Documentation

// MPU9250 - Read accel, gyro, and mag (9 axes)
// Requires: MPU9250 library by hideakitai

#include <MPU9250.h>

MPU9250 mpu;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  delay(100);

  if (!mpu.setup(0x68)) {
    Serial.println("MPU9250 not found. Check wiring.");
    while (1);
  }
  Serial.println("MPU9250 ready.");
}

void loop() {
  if (mpu.update()) {
    Serial.print("Ax: "); Serial.print(mpu.getAccX());
    Serial.print(" Ay: "); Serial.print(mpu.getAccY());
    Serial.print(" Az: "); Serial.println(mpu.getAccZ());

    Serial.print("Gx: "); Serial.print(mpu.getGyroX());
    Serial.print(" Gy: "); Serial.print(mpu.getGyroY());
    Serial.print(" Gz: "); Serial.println(mpu.getGyroZ());

    Serial.print("Mx: "); Serial.print(mpu.getMagX());
    Serial.print(" My: "); Serial.print(mpu.getMagY());
    Serial.print(" Mz: "); Serial.println(mpu.getMagZ());
    Serial.println();
  }
  delay(100);
}

// MPU9250 on ESP32 via I2C (GPIO21 SDA, GPIO22 SCL)

#include <MPU9250.h>

MPU9250 mpu;

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);
  delay(100);
  if (!mpu.setup(0x68)) {
    Serial.println("MPU9250 not found.");
    while (1);
  }
}

void loop() {
  if (mpu.update()) {
    Serial.printf("Roll=%.2f Pitch=%.2f Yaw=%.2f\n",
                  mpu.getRoll(), mpu.getPitch(), mpu.getYaw());
  }
  delay(20);
}

# MPU9250 on Raspberry Pi via I2C
# Install: pip install mpu9250-jmdev smbus2
# Enable I2C: sudo raspi-config -> Interface Options -> I2C

import time
from mpu9250_jmdev.registers import AK8963_ADDRESS, GFS_1000, AFS_8G, AK8963_BIT_16, AK8963_MODE_C100HZ
from mpu9250_jmdev.mpu_9250 import MPU9250

mpu = MPU9250(
    address_ak=AK8963_ADDRESS,
    address_mpu_master=0x68,
    address_mpu_slave=None,
    bus=1,
    gfs=GFS_1000,
    afs=AFS_8G,
    mfs=AK8963_BIT_16,
    mode=AK8963_MODE_C100HZ)

mpu.configure()

while True:
    print("Accel:", mpu.readAccelerometerMaster())
    print("Gyro :", mpu.readGyroscopeMaster())
    print("Mag  :", mpu.readMagnetometerMaster())
    print("-" * 40)
    time.sleep(0.5)

# MPU9250 on Pico via I2C0 (GP0 SDA, GP1 SCL)
# Upload mpu9250.py and ak8963.py driver files to the Pico first.

from machine import I2C, Pin
from mpu9250 import MPU9250
import time

i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)
print("I2C scan:", [hex(d) for d in i2c.scan()])

sensor = MPU9250(i2c)

while True:
    print("Accel:", sensor.acceleration)
    print("Gyro :", sensor.gyro)
    print("Mag  :", sensor.magnetic)
    print("-" * 30)
    time.sleep(0.5)