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Hello ALIARIF93, examples depend on the programming language you are using and the device you are communicating with the microcontroller. Normally, in the datasheets of the device to which you want to communicate, there is the protocol to use. Which compiler are you using and which device you want to communicate?
Hello ALIARIF93, unfortunately I don't use MPLAB C18 and therefore I can't help you. Normal in the modules that communicate via I2C, is to see the command sequence in the datasheet for the device, and transfer this information to the programming language you are using. Anyway, for someone else can help, you would post the site where to find the datasheet of the IMU module you are using, because it appears many different IMU modules searching in Google.