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Hi Alberto,
Unfortunately I'm not aware of any MicroPython ports of I2Cdevlib or the MPU6050 code that I wrote. Someone may have done it, or even implemented something from scratch (maybe more likely), but I'm not sure.
A quick search shows this:
https://microcontrollerslab.com/micropython-mpu-6050-esp32-esp8266/
It looks like it's only raw data though, not the DMP. You'd have to implement a 6-axis fusion algorithm on the Pico if you use that.
Jeff
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jrowberg commentedon Dec 21, 2021