MPU-6050 6-axis accelerometer/gyroscope
   
The MPU-6000™ family provides the world's first integrated 6-axis MotionProcessing™ solution that eliminates the package-level gyro/accel cross-axis misalignment associated with discrete solutions. The devices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die together with an onboard Digital Motion Processor™ (DMP™) capable of processing complex 9-axis MotionFusion algorithms. The parts' integrated 9-axis MotionFusion algorithms access external magnetometers or other sensors through an auxiliary master I2C bus, allowing the devices to gather a full set of sensor data without intervention from the system processor. The devices are offered in the same 4x4x0.9 mm QFN footprint and pinout as the current MPU-3000™ family of integrated 3-axis gyroscopes, providing a simple upgrade path and making it easy to fit on space constrained boards.

(Source: InvenSense product description, 9/28/2011)
   
Due to the lack of good publicly available documentation about the inner workings of this device, all DMP-related information has been reverse-engineered from I2C signal analysis correlated against the company-provided Embedded MotionApps software (available on the InvenSense Developers Corner site). This backwards discovery effort is incomplete and ongoing, and will hopefully end up in a feature-complete device library that supports full DMP configuration. Currently, the source code available will only provide basic device configuration and raw accel/gryo readings (which is certainly useful, but missing the main selling point of the MPU-6000 series, which is the device-powered motion processing ability).
   
 
   
Source and Docs
      
Register Map
      
Data Captures (18)
      
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I2Cdevlib Device Source and Documentation

   
Source:https://www.github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
      
Documentation:http://www.i2cdevlib.com/docs/html/class_m_p_u6050.html
      
Example Code

   
Raw Acceleration/Rotation Measurements(www.github.com)
      
DMP quaternion output with 6-axis IMU functionality(www.github.com)
      
 
 
http://www.i2cdevlib.com/devices/mpu6050/#source