GY-91 MPU9250 + BMP280 10DOF IMU Sensor Module (Refurbished Chip, No Magnetometer Function)

/*
  GY-91 Refurbished – Gyroscope, Accelerometer, and Barometer Read Example
  Note: Magnetometer is not functional on this module
*/

#include <Wire.h>
#include <MPU9250.h>
#include <Adafruit_BMP280.h>

MPU9250 mpu;
Adafruit_BMP280 bmp;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  // Initialize MPU9250 (gyroscope + accelerometer)
  if (!mpu.setup(0x68)) {
    Serial.println("MPU9250 sensor not found! Check wiring.");
    while (1);
  }
  
  // Configure sensor ranges
  mpu.setGyroRange(2000);      // ±2000 dps
  mpu.setAccelRange(16);       // ±16g
  
  // Initialize BMP280
  if (!bmp.begin(0x76)) {
    Serial.println("BMP280 not found!");
    while (1);
  }
  
  Serial.println("GY-91 Ready (Magnetometer Not Functional)");
  Serial.println("------------------------------------------");
}

void loop() {
  if (mpu.update()) {
    // Accelerometer data (in g-force)
    float ax = mpu.getAccX();
    float ay = mpu.getAccY();
    float az = mpu.getAccZ();
    
    // Gyroscope data (in degrees per second)
    float gx = mpu.getGyroX();
    float gy = mpu.getGyroY();
    float gz = mpu.getGyroZ();
    
    // BMP280 data
    float temperature = bmp.readTemperature();
    float pressure = bmp.readPressure();
    float altitude = bmp.readAltitude(1013.25); // Sea level pressure in hPa
    
    // Calculate tilt angles (pitch and roll) from accelerometer
    float pitch = atan2(-ax, sqrt(ay * ay + az * az)) * 180 / PI;
    float roll = atan2(ay, az) * 180 / PI;
    
    Serial.print("Accel (g): ");
    Serial.print(ax); Serial.print(", ");
    Serial.print(ay); Serial.print(", ");
    Serial.println(az);
    
    Serial.print("Gyro (°/s): ");
    Serial.print(gx); Serial.print(", ");
    Serial.print(gy); Serial.print(", ");
    Serial.println(gz);
    
    Serial.print("Pitch: ");
    Serial.print(pitch);
    Serial.print("°, Roll: ");
    Serial.println(roll);
    
    Serial.print("Temperature: ");
    Serial.print(temperature);
    Serial.println(" °C");
    
    Serial.print("Pressure: ");
    Serial.print(pressure);
    Serial.println(" Pa");
    
    Serial.print("Altitude: ");
    Serial.print(altitude);
    Serial.println(" m");
    
    Serial.println("------------------------------------------");
  }
  
  delay(100);
}

#include <Wire.h>

void setup() {
  Wire.begin();
  Serial.begin(9600);
  Serial.println("I2C Scanner");
}

void loop() {
  byte error, address;
  int nDevices = 0;
  
  for(address = 1; address < 127; address++) {
    Wire.beginTransmission(address);
    error = Wire.endTransmission();
    
    if(error == 0) {
      Serial.print("I2C device found at address 0x");
      if(address < 16) Serial.print("0");
      Serial.println(address, HEX);
      nDevices++;
    }
  }
  
  if(nDevices == 0) Serial.println("No I2C devices found");
  delay(5000);
}