As base was given SparkFun arduino library[1]. Derriving from an abstract and implementing several methods you could use it for different hardware
1 https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library
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C++ library for the gy-91 module compatible with stm32 Low Level Library
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an-dr-project-graveyard/gy-91_abstract_lib
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C++ library for the gy-91 module compatible with stm32 Low Level Library
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