MotionSensorExample===================MPU6050/MPU6500/MPU9150/MPU9250 over I2c for RaspberryPi using official Invensense libraries (v5.1):http://www.invensense.com/developers/index.php?_r=downloadsThis is a sample program for testing your MPU Motion Sensor with Rasperry Pi.It does all the initialization and gathers:- gyro- accel- quaternion- compass (for MPU9XXX)- temperatureand calculates Yaw, Pitch, Roll in degrees which in turn is displayed as an output.**Wiring**I2C uses only2 wires for data transmission: SCL and SDARPi pin 3 -> MPU SDARPi pin 5 -> MPU SCLYou will also need to provide power (3.3V) to your MPU. You can use external power or hook it up with RPi.For example:RPi pin 1 (3.3V) -> MPU VCCRPi pin 6 (Ground) -> MPU GND**Compilation:**On RPi, edit MotionSensor/Makefile and adjust CXX_OPTS to specify your board (-DMPU6050 for MPU6050, -DMPU9150 for MPU9150), issue make**Cross compiling:**Edit all Makefiles in all directories and adjust CXX. Issue make**Running:**  make sure you have i2c_dev module loaded (modprobe i2c_dev)  run mstest  *Output:*Initializing I2C devices...Testing device connections...MPU6050 connection successfulInitializing DMP...Enabling DMP...DMP ready!Initializing IMU...Checking... Done.IMU init done; offset values are :yaw = -0.169205, pitch = -1.301078, roll = -1.168776yaw = -0.174            pitch = 1.325           roll = -1.219   t = 20.24       1       0       0yaw = -0.179            pitch = 1.350           roll = -1.267   t = 20.22       2       0       0yaw = -0.185            pitch = 1.372           roll = -1.314   t = 20.23       3       0       0yaw = -0.190            pitch = 1.395           roll = -1.361   t = 20.21       4       0       0yaw = -0.195            pitch = 1.418           roll = -1.410   t = 20.23       5       0       0yaw = -0.201            pitch = 1.441           roll = -1.454   t = 20.23       6       0       0yaw = -0.206            pitch = 1.465           roll = -1.498   t = 20.23       7       0       0yaw = -0.211            pitch = 1.485           roll = -1.545   t = 20.23       8       0       0yaw = -0.216            pitch = 1.506           roll = -1.587   t = 20.23       9       0       0....**Additional info:**Current setup is to run at 40Hz, this can be adjusted in the ms_open function, however note that your code will need to read the values with respective speed or quicker. Otherwise the MPU fifo buffer will overflown.To read MPU see ms_update - it calls 'dmp read fifo' in a while loop. This means that if fifo is empty this will stall until a packet is available.-------------------------Gregory Dymarek