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## MPU6050 sensor
Read values(Ax) from a MPU6050 accelerometer and dump them to the serial port.
!!! tip "examples/C/MPU6050_UART_DEMO.c"
```python
/*
Scan the I2C bus for MPU6050 and send results via UART.
*/
#include <avr/kp.h> // Include file for I/O operations
#define REG_CONTROL 0xF4
#define CMD_TEMP 0x2E
#define REG_RESULT_AX 0x3B
int main (void)
{
uint8_t addresses[20], found, res[10]={0,0,0,0,0,0,0,0,0,0},i=0;
uint8_t accel_range_commands[] = {0x1B, 0<<3};
uint8_t gyro_range_commands[] = {0x1C, 0<<3}; // gyro range
uint8_t power_on_commands[] = {0x6B, 0x00}; // Power on
char mystring[10];
i2c_init();
uart_init(38400);
for(;;)
{
found = i2c_scan(&addresses[0]); // i2c scan will store the addresses in `addresses`, and return total found sensors.
for(i=0;i<found;i++){
uart_send_byte_ascii(addresses[i]); // send address
uart_send_byte(','); // send comma.
//MPU6050 detected at 104 (0x68). read values from ax and send over UART
if(addresses[i] == 0x68){
// write to 0x68 (bmp180 address) , 0xF4 and 0x2E
i2c_write(0x68 , accel_range_commands, 2); // Gyro Range . 250
i2c_write(0x68 , gyro_range_commands, 2); // Accelerometer Range. 2
i2c_write(0x68 , power_on_commands, 2); // Power ON
delay_ms(10);
for(;;){
// read 2 bytes from the result register for Ax
i2c_read(0x68, REG_RESULT_AX, &res[0],2); itoa((res[0]<<8)|(res[1]), mystring, 10); // Convert to decimal string
uart_send_string(mystring);
uart_send_byte('\n');
//uart_send_byte_ascii(res[0]); // send MSB
//uart_send_byte(',');
//uart_send_byte_ascii(res[1]); // send LSB
//uart_send_byte('\n');
delay_ms(100);
}
}
}
if(found)
uart_send_byte('\n');
delay_ms(500);
}
return 0;
}
```
## Serial Monitor
Raw values are combined into a 16 bit signed integer and `itoa` function is used to convert them
to a string before dumping into the serial port.
Click the gauge button, and select ASCII mode to view values in a gauge. you can also use the data logger
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