MPU9250 (GY-91) driver for STM32 with HAL using SPI (spi1 by default).
Define GY_CS pin in STM32CubeMX that will be used as Chip Select for the device, or pick the one you need in the MPU9250_Config.h.
Use MPU9250_Init() to initialize the device.
Then use this to retireve the raw data:
int16_t AccData[3], GyroData[3], MagData[3];
MPU9250_GetData(AccData, GyroData, MagData);
printf("%08d;%08d;%08d;%08d;%08d;%08d;%08d;%08d;%08d\n",
(int16_t)AccData[0], (int16_t)AccData[1], (int16_t)AccData[2],
(int16_t)GyroData[0], (int16_t)GyroData[1], (int16_t)GyroData[2],
(int16_t)MagData[0], (int16_t)MagData[1], (int16_t)MagData[2]);