Overview

Driver for InvenSense MPU-6000 and MPU-6050 IMUs.

Resources

All correct at time of writing, but as always, manufacturers love to move things around on their website.

Web page

http://invensense.com/mems/gyro/mpu6050.html

Datasheet

http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf

Test hardware

This code has been tested using a SolderCore CoreMPU module:

http://soldercore.com/products/sensecore/corempu/

This was plugged into a SenseCore:

http://soldercore.com/products/sensecore/

And finally installed on a SolderCore:

http://soldercore.com/products/soldercore/

API Summary

Macros
MPU6000_I2C_ADDR	MPU-6000 8-bit I2C address selected with AD0 signal
Types
MPU6000_t	Sensor group
Functions
mpu6000_aux_transport_setup	Initialize transport on auxiliary I2C bus
mpu6000_initialize_i2c	Initialize sensor on I2C bus
mpu6000_initialize_spi	Initialize sensor on SPI bus
mpu6000_read_die_temperature	Read die temperature
mpu6000_revision	Decode device and silicon revision