MCU-117 High-Precision 9-Axis 10DOF Motion Tracking Module – MPU9250/MS5611, SPI/IIC Communication

#include <Wire.h>

void setup() {
  Wire.begin();
  Serial.begin(9600);
  Serial.println("\nI2C 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);
}

/*
  MCU-117 Basic MPU9250 Read Example
*/

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

MPU9250 mpu;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  // Initialize MPU-9250 with I2C address 0x68
  if (!mpu.setup(0x68)) {
    Serial.println("MPU-9250 sensor not found! Check wiring.");
    while (1);
  }
  
  // Configure sensor ranges
  mpu.setGyroRange(2000);      // ±2000 dps
  mpu.setAccelRange(16);       // ±16g
  
  Serial.println("MCU-117 MPU-9250 Ready");
  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();
    
    // Magnetometer data (in microtesla)
    float mx = mpu.getMagX();
    float my = mpu.getMagY();
    float mz = mpu.getMagZ();
    
    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("Mag (µT): ");
    Serial.print(mx); Serial.print(", ");
    Serial.print(my); Serial.print(", ");
    Serial.println(mz);
    
    Serial.println("---------------------------------------");
  }
  
  delay(100);
}

/*
  MPU-9250 DMP Example
*/

#include <Wire.h>
#include <MPU9250_WE.h>

MPU9250_WE mpu = MPU9250_WE(&Wire);

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  if (!mpu.init()) {
    Serial.println("MPU9250 does not respond!");
    while (1);
  }
  
  // Enable DMP
  if (!mpu.enableDMP()) {
    Serial.println("DMP could not be enabled!");
    while (1);
  }
  
  Serial.println("DMP ready – Outputting orientation angles");
}

void loop() {
  if (mpu.checkNewData()) {
    xyzFloat angles = mpu.getAngles();
    
    Serial.print("Yaw: ");
    Serial.print(angles.x);
    Serial.print("°, Pitch: ");
    Serial.print(angles.y);
    Serial.print("°, Roll: ");
    Serial.println(angles.z);
  }
  
  delay(50);
}