{"id":24204,"date":"2021-04-26T10:49:12","date_gmt":"2021-04-26T06:19:12","guid":{"rendered":"https:\/\/thecaferobot.com\/learn\/?p=24204"},"modified":"2021-06-19T17:41:39","modified_gmt":"2021-06-19T13:11:39","slug":"interfacing-gy-87-10dof-imu-mpu6050-hmc5883l-bmp085-module-with-arduino","status":"publish","type":"post","link":"https:\/\/thecaferobot.com\/learn\/interfacing-gy-87-10dof-imu-mpu6050-hmc5883l-bmp085-module-with-arduino\/","title":{"rendered":"\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647\u200c\u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \u0645\u062d\u0648\u0631 GY-87 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"24204\" class=\"elementor elementor-24204\">\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-3d2fec6 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"3d2fec6\" 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-de42e5a\" data-id=\"de42e5a\" 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-44dea49d elementor-widget elementor-widget-heading\" data-id=\"44dea49d\" 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 GY-87<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7837cce1 elementor-widget elementor-widget-text-editor\" data-id=\"7837cce1\" 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 \u062f\u0647 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0648 \u0646\u0647 \u0645\u062d\u0648\u0631 GY-87 \u06cc\u06a9 \u0645\u0627\u0698\u0648\u0644 \u0628\u0627 \u062f\u0642\u062a \u0628\u0633\u06cc\u0627\u0631 \u0628\u0627\u0644\u0627 \u0646\u0633\u0628\u062a \u0628\u0647 \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u0645\u0634\u0627\u0628\u0647 \u062e\u0648\u062f \u0647\u0645\u0686\u0648\u0646 MPU9250 \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc\u200c\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 \u062f\u0642\u062a \u0628\u0627\u0644\u0627 \u062f\u0631 \u0627\u062e\u062a\u06cc\u0627\u0631 \u0628\u06af\u0630\u0627\u0631\u062f. \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u062f\u0631 \u0627\u0635\u0644 \u0627\u0632 \u062a\u0631\u06a9\u06cc\u0628 3 \u0633\u0646\u0633\u0648\u0631 MPU6050 \u060cHMC5883L \u0648 \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 \u062f\u0645\u0627 \u0648 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 \u062a\u0634\u06a9\u06cc\u0644 \u0634\u062f\u0647 \u0627\u0633\u062a. \u0633\u0646\u0633\u0648\u0631 \u062f\u0645\u0627 \u0648 \u0641\u0634\u0627\u0631 \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u06cc\u06a9 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0634\u062f\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f BMP180 \u06cc\u0627 BMP085 \u0628\u0627\u0634\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 \u0627\u0633\u062a \u06a9\u0647 \u06a9\u0627\u0631 \u0628\u0627 \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \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-623df7f elementor-widget elementor-widget-image\" data-id=\"623df7f\" 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\/04\/GY-87-1.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-1\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjQyMTMsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDRcL0dZLTg3LTEuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"488\" height=\"463\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/04\/GY-87-1.jpg\" class=\"attachment-large size-large\" alt=\"\u0633\u0646\u0633\u0648\u0631 GY-87\" 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-551126bb elementor-widget elementor-widget-heading\" data-id=\"551126bb\" 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\u06cc (\u067e\u06cc\u0646 \u0627\u0648\u062a) \u0645\u0627\u0698\u0648\u0644 GY-87<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-22255983 elementor-widget elementor-widget-text-editor\" data-id=\"22255983\" 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 \u062f\u0647 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0648 \u0646\u0647 \u0645\u062d\u0648\u0631 GY-87 \u062f\u0627\u0631\u0627\u06cc 8 \u067e\u0627\u06cc\u0647 \u0628\u0647 \u0634\u0631\u062d \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p><ul><li><strong>VCC_IN<\/strong><strong>:<\/strong> \u062a\u063a\u0630\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644 &#8211; 5 \u0648\u0644\u062a<\/li><li><strong>3V<\/strong><strong>: <\/strong>\u062a\u063a\u0630\u06cc\u0647 \u0645\u0627\u0698\u0648\u0644 &#8211; 3.3 \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>\u00a0\u067e\u0627\u06cc\u0647 \u062f\u06cc\u062a\u0627 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u062a\u06a9\u0644 I2C<\/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><li><strong>INTA<\/strong><strong>:<\/strong> \u062e\u0631\u0648\u062c\u06cc \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 \u0648\u0642\u0641\u0647 \u0622\u06cc\u200c\u0633\u06cc MPU6050<\/li><li><strong>DRDY<\/strong><strong>:<\/strong> \u067e\u0627\u06cc\u0647 \u0622\u0645\u0627\u062f\u0647 \u0628\u0648\u062f\u0646 \u062f\u0627\u062f\u0647 \u0622\u06cc\u200c\u0633\u06cc HMC5883L<\/li><\/ul><p>\u067e\u06cc\u0646 \u0627\u0648\u062a (Pinout) \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0645\u06cc\u200c\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-7b67aabf elementor-widget elementor-widget-image\" data-id=\"7b67aabf\" 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\/04\/GY-87-Pin-2.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-Pin-2.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjQyMDgsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDRcL0dZLTg3LVBpbi0yLmpwZyJ9\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/04\/GY-87-Pin-2.jpg\" class=\"attachment-large size-large\" alt=\"\u067e\u06cc\u0646 \u0627\u0648\u062a Pinout \u0645\u0627\u0698\u0648\u0644 GY-87\" 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-4a2e913a elementor-widget elementor-widget-heading\" data-id=\"4a2e913a\" 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-1c3151bc elementor-widget elementor-widget-image\" data-id=\"1c3151bc\" 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\/04\/GY-87-Required-Materials-3.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-Required-Materials-3.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjQyMDksInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDRcL0dZLTg3LVJlcXVpcmVkLU1hdGVyaWFscy0zLmpwZyJ9\">\n\t\t\t\t\t\t\t<img width=\"600\" height=\"500\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/04\/GY-87-Required-Materials-3.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-69281080 elementor-widget elementor-widget-heading\" data-id=\"69281080\" 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-568e632b elementor-widget elementor-widget-html\" data-id=\"568e632b\" 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%\">\u0628\u0631\u062f \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=\"https:\/\/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 \u062f\u0647 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0648 \u0646\u0647 \u0645\u062d\u0648\u0631 GY-87 \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-87-10dof-imu\" 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 \u0646\u0631\u06cc \u0628\u0647 \u0645\u0627\u062f\u06af\u06cc\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\/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-350ab7c6 elementor-widget elementor-widget-heading\" data-id=\"350ab7c6\" 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 \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5973841f elementor-widget elementor-widget-html\" data-id=\"5973841f\" 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-66d63d3f elementor-widget elementor-widget-heading\" data-id=\"66d63d3f\" 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\u200c\u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 IMU \u0646\u0647 \u0645\u062d\u0648\u0631 GY-87 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<br><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-59e0657a elementor-widget elementor-widget-heading\" data-id=\"59e0657a\" 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-c009903 elementor-widget elementor-widget-text-editor\" data-id=\"c009903\" 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-42ad1c46 elementor-widget elementor-widget-image\" data-id=\"42ad1c46\" 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\/04\/GY-87-Module-wire-4.