ESP32_OSC_IMU/lib/M5Stack/examples/Basics/IMU/IMU.ino

// define must ahead #include <M5Stack.h>
#define M5STACK_MPU6886 
// #define M5STACK_MPU9250 
// #define M5STACK_MPU6050
// #define M5STACK_200Q

#include <M5Stack.h>

float accX = 0.0F;
float accY = 0.0F;
float accZ = 0.0F;

float gyroX = 0.0F;
float gyroY = 0.0F;
float gyroZ = 0.0F;

float pitch = 0.0F;
float roll  = 0.0F;
float yaw   = 0.0F;

float temp = 0.0F;

// the setup routine runs once when M5Stack starts up
void setup(){

  // Initialize the M5Stack object
  M5.begin();
  /*
    Power chip connected to gpio21, gpio22, I2C device
    Set battery charging voltage and current
    If used battery, please call this function in your project
  */
  M5.Power.begin();
    
  M5.IMU.Init();

  M5.Lcd.fillScreen(BLACK);
  M5.Lcd.setTextColor(GREEN , BLACK);
  M5.Lcd.setTextSize(2);
}

// the loop routine runs over and over again forever
void loop() {
    // put your main code here, to run repeatedly:
  M5.IMU.getGyroData(&gyroX,&gyroY,&gyroZ);
  M5.IMU.getAccelData(&accX,&accY,&accZ);
  M5.IMU.getAhrsData(&pitch,&roll,&yaw);
  M5.IMU.getTempData(&temp);
  
  M5.Lcd.setCursor(0, 20);
  M5.Lcd.printf("%6.2f  %6.2f  %6.2f      ", gyroX, gyroY, gyroZ);
  M5.Lcd.setCursor(220, 42);
  M5.Lcd.print(" o/s");
  M5.Lcd.setCursor(0, 65);
  M5.Lcd.printf(" %5.2f   %5.2f   %5.2f   ", accX, accY, accZ);
  M5.Lcd.setCursor(220, 87);
  M5.Lcd.print(" G");
  M5.Lcd.setCursor(0, 110);
  M5.Lcd.printf(" %5.2f   %5.2f   %5.2f   ", pitch, roll, yaw);
  M5.Lcd.setCursor(220, 132);
  M5.Lcd.print(" degree");
  M5.Lcd.setCursor(0, 155);
  M5.Lcd.printf("Temperature : %.2f C", temp);

  delay(1);
}