• 3-axis Accelerometer – Measures acceleration in the X, Y, and Z axes in units of g.
• 3-axis Gyroscope – Measures angular velocity in degrees per second (dps).
• Digital Motion Processor (DMP) – Handles complex computations internally to offload the microcontroller.
• Temperature Sensor – Provides onboard temperature monitoring.
• Auxiliary I2C Bus – Allows connection of additional sensors, such as a 3-axis magnetometer or pressure sensor, to provide a full 9-axis motion fusion output.

Key Features of MPU6050:

• Communication: I2C (Inter-Integrated Circuit) protocol.
• Operating Voltage: 3.3V to 5V.
• Measurement Range:
  • Accelerometer: ±2g, ±4g, ±8g, ±16g.
  • Gyroscope: ±250, ±500, ±1000, ±2000 degrees/sec.
• Data Format: 2’s complement form.
• Address Selection: Default I2C address is 0x68 (can be changed to 0x69 by connecting AD0 to VCC).

Wiring (I2C Connection)

Connect the MPU6050 to the Raspberry Pi as follows:

Steps to Use WiringPi withMPU6050

Install WiringPi (if not installed)

sudo apt update
sudo apt install wiringpi

Enable I2C on Raspberry Pi
Run sudo raspi-config → "Interfacing Options" → Enable I2C.

Check I2C Connection
Ensure the ADS1115 is detected using:

i2cdetect -y 1

You should see an entry at 0x68 (default address).

Read Data via WiringPi
If you're using the i2c command-line tool from WiringPi, try:

gpio i2c 1 0x68 0x00

  
    #include <stdio.h>
#include <stdint.h>
#include <wiringPi.h>
#include <wiringPiI2C.h>
#define MPU6050_ACCEL_XOUT_H       0x3B   // R
#define MPU6050_ACCEL_YOUT_H       0x3D   // R
#define MPU6050_ACCEL_ZOUT_H       0x3F   // R

#define MPU6050_GYRO_XOUT_H        0x43   // R
#define MPU6050_GYRO_YOUT_H        0x45   // R
#define MPU6050_GYRO_ZOUT_H        0x47   // R
 
#define MPU6050_PWR_MGMT_1         0x6B   // R/W
#define MPU6050_I2C_ADDRESS        0x68   // I2C
 
int main()
{
    int fd = wiringPiI2CSetup(MPU6050_I2C_ADDRESS);
    if (fd == -1){
        return 0;
	}
 
    wiringPiI2CReadReg8(fd, MPU6050_PWR_MGMT_1);
    wiringPiI2CWriteReg16(fd, MPU6050_PWR_MGMT_1, 0);
 
    signed long int x,y,z;
    signed long int ax,ay,az;
    while(1)
    {
		ax = wiringPiI2CReadReg8(fd, MPU6050_ACCEL_XOUT_H);
        ay = wiringPiI2CReadReg8(fd, MPU6050_ACCEL_YOUT_H);
        az = wiringPiI2CReadReg8(fd, MPU6050_ACCEL_ZOUT_H);
        x = wiringPiI2CReadReg8(fd, MPU6050_GYRO_XOUT_H);
        y = wiringPiI2CReadReg8(fd, MPU6050_GYRO_YOUT_H);
        z = wiringPiI2CReadReg8(fd, MPU6050_GYRO_ZOUT_H);
 
        printf("Accel x=%li   Accel y=%li  Accel z=%li \n", ax,ay,az); 
        printf("Gyro x=%li   Gyro y=%li  Gyro z=%li \n", x,y,z);
        delay(500);
    }
    return 0;
}