Conversion Formula for Yaw-Pitch-Roll from Raw 9-D0F IMU Values (Gyroscope, Accelerometer, Magnetometer)

Question

I am getting raw values from a 9 DoF IMU Sensor (MPU9250), the values contain Gyroscope(Gx,Gy,Gz), Accelerometer(Ax,Ay,Az), and Magnetometer(Mx,My,Mz).

I wish to get Yaw, Pitch and Roll from these values on Python. Can someone kindly share a conversion formula from where I can convert these raw sensor values into Yaw-Pitch-Roll (Euler Angles)? The ones I'm finding uses rotation matrices which is irrelevant to my problem.

Furthermore, what is the conversion formula for getting Quaternions from these IMU values?

Any help, either in the form of formulas, reference to a source, or code would be highly appreciated.