{"id":22366,"date":"2021-02-17T15:37:57","date_gmt":"2021-02-17T12:07:57","guid":{"rendered":"https:\/\/thecaferobot.com\/learn\/?p=22366"},"modified":"2021-06-20T09:45:06","modified_gmt":"2021-06-20T05:15:06","slug":"interfacing-mpu9250-i2c-spi-9-axis-gyro-accelerator-magnetometer-module-with-arduino","status":"publish","type":"post","link":"https:\/\/thecaferobot.com\/learn\/interfacing-mpu9250-i2c-spi-9-axis-gyro-accelerator-magnetometer-module-with-arduino\/","title":{"rendered":"\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0628\u0627 \u0631\u0627\u0628\u0637 SPI\/I2C \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"22366\" class=\"elementor elementor-22366\">\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-27a188c elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"27a188c\" 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-ff86080\" data-id=\"ff86080\" 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-61b31d46 elementor-widget elementor-widget-heading\" data-id=\"61b31d46\" 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 IMU \u0646\u0647 \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-67b558c elementor-widget elementor-widget-text-editor\" data-id=\"67b558c\" 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 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0645\u06cc\u200c\u00ad\u062a\u0648\u0627\u0646\u062f \u0634\u062a\u0627\u0628\u060c \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0627\u0648\u06cc\u0647 \u0648 \u0645\u06cc\u062f\u0627\u0646 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc \u0631\u0627 \u062f\u0631 \u0633\u0647 \u0645\u062d\u0648\u0631 x\u060c y \u0648 z \u0628\u0627 \u0633\u0631\u0639\u062a \u0648 \u062f\u0642\u062a \u0628\u0627\u0644\u0627 \u062f\u0631 \u0627\u062e\u062a\u06cc\u0627\u0631 \u0628\u06af\u0630\u0627\u0631\u062f. \u0647\u0645\u0686\u0646\u06cc\u0646 \u0627\u06cc\u0646 \u0646\u0648\u0639 \u0645\u0627\u0698\u0648\u0644 \u06cc\u06a9 \u062d\u0633\u06af\u0631 \u062f\u0645\u0627 \u0646\u06cc\u0632 \u062f\u0627\u0631\u062f \u06a9\u0647 \u0645\u06cc\u200c\u00ad\u062a\u0648\u0627\u0646\u062f \u0645\u062d\u062f\u0648\u062f\u0647 \u062f\u0645\u0627\u06cc \u0628\u06cc\u0646 40- \u062a\u0627 85+ \u062f\u0631\u062c\u0647 \u0633\u0644\u06cc\u0633\u06cc\u0648\u0633 \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647\u00ad\u200c\u06af\u06cc\u0631\u06cc \u06a9\u0646\u062f. \u067e\u0631\u0648\u062a\u06a9\u0644 \u0627\u0631\u062a\u0628\u0627\u0637\u06cc \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0646\u06cc\u0632 I2C \u0645\u06cc\u200c\u00ad\u0628\u0627\u0634\u062f \u06a9\u0647 \u06a9\u0627\u0631 \u0628\u0627 \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u06a9\u0631\u062f\u0647 \u0627\u0633\u062a.<\/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-68d99a03 elementor-widget elementor-widget-image\" data-id=\"68d99a03\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-1.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-1.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNjksInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLTEuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"643\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-1.jpg\" class=\"attachment-large size-large\" alt=\"\u0645\u0627\u0698\u0648\u0644 AHRS \u0648 IMU \u0633\u0631\u06cc\u0627\u0644 I2C \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 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-2da66294 elementor-widget elementor-widget-heading\" data-id=\"2da66294\" 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 \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \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-d6aeb93 elementor-widget elementor-widget-text-editor\" data-id=\"d6aeb93\" 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 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u062f\u0627\u0631\u0627\u06cc 10 \u067e\u0627\u06cc\u0647 \u0628\u0647 \u0634\u0631\u062d \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p><ul><li><strong>VCC<\/strong><strong>:<\/strong> \u062a\u063a\u0630\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644 \u20135 \u0648\u0644\u062a<\/li><li><strong>GND<\/strong><strong>: <\/strong>\u0632\u0645\u06cc\u0646<\/li><li><strong>SCL<\/strong><strong>: <\/strong>\u067e\u0627\u06cc\u0647 \u06a9\u0644\u0627\u06a9 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 I2C<\/li><li><strong>SDA<\/strong><strong>: <\/strong>\u067e\u0627\u06cc\u0647 \u062f\u06cc\u062a\u0627 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 I2C<\/li><li><strong>EDA<\/strong><strong>: <\/strong>\u067e\u0627\u06cc\u0647 \u062f\u06cc\u062a\u0627 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 I2C \u0628\u0631\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u0627 \u062d\u0633\u06af\u0631 \u06cc\u0627 \u0645\u0627\u0698\u0648\u0644\u00ad\u200c\u0647\u0627\u06cc \u062f\u06cc\u06af\u0631 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 Master<\/li><li><strong>ECL<\/strong><strong>:<\/strong>\u00a0\u067e\u0627\u06cc\u0647 \u06a9\u0644\u0627\u06a9 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 I2C \u0628\u0631\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u0627 \u062d\u0633\u06af\u0631 \u06cc\u0627 \u0645\u0627\u0698\u0648\u0644\u00ad\u200c\u0647\u0627\u06cc \u062f\u06cc\u06af\u0631 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 Master<\/li><li><strong>AD0<\/strong><strong>:<\/strong> \u067e\u0627\u06cc\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u0622\u062f\u0631\u0633 \u067e\u0631\u0648\u062a\u06a9\u0644 I2C (\u062f\u0631 \u0635\u0648\u0631\u062a LOW \u0628\u0648\u062f\u0646 0x68 \u0648 \u0628\u0627 HIGH \u0628\u0648\u062f\u0646 \u0622\u062f\u0631\u0633 0x69 \u0645\u06cc\u00ad\u0634\u0648\u062f.)