esp32mpu9250.txt

//I used the https://github.com/asukiaaa/MPU9250_asukiaaa - it was the easiest to use, I had to change the SDA and SCL defines for my LOLIN32 board from the default 
//#define SDA_PIN 21 #define SCL_PIN 22 

#include <MPU9250_asukiaaa.h>

#ifdef _ESP32_HAL_I2C_H_
#define SDA_PIN 21
#define SCL_PIN 22
#endif

MPU9250 mySensor;

void setup() {
while(!Serial);

Serial.begin(115200);
Serial.println("started");

#ifdef _ESP32_HAL_I2C_H_
// for esp32
Wire.begin(SDA_PIN, SCL_PIN); //sda, scl
#else
Wire.begin();
#endif

mySensor.setWire(&Wire);

mySensor.beginAccel();
mySensor.beginMag();

// you can set your own offset for mag values
// mySensor.magXOffset = -50;
// mySensor.magYOffset = -55;
// mySensor.magZOffset = -10;
}

void loop() {
mySensor.accelUpdate();
Serial.println("print accel values");
Serial.println("accelX: " + String(mySensor.accelX()));
Serial.println("accelY: " + String(mySensor.accelY()));
Serial.println("accelZ: " + String(mySensor.accelZ()));
Serial.println("accelSqrt: " + String(mySensor.accelSqrt()));

mySensor.magUpdate();
Serial.println("print mag values");
Serial.println("magX: " + String(mySensor.magX()));
Serial.println("maxY: " + String(mySensor.magY()));
Serial.println("magZ: " + String(mySensor.magZ()));
Serial.println("horizontal direction: " + String(mySensor.magHorizDirection()));

Serial.println("at " + String(millis()) + "ms");
delay(500);
}