\r\n<tbody>\r\n\r\n<tr>\r\n\t<td width=\"70%\">\u0622\u0631\u062f\u0648\u06cc\u0646\u0648 Uno R3\r\n<\/td>\r\n\t<td class=\"center\" width=\"10%\">\u00d7<\/td>\r\n    <td class=\"center\" width=\"10%\">1<\/td>\r\n\t<td class=\"center\" width=\"10%\"><a href=\"http:\/\/thecaferobot.com\/store\/arduino-uno-r3\" target=\"_blank\"><i class=\"fa fa-shopping-cart\" style=\"\"><\/i><\/a><\/td>\r\n<\/tr>\r\n<tr>\r\n\t<td width=\"70%\">\u0645\u0627\u0698\u0648\u0644 \u0641\u0634\u0627\u0631 BMP280 \u0648 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c MPU9250 \r\n<\/td>\r\n\t<td class=\"center\" width=\"10%\">\u00d7<\/td>\r\n    <td class=\"center\" width=\"10%\">1<\/td>\r\n\t<td class=\"center\" width=\"10%\"><a href=\"https:\/\/thecaferobot.com\/store\/gy-91-mpu9250-bmp280-10dof-acceleration-gyroscope-compass-nine-axis-sensor-module\" target=\"_blank\"><i class=\"fa fa-shopping-cart\" style=\"\"><\/i><\/a><\/td>\r\n<\/tr>\r\n<tr>\r\n\t<td width=\"70%\">\u0633\u06cc\u0645 \u062c\u0627\u0645\u067e\u0631 \r\n<\/td>\r\n\t<td class=\"center\" width=\"10%\">\u00d7<\/td>\r\n    <td class=\"center\" width=\"10%\">1<\/td>\r\n\t<td class=\"center\" width=\"10%\"><a href=\"https:\/\/thecaferobot.com\/store\/female-male-40p-21cm\" target=\"_blank\"><i class=\"fa fa-shopping-cart\" style=\"\"><\/i><\/a><\/td>\r\n<\/tr>\r\n<\/tbody>\r\n<\/table>\r\n<\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1884b904 elementor-widget elementor-widget-heading\" data-id=\"1884b904\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h3 class=\"elementor-heading-title elementor-size-default\">\u0646\u0631\u0645 \u0627\u0641\u0632\u0627\u0631\u0647\u0627\u06cc \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1bf14c59 elementor-widget elementor-widget-html\" data-id=\"1bf14c59\" data-element_type=\"widget\" data-widget_type=\"html.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"table-2\">\r\n<table width=\"100%\" class=\"zebra\">\r\n<tbody>\r\n\r\n<tr>\r\n\t<td width=\"90%\">\u0622\u0631\u062f\u0648\u06cc\u0646\u0648 IDE<\/td>\r\n\t<td class=\"center\" width=\"10%\"><a href=\"https:\/\/www.arduino.cc\/en\/Main\/Software\" target=\"_blank\"><i class=\"fa fa-info\" style=\"\"><\/i><\/a><\/td>\r\n<\/tr>\r\n\r\n\r\n<\/tbody>\r\n<\/table>\r\n<\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4608d8da elementor-widget elementor-widget-heading\" data-id=\"4608d8da\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 GY-91 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-133cf9ee elementor-widget elementor-widget-heading\" data-id=\"133cf9ee\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h3 class=\"elementor-heading-title elementor-size-default\">\u06af\u0627\u0645 \u0627\u0648\u0644: \u0633\u06cc\u0645 \u0628\u0646\u062f\u06cc<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f852f0c elementor-widget elementor-widget-text-editor\" data-id=\"f852f0c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u0645\u0637\u0627\u0628\u0642 \u0645\u062f\u0627\u0631 \u0632\u06cc\u0631\u060c \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5e194e47 elementor-widget elementor-widget-image\" data-id=\"5e194e47\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-wire.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY91-IMU-wire.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjAxODksInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMFwvMTFcL0dZOTEtSU1VLXdpcmUuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-wire.jpg\" class=\"attachment-large size-large\" alt=\"\u0633\u06cc\u0645 \u0628\u0646\u062f\u06cc \u0645\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644 \u0645\u0627\u0698\u0648\u0644 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 BMP280 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u0634\u062a\u0627\u0628 \u0633\u0646\u062c MPU9250 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5bd90b08 elementor-widget elementor-widget-heading\" data-id=\"5bd90b08\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h3 class=\"elementor-heading-title elementor-size-default\">\u06af\u0627\u0645 \u062f\u0648\u0645: \u06a9\u062f<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-32258ded elementor-widget elementor-widget-text-editor\" data-id=\"32258ded\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u0627\u0628\u062a\u062f\u0627 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0632\u06cc\u0631 \u0631\u0627\u00a0 \u0628\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\u06cc \u062e\u0648\u062f \u0646\u0635\u0628 \u06a9\u0646\u06cc\u062f.