<\/li><li><strong>INT<\/strong><strong>:<\/strong> \u062e\u0631\u0648\u062c\u06cc \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 \u0648\u0642\u0641\u0647<\/li><li><strong>NCS<\/strong><strong>:<\/strong> \u067e\u0627\u06cc\u0647 \u0627\u0646\u062a\u062e\u0627\u0628 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 SPI<\/li><li><strong>FSYNC<\/strong><strong>:<\/strong> \u0648\u0631\u0648\u062f\u06cc \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 \u0633\u0646\u06a9\u0631\u0648\u0646 (\u062a\u0646\u0638\u06cc\u0645 \u0633\u0631\u0639\u062a \u0639\u0645\u0644\u06a9\u0631\u062f I2C)<\/li><\/ul>\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-18771266 elementor-widget elementor-widget-image\" data-id=\"18771266\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-Pin.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-Pin.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNzAsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLVBpbi5qcGcifQ%3D%3D\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-Pin.jpg\" class=\"attachment-large size-large\" alt=\"\u067e\u06cc\u0646 \u0627\u0648\u062a Pinout \u0645\u0627\u0698\u0648\u0644 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-45ee8277 elementor-widget elementor-widget-heading\" data-id=\"45ee8277\" 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-3c7a102a elementor-widget elementor-widget-image\" data-id=\"3c7a102a\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-Required-Materials.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-Required-Materials.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNzEsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLVJlcXVpcmVkLU1hdGVyaWFscy5qcGcifQ%3D%3D\">\n\t\t\t\t\t\t\t<img width=\"600\" height=\"500\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-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-70a6b98c elementor-widget elementor-widget-heading\" data-id=\"70a6b98c\" 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-4433338 elementor-widget elementor-widget-html\" data-id=\"4433338\" 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 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 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\/imu-ahrs-i2c-mpu9250\" 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=\"http:\/\/thecaferobot.com\/store\/40p-male-female-10cm-jumper-wire\" 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-1d955e9b elementor-widget elementor-widget-heading\" data-id=\"1d955e9b\" 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-36809f36 elementor-widget elementor-widget-html\" data-id=\"36809f36\" 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-27287186 elementor-widget elementor-widget-heading\" data-id=\"27287186\" 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 IMU \u0646\u0647 \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-6cd115b4 elementor-widget elementor-widget-heading\" data-id=\"6cd115b4\" 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-7ebb612b elementor-widget elementor-widget-text-editor\" data-id=\"7ebb612b\" 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-10ad4b78 elementor-widget elementor-widget-image\" data-id=\"10ad4b78\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-Module-wire.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-Module-wire.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNzIsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLU1vZHVsZS13aXJlLmpwZyJ9\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-Module-wire.jpg\" class=\"attachment-large size-large\" alt=\"\u0633\u06cc\u0645 \u0628\u0646\u062f\u06cc \u0645\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644 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-a5a38f4 elementor-widget elementor-widget-heading\" data-id=\"a5a38f4\" 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: \u0646\u0635\u0628 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-22fd9bd4 elementor-widget elementor-widget-text-editor\" data-id=\"22fd9bd4\" 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\u062a\u0627\u0628\u062e\u0627\u0646\u0647\u00a0<span style=\"letter-spacing: 0px;\">MPU9250 \u0631\u0627 \u0627\u0632\u00a0<\/span><a style=\"letter-spacing: 0px; color: #d53e67; text-decoration-line: underline; background-color: #ffffff;\" href=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/02\/MPU9250-master.zip\">\u0627\u06cc\u0646\u062c\u0627<\/a><span style=\"letter-spacing: 0px;\">\u00a0\u062f\u0627\u0646\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f. \u0633\u067e\u0633 \u0628\u0647 \u0642\u0633\u0645\u062a Include Library \u0631\u0641\u062a\u0647 \u0648 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0631\u0627 \u0646\u0635\u0628 \u06a9\u0646\u06cc\u062f.<\/span><\/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-732bff4d elementor-widget elementor-widget-image\" data-id=\"732bff4d\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-Library.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-Library.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNzMsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLUxpYnJhcnkuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"619\" height=\"375\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-Library.