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-Module-wire-4.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjQyMTAsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDRcL0dZLTg3LU1vZHVsZS13aXJlLTQuanBnIn0%3D\">\n\t\t\t\t\t\t\t<img width=\"800\" height=\"600\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/04\/GY-87-Module-wire-4.jpg\" class=\"attachment-large size-large\" alt=\"\u0633\u06cc\u0645 \u0628\u0646\u062f\u06cc \u0645\u062f\u0627\u0631 \u0627\u062a\u0635\u0627\u0644 GY-87 \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-199e76db elementor-widget elementor-widget-heading\" data-id=\"199e76db\" 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-3701d462 elementor-widget elementor-widget-text-editor\" data-id=\"3701d462\" 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>\u0628\u0631\u0627\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0647\u0631 \u06cc\u06a9 \u0627\u0632 \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc \u0645\u0627\u0698\u0648\u0644 GY-87 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0645\u0631\u0628\u0648\u0637\u0647 \u0622\u0646 \u062f\u0627\u0631\u06cc\u062f. \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647\u200c\u0647\u0627\u06cc MPU6050 \u060cHMC5883L_Simple \u0648 BMP085 \u0631\u0627 \u0627\u0632 \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627\u06cc \u0632\u06cc\u0631 \u062f\u0627\u0646\u0644\u0648\u062f \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\/zip.svg\" \/><\/div>\n            <div class=\"media-body\">\n                <h3 class=\"package-title\"><a href='https:\/\/thecaferobot.com\/learn\/download\/mpu6050-library\/'>MPU6050 Library<\/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> 74.08 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\/mpu6050-library\/?wpdmdl=24214&#038;refresh=6a0653cdd0fff1778799565\">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\/zip.svg\" \/><\/div>\n            <div class=\"media-body\">\n                <h3 class=\"package-title\"><a href='https:\/\/thecaferobot.com\/learn\/download\/hmc5883l_simple-library\/'>HMC5883L_Simple Library<\/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> 8.04 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\/hmc5883l_simple-library\/?wpdmdl=24215&#038;refresh=6a0653ce2c1411778799566\">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\/zip.svg\" \/><\/div>\n            <div class=\"media-body\">\n                <h3 class=\"package-title\"><a href='https:\/\/thecaferobot.com\/learn\/download\/bmp085-library\/'>BMP085 Library<\/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> 6.84 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\/bmp085-library\/?wpdmdl=24216&#038;refresh=6a0653ce59a151778799566\">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-072ba05 elementor-widget elementor-widget-text-editor\" data-id=\"072ba05\" 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>\u0633\u067e\u0633 \u0628\u0647 \u0642\u0633\u0645\u062a Include Library \u0631\u0641\u062a\u0647 \u0648 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647\u200c\u0647\u0627 \u0631\u0627 \u0646\u0635\u0628 \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-7ee10f0 elementor-widget elementor-widget-image\" data-id=\"7ee10f0\" 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\/04\/GY-87-Library-4.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-Library-4.jpg\" e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6MjQyMTEsInVybCI6Imh0dHBzOlwvXC90aGVjYWZlcm9ib3QuY29tXC9sZWFyblwvd3AtY29udGVudFwvdXBsb2Fkc1wvMjAyMVwvMDRcL0dZLTg3LUxpYnJhcnktNC5qcGcifQ%3D%3D\">\n\t\t\t\t\t\t\t<img width=\"619\" height=\"375\" src=\"https:\/\/thecaferobot.com\/learn\/wp-content\/uploads\/2021\/04\/GY-87-Library-4.