\u00a0<\/p><p><a href=\"https:\/\/github.com\/adafruit\/Adafruit_BMP280_Library\">https:\/\/github.com\/adafruit\/Adafruit_BMP280_Library<\/a><\/p><p><a href=\"https:\/\/github.com\/asukiaaa\/MPU9250_asukiaaa\">https:\/\/github.com\/asukiaaa\/MPU9250_asukiaaa<\/a><\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-726a9c72 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"726a9c72\" data-element_type=\"section\">\r\n\t\t\t\r\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\r\n\t\t\t\t\t\t\t\t<div class=\"elementor-row\">\r\n\t\t\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-inner-column elementor-element elementor-element-638472d0\" data-id=\"638472d0\" data-element_type=\"column\" data-settings=\"{&quot;background_background&quot;:&quot;gradient&quot;}\">\r\n\r\n\t\t\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\r\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\r\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5337e6d5 elementor-view-stacked elementor-widget__width-auto elementor-absolute elementor-shape-circle elementor-widget elementor-widget-icon\" data-id=\"5337e6d5\" data-element_type=\"widget\" data-settings=\"{&quot;_position&quot;:&quot;absolute&quot;}\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<i aria-hidden=\"true\" class=\"far fa-lightbulb\"><\/i>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7a8bace8 elementor-widget elementor-widget-heading\" data-id=\"7a8bace8\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h5 class=\"elementor-heading-title elementor-size-default\">\u062a\u0648\u062c\u0647<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-612802ca elementor-widget elementor-widget-text-editor\" data-id=\"612802ca\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u0627\u06af\u0631 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u0631\u0627\u0647\u0646\u0645\u0627\u06cc\u06cc \u0628\u06cc\u0634\u062a\u0631 \u0628\u0631\u0627\u06cc \u0646\u0635\u0628 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0628\u0631 \u0631\u0648\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062f\u0627\u0631\u06cc\u062f\u060c \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u0628\u0647 <a href=\"https:\/\/thecaferobot.com\/learn\/how-to-install-an-arduino-library\/\">\u0622\u0645\u0648\u0632\u0634 \u0646\u0635\u0628 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0628\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/a> \u0645\u0631\u0627\u062c\u0639\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t<\/div>\r\n\t\t\t\t<\/div>\r\n\t\t\t\t\t\t<\/div>\r\n\t\t\t\t\t<\/div>\r\n\t\t\t\t<\/section>\r\n\t\t\t\t<div class=\"elementor-element elementor-element-350c4256 elementor-widget elementor-widget-text-editor\" data-id=\"350c4256\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u06a9\u062f \u0632\u06cc\u0631 \u0631\u0627 \u0631\u0648\u06cc \u0628\u0631\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\u06cc \u062e\u0648\u062f\u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-192a2204 elementor-widget elementor-widget-html\" data-id=\"192a2204\" data-element_type=\"widget\" data-widget_type=\"html.