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-694efb71 elementor-widget elementor-widget-heading\" data-id=\"694efb71\" 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 \u0633\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-12b7233a elementor-widget elementor-widget-text-editor\" data-id=\"12b7233a\" 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 \u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f. \u067e\u0633 \u0627\u0632 \u0622\u067e\u0644\u0648\u062f \u06a9\u062f\u060c \u067e\u0646\u062c\u0631\u0647 Serial Monitor \u0631\u0627 \u0628\u0627\u0632 \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-7cb06539 elementor-widget elementor-widget-html\" data-id=\"7cb06539\" 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\nBasic_I2C.ino\r\nBrian R Taylor\r\nbrian.taylor@bolderflight.com\r\n\r\nCopyright (c) 2017 Bolder Flight Systems\r\n\r\nPermission is hereby granted, free of charge, to any person obtaining a copy of this software \r\nand associated documentation files (the &quot;Software&quot;), to deal in the Software without restriction, \r\nincluding without limitation the rights to use, copy, modify, merge, publish, distribute, \r\nsublicense, and\/or sell copies of the Software, and to permit persons to whom the Software is \r\nfurnished to do so, subject to the following conditions:\r\n\r\nThe above copyright notice and this permission notice shall be included in all copies or \r\nsubstantial portions of the Software.\r\n\r\nTHE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING \r\nBUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND \r\nNONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, \r\nDAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, \r\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r\n*\/\r\n\r\n#include &quot;MPU9250.h&quot;\r\n\r\n\/\/ an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68\r\nMPU9250 IMU(Wire,0x68);\r\nint status;\r\n\r\nvoid setup() {\r\n  \/\/ serial to display data\r\n  Serial.begin(115200);\r\n  while(!Serial) {}\r\n\r\n  \/\/ start communication with IMU \r\n  status = IMU.begin();\r\n  if (status &lt; 0) {\r\n    Serial.println(&quot;IMU initialization unsuccessful&quot;);\r\n    Serial.println(&quot;Check IMU wiring or try cycling power&quot;);\r\n    Serial.print(&quot;Status: &quot;);\r\n    Serial.println(status);\r\n    while(1) {}\r\n  }\r\n}\r\n\r\nvoid loop() {\r\n  \/\/ read the sensor\r\n  IMU.readSensor();\r\n  \/\/ display the data\r\n  Serial.print(IMU.getAccelX_mss(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getAccelY_mss(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getAccelZ_mss(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getGyroX_rads(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getGyroY_rads(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getGyroZ_rads(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getMagX_uT(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getMagY_uT(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.print(IMU.getMagZ_uT(),6);\r\n  Serial.print(&quot;\\t&quot;);\r\n  Serial.println(IMU.getTemperature_C(),6);\r\n  delay(100);\r\n}\r\n<\/code><\/pre>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2887f390 elementor-widget elementor-widget-text-editor\" data-id=\"2887f390\" 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>\u062f\u0631 \u06a9\u062f \u0628\u0627\u0644\u0627 \u06a9\u0647 \u0627\u0632 \u0645\u062b\u0627\u0644\u00ad\u200c\u0647\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u0633\u062a\u060c \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0627\u0648\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644\u060c \u0634\u062a\u0627\u0628 \u0644\u062d\u0638\u0647\u00ad\u200c\u0627\u06cc \u0648 \u0645\u06cc\u062f\u0627\u0646 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc \u062f\u0631 \u0633\u0647 \u0645\u062d\u0648\u0631 \u0648 \u0647\u0645\u0686\u0646\u06cc\u0646 \u062f\u0645\u0627 \u062f\u0631 \u062e\u0631\u0648\u062c\u06cc \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u00ad\u200c\u0634\u0648\u062f.<\/p><p>\u062e\u0631\u0648\u062c\u06cc \u06a9\u062f \u0628\u0647 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u0627\u0633\u062a.<\/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-78bfcc95 elementor-widget elementor-widget-image\" data-id=\"78bfcc95\" 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\/2021\/01\/IMU-AHRS-I2C-MPU9250-Serial-1.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"IMU-AHRS-I2C-MPU9250-Serial-1.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjIzNzQsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDFcL0lNVS1BSFJTLUkyQy1NUFU5MjUwLVNlcmlhbC0xLmpwZyJ9\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"293\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/01\/IMU-AHRS-I2C-MPU9250-Serial-1.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\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\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>\u0648\u06cc\u0698\u06af\u06cc \u0647\u0627\u06cc \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \u0645\u062d\u0648\u0631\u0647 MPU9250 \u0645\u06cc\u200c\u00ad\u062a\u0648\u0627\u0646\u062f \u0634\u062a\u0627\u0628\u060c \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0627\u0648\u06cc\u0647 \u0648 \u0645\u06cc\u062f\u0627\u0646 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc \u0631\u0627 \u062f\u0631 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