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-ddc167c elementor-widget elementor-widget-heading\" data-id=\"ddc167c\" 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-11eac6e elementor-widget elementor-widget-text-editor\" data-id=\"11eac6e\" 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-54c33429 elementor-widget elementor-widget-html\" data-id=\"54c33429\" 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  Modified on Mar 16, 2021\r\n  Modified by MehranMaleki from Arduino Examples\r\n  https:\/\/electro\r\n  peak.com\/learn\/\r\n*\/\r\n\r\n#include &quot;I2Cdev.h&quot;\r\n#include &quot;MPU6050.h&quot;\r\n#include &lt;Adafruit_BMP085.h&gt;\r\n#include &lt;HMC5883L_Simple.h&gt;\r\n\r\n\r\nMPU6050 accelgyro;\r\nAdafruit_BMP085 bmp;\r\nHMC5883L_Simple Compass;\r\n\r\n\r\nint16_t ax, ay, az;\r\nint16_t gx, gy, gz;\r\n\r\n#define LED_PIN 13\r\nbool blinkState = false;\r\n\r\nvoid setup() {\r\n  Serial.begin(9600);\r\n  Wire.begin();\r\n\r\n  \/\/ initialize devices\r\n  Serial.println(&quot;Initializing I2C devices...&quot;);\r\n\r\n  \/\/ initialize bmp085\r\n  if (!bmp.begin()) {\r\n    Serial.println(&quot;Could not find a valid BMP085 sensor, check wiring!&quot;);\r\n    while (1) {}\r\n  }\r\n\r\n  \/\/ initialize mpu6050\r\n  accelgyro.initialize();\r\n  Serial.println(accelgyro.testConnection() ? &quot;MPU6050 connection successful&quot; : &quot;MPU6050 connection failed&quot;);\r\n  accelgyro.setI2CBypassEnabled(true); \/\/ set bypass mode for gateway to hmc5883L\r\n  \r\n  \r\n  \/\/ initialize hmc5883l\r\n  Compass.SetDeclination(23, 35, 'E');\r\n  Compass.SetSamplingMode(COMPASS_SINGLE);\r\n  Compass.SetScale(COMPASS_SCALE_130);\r\n  Compass.SetOrientation(COMPASS_HORIZONTAL_X_NORTH);\r\n\r\n\r\n  \/\/ configure Arduino LED for checking activity\r\n  pinMode(LED_PIN, OUTPUT);\r\n}\r\n\r\nvoid loop() {\r\n  Serial.print(&quot;Temperature = &quot;);\r\n  Serial.print(bmp.readTemperature());\r\n  Serial.println(&quot; *C&quot;);\r\n\r\n  Serial.print(&quot;Pressure = &quot;);\r\n  Serial.print(bmp.readPressure());\r\n  Serial.println(&quot; Pa&quot;);\r\n  \r\n  \/\/ Calculate altitude assuming 'standard' barometric\r\n  \/\/ pressure of 1013.25 millibar = 101325 Pascal\r\n  Serial.print(&quot;Altitude = &quot;);\r\n  Serial.print(bmp.readAltitude());\r\n  Serial.println(&quot; meters&quot;);\r\n  Serial.print(&quot;Pressure at sealevel (calculated) = &quot;);\r\n  Serial.print(bmp.readSealevelPressure());\r\n  Serial.println(&quot; Pa&quot;);\r\n  Serial.print(&quot;Real altitude = &quot;);\r\n  Serial.print(bmp.readAltitude(101500));\r\n  Serial.println(&quot; meters&quot;);\r\n\r\n  \r\n  \/\/ read raw accel\/gyro measurements from device\r\n  accelgyro.getMotion6(&amp;ax, &amp;ay, &amp;az, &amp;gx, &amp;gy, &amp;gz);\r\n  \r\n  \/\/ display tab-separated accel\/gyro x\/y\/z values\r\n  Serial.print(&quot;a\/g:\\t&quot;);\r\n  Serial.print(ax); Serial.print(&quot;\\t&quot;);\r\n  Serial.print(ay); Serial.print(&quot;\\t&quot;);\r\n  Serial.print(az); Serial.print(&quot;\\t&quot;);\r\n  Serial.print(gx); Serial.print(&quot;\\t&quot;);\r\n  Serial.print(gy); Serial.print(&quot;\\t&quot;);\r\n  Serial.println(gz);\r\n\r\n\r\n  float heading = Compass.GetHeadingDegrees();\r\n  Serial.print(&quot;Heading: \\t&quot;);\r\n  Serial.println( heading );\r\n\r\n\r\n  \/\/ blink LED to indicate activity\r\n  blinkState = !blinkState;\r\n  digitalWrite(LED_PIN, blinkState);\r\n\r\n  delay(500);\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-1c7e05be elementor-widget elementor-widget-text-editor\" data-id=\"1c7e05be\" 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 \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0645\u062e\u062a\u0644\u0641 \u0647\u0645\u0686\u0648\u0646 \u062f\u0645\u0627\u060c \u0641\u0634\u0627\u0631\u060c \u0627\u0631\u062a\u0641\u0627\u0639 \u0627\u0632 \u0633\u0637\u062d \u062f\u0631\u06cc\u0627\u060c \u0634\u062a\u0627\u0628 \u0648 \u0645\u06cc\u062f\u0627\u0646 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc \u062f\u0631 \u0633\u0647 \u0645\u062d\u0648\u0631 \u0627\u0632 \u0645\u0627\u0698\u0648\u0644 \u062f\u0631\u06cc\u0627\u0641\u062a \u0648 \u062f\u0631 \u062e\u0631\u0648\u062c\u06cc \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u00ad\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-5decc5cc elementor-widget elementor-widget-image\" data-id=\"5decc5cc\" 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\/04\/GY-87-Serial-6.jpg\" data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-title=\"GY-87-Serial-6.jpg\" 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