This is the 9DOF (Degrees Of Freedom) IMU (Inertial Measurement Unit) module that has 3 integrated sensor in one module board the ITG-3200 (Triple Axis Digital Output Gyroscope), ADXL345 (13bit Resolution ±16g Triple Axis Accelerometer), HMC5883L (Triple Axis, Digital Magnetometer) that provide you’re a 9 degrees of inertial measurement. The output of the sensors are process by the microcontroller. This enable the 9DOF module to be used as control mechanism like UAV (Autonomous Vehicles), Image stabilization system, or control mechanism. Some of  board designs comes with programmed with 8MHz bootloader (STK500V1) that demonstration of  the output of all the sensor just simply connect to the serial TX and RX pins with your USB TTL then open your Serial Terminal that runs at 57600bps.

Required Components

  • Arduino Microcontroller, TEENSY, ATMEGA328 16/12, ATMEGA32u4 16/8/ MHz, ESP8266, ATMEGA250 16 MHz, ATSAM3x8E, ATSAM21D, ATTINY85 16/8 MHz
  • ITG3200 / ADX345 /HMC5883L 9DOF/ GY-85 6DOF / GY-85 9DUP IMU Module
  • USB TTL / UART FTDI (Optional)
  • Bluetooth Module (Optional)
  • Solder Less Bread Board
  • Jumper Wire / DuPont Wire

Wiring Guide for SPI / i2C

Schematics Diagram and Pin-outs

Source Code


  • ITG3200 Code Libraries | ZIP
  • ADXL345 Code Libraries | ZIP
  • HMC5883L Code Libraries | ZIP
  • RAZOR AHRH Test Code | ZIP
  • ITG3200 Datasheet Manual | PDF
  • ADXL345 Datasheet Manual | PDF
  • HMC5883L Datasheet Manual | PDF
Wiring the ITG3200 / ADXL345 / HMC5883L 9DOF RAZOR IMU AHRH UART SPI i2C Communication
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One thought on “Wiring the ITG3200 / ADXL345 / HMC5883L 9DOF RAZOR IMU AHRH UART SPI i2C Communication

  • at

    감사 합니다, 기사 도와, 여전히 디지털 핀 문제가 >”<


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