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<pre class=\"line-numbers lang-arduino\"><code>    \/*\r\n  by MohammedDamirchi\r\n  https:\/\/electropeak.com\/learn\/\r\n*\/\r\n#include &lt;MPU9250_asukiaaa.h&gt;\r\n#include &lt;Adafruit_BMP280.h&gt;\r\n\r\n#ifdef _ESP32_HAL_I2C_H_\r\n#define SDA_PIN 21\r\n#define SCL_PIN 22\r\n#endif\r\n\r\nAdafruit_BMP280 bme; \/\/ I2C\r\nMPU9250_asukiaaa mySensor;\r\nfloat aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ;\r\n\r\nvoid setup() {\r\n  Serial.begin(115200);\r\n  while (!Serial);\r\n\r\n#ifdef _ESP32_HAL_I2C_H_ \/\/ For ESP32\r\n  Wire.begin(SDA_PIN, SCL_PIN);\r\n  mySensor.setWire(&Wire);\r\n#else\r\n  Wire.begin();\r\n  mySensor.setWire(&Wire);\r\n#endif\r\n\r\n  bme.begin(0x76);\r\n  mySensor.beginAccel();\r\n  mySensor.beginGyro();\r\n  mySensor.beginMag();\r\n\r\n  \/\/ You can set your own offset for mag values\r\n  \/\/ mySensor.magXOffset = -50;\r\n  \/\/ mySensor.magYOffset = -55;\r\n  \/\/ mySensor.magZOffset = -10;\r\n}\r\n\r\nvoid loop() {\r\n\r\n  if (mySensor.accelUpdate() == 0) {\r\n    aX = mySensor.accelX();\r\n    aY = mySensor.accelY();\r\n    aZ = mySensor.accelZ();\r\n    aSqrt = mySensor.accelSqrt();\r\n    Serial.print(&quot;accelX: &quot; + String(aX));\r\n    Serial.print(&quot;\\taccelY: &quot; + String(aY));\r\n    Serial.print(&quot;\\taccelZ: &quot; + String(aZ));\r\n    Serial.print(&quot;\\taccelSqrt: &quot; + String(aSqrt));\r\n  }\r\n\r\n  if (mySensor.gyroUpdate() == 0) {\r\n    gX = mySensor.gyroX();\r\n    gY = mySensor.gyroY();\r\n    gZ = mySensor.gyroZ();\r\n    Serial.print(&quot;\\tgyroX: &quot; + String(gX));\r\n    Serial.print(&quot;\\tgyroY: &quot; + String(gY));\r\n    Serial.print(&quot;\\tgyroZ: &quot; + String(gZ));\r\n  }\r\n\r\n  if (mySensor.magUpdate() == 0) {\r\n    mX = mySensor.magX();\r\n    mY = mySensor.magY();\r\n    mZ = mySensor.magZ();\r\n    mDirection = mySensor.magHorizDirection();\r\n    Serial.print(&quot;\\tmagX: &quot; + String(mX));\r\n    Serial.print(&quot;\\tmaxY: &quot; + String(mY));\r\n    Serial.print(&quot;\\tmagZ: &quot; + String(mZ));\r\n    Serial.print(&quot;\\thorizontalDirection: &quot; + String(mDirection));\r\n  }\r\n\r\n  Serial.print(&quot;\\tTemperature(*C): &quot;);\r\n  Serial.print(bme.readTemperature());\r\n\r\n  Serial.print(&quot;\\tPressure(Inches(Hg)): &quot;);\r\n  Serial.print(bme.readPressure()\/3377);\r\n\r\n\r\n  Serial.print(&quot;\\tApproxAltitude(m): &quot;);\r\n  Serial.print(bme.readAltitude(1013.25)); \/\/ this should be adjusted to your local forcase\r\n\r\n  Serial.println(&quot;&quot;); \/\/ Add an empty line\r\n  }\r\n<\/code><\/pre>\r\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4424407d elementor-widget elementor-widget-text-editor\" data-id=\"4424407d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<p>\u067e\u0633 \u0627\u0632 \u0622\u067e\u0644\u0648\u062f \u06a9\u062f \u0628\u0627 \u062d\u0631\u06a9\u062a \u062f\u0627\u062f\u0646 \u0645\u0627\u0698\u0648\u0644 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u062e\u0631\u0648\u062c\u06cc \u0631\u0627 \u062f\u0631 \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0645\u0634\u0627\u0647\u062f\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-69982ae7 elementor-widget elementor-widget-image\" data-id=\"69982ae7\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-image\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/GY91-IMU-CJMCU-9-AXIS-IMU-serial.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY91-IMU-CJMCU-9-AXIS-IMU-serial.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjAxOTAsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMFwvMTFcL0dZOTEtSU1VLUNKTUNVLTktQVhJUy1JTVUtc2VyaWFsLmpwZyJ9\">\n\t\t\t\t\t\t\t<img 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[&hellip;]<\/p>\n","protected":false},"author":16,"featured_media":20184,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[932],"tags":[4645,4628,4646,4643,4629],"platform":[1071],"bytype":[1075],"difficulty":[1077],"related_products":[3905],"featured_image_src":{"landsacpe":["https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/sen-02-004-teaser.jpg",1200,900,false],"list":["https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/sen-02-004-teaser.jpg",1200,900,false],"medium":["https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/sen-02-004-teaser.jpg",533,400,false],"full":["https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2020\/11\/sen-02-004-teaser.jpg",1200,900,false]},"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v14.7 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 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