!!pyserial

!インストール
 pip3 install pyserial

! 読み出し
 
 #!/bin/env python3
 import serial
 
 def main():
 
    # '/dev/ttyUSB0'は適宜変更
    # 10秒まってもデータが来ない場合にはタイムアウト
    # ser = serial.Serial('/dev/ttyUSB0',9600,timeout=10)   
    
    # with serial.Serial('/dev/ttyUSB0',9600,timeout=10) as ser :
    with serial.Serial('/dev/ttyUSB0',115200,timeout=10) as ser :
        while True:
          line = ser.readline()
          # print(line.decode(encoding='utf-8',errors='replace'))
          print(str(line,encoding='utf-8',errors='replace'))
 
        ser.close()
  
  if __name__ == "__main__":
      main()

! SAMPLE
 ## PC 側
 import serial
 # pip3 install parse
 from parse import *
 
 def main():
  with serial.Serial('/dev/ttyUSB0',115200,timeout=2) as ser :
      while True:
          line = ser.readline()
          lined = line.decode(encoding='utf-8',errors='replace')
          r = parse ( "{name:w}: ({datas})\r", lined )
          r.fixed
          print (r['name'])
      ser.close()
 
 if __name__ == "__main__":
    main()

 #MicroPython側
 import utime
 from random import randint
 from machine import I2C, Pin, sleep
 from mpu9250 import MPU9250
 
 i2c = I2C(scl=Pin(22), sda=Pin(21), freq=200000)
 sensor = MPU9250(i2c)
 print("MPU9250 id: " + hex(sensor.whoami))
 
 while True:
    print('acceleration:', sensor.acceleration)
    print('gyro:', sensor.gyro)
    print('magnetic:', sensor.magnetic)
    sleep(300)
    #print('\n')

[madgwick filter|https://github.com/morgil/madgwick_py]