Draft: Arduino MPU6050 via I2C

mpu6050.ino

#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

MPU6050 mpu;

#define INTERRUPT_PIN 7

bool dmpReady = false;  // set true if DMP init was successful
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint8_t fifoBuffer[64]; // FIFO storage buffer

Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high

void setup() {
    Wire.begin();
    Wire.setClock(400000);

    Serial.begin(115200);

    while (!Serial);

    setupMpu6050();
}

void loop() {
    if (!dmpReady) return;

    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
      //Serial.print("ypr\t");
      //Serial.print(ypr[0] * 180/M_PI);
      //Serial.print("\t");
      Serial.println(ypr[1] * 180/M_PI);
      //Serial.print("\t");
      //Serial.println(ypr[2] * 180/M_PI);
    }
    delay(100);
}

bool setupMpu6050() {
  pinMode(INTERRUPT_PIN, INPUT);

  mpu.initialize();

  Serial.println(F("Testing device connections..."));

  Serial.println(
    mpu.testConnection()
      ? F("MPU6050 connection successful")
      : F("MPU6050 connection failed")
  );

  if (mpu.dmpInitialize() == 0) {
      mpu.CalibrateAccel(6);
      mpu.CalibrateGyro(6);
      mpu.PrintActiveOffsets();

      dmpReady = true;
  } else {
      Serial.print(F("DMP Initialization failed (code "));
      Serial.print(devStatus);
      Serial.println(F(")"));
  }
  Serial.println(F("Enabling DMP..."));

  mpu.setDMPEnabled(true);

  attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);

  return true;
}

void dmpDataReady() {
    mpuInterrupt = true;
}