A minimal driver for the MPU6050 gyroscope cum accelerometer using the ESP-IDF framework. It uses the I2C protocol to communicate with the chip.
Connect VCC to +3.3V, GND to ground, SCL to GPIO23, SDA to GPIO22 and ADD to GND(optional).
The pin configurations for SCL and SDA are set in mpu6050.h
The I2C clock speed is set to 100kHz by default but it can be changed in i2c-driver.h
This driver uses mode 0 for both the accelerometer and gyroscope (+=2g and +-250deg/s). Other modes can be used by referring to the datasheet