accel + magmetometer tested

examples/03-mpu9250/main.py

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+# MicroPython MPU-9250 (MPU-6500 + AK8963) I2C driver
+# https://github.com/tuupola/micropython-mpu9250
+
+import utime
+from machine import SoftI2C, Pin
+import math
+
+from mpu9250 import MPU9250
+# from mpu6500 import MPU6500, SF_G, SF_DEG_S
+from ak8963 import AK8963
+
+i2c = SoftI2C(scl=Pin(22), sda=Pin(21))
+print(f"I2C configuration: {str(i2c)}")
+
+# mpu6500 = MPU6500(i2c, accel_sf=SF_G, gyro_sf=SF_DEG_S)
+# sensor = MPU9250(i2c, mpu6500=mpu6500)
+dummy = MPU9250(i2c) # this opens the bybass to access to the AK8963
+ak8963 = AK8963(
+    i2c,
+    offset=(-7.423243, 18.58711, -124.3011),
+    scale=(1.113371, 0.9323783, 0.971533))
+# offset, scale = ak8963.calibrate(count=256, delay=200)
+# print(offset, scale)
+
+sensor = MPU9250(i2c, ak8963=ak8963)
+
+# print("MPU9250 id: " + hex(sensor.whoami))
+print("\nPress `Ctrl+C` to stop\n")
+
+try:
+    while True:
+        ax, ay, az = sensor.acceleration
+        gx, gy, gz = sensor.gyro
+        mx, my, mz = sensor.magnetic
+        temp = sensor.temperature
+
+        # Calculate pitch and roll from accelerometer data
+        # https://engineering.stackexchange.com/questions/3348/calculating-pitch-yaw-and-roll-from-mag-acc-and-gyro-data
+        pitch = math.atan2(-ax, math.sqrt(ay**2 + az**2)) * 180.0 / math.pi
+        roll = math.atan2(ay, az) * 180.0 / math.pi
+
+        yaw = math.atan2(my, mx)
+        if yaw < 0:
+            yaw += 2.0 * math.pi
+        if yaw > 2.0 * math.pi:
+            yaw -= 2 * math.pi
+        yaw = yaw * 180.0 / math.pi
+
+        print(f"{pitch:.1f} \t{roll:.1f} \t{yaw:.1f} \t{temp:.1f}")
+        utime.sleep_ms(1000)
+
+except KeyboardInterrupt:
+    # This part runs when Ctrl+C is pressed
+    print("\nProgram stopped. Exiting...")
+
+    # Optional cleanup code