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STM32 #4 SPI：以MPU 9250九軸慣性測量單元為例
MPU-9250是一九軸慣性測量單元(IMU, Inertial Measurement Unit)模組。九軸指的是三軸的陀螺儀，三個方向的加速度計，三個方向的磁力計，和來測量物體在三維空間中的角速度，加速度，以及磁場，並以此解算出物體的姿態。
Pinouts
- VIN: Voltage Supply Pin
- 3V3: 3.3v Regulator output
- GND: Ground
- SCL: I2C Clock / SPI Clock
- SDA: I2C Data or SPI Data Input
- SDO/SAO: SPI Data output / I2C Slave Address configuration pin
- NCS: Chip Select for SPI mode only for MPU-9250
- CSB: Chip Select for BMP280
連接:
| STM32F103-Nucleo | GY-91 |
|---|---|
| GND | GND |
| 3V3 | VIN |
| PA5 (SPI1 SCK) | SCL |
| PA6 (SPI1 MISO) | SDA |
| PA7 (SPI1 MOSI) | SDO/SAO |
| PA4 (SPI1 SS) | NCS |