gyr_x=GYRO_X/32768250acc_x=ACCEL_X/32768*2g;g为当地重力加速度，取9.8m/s^2;
其中：寄存器详细说明可以查询产品的数据手册 。
完整实例代码：
/*Name:MPU6050_TestDemo.inoCreated:2020/3/18 星期三 20:17:09Author:SilenceJerui*//*接线方式： //MPU6050--UNO//VCC--5V//GND--GND//SCL--A5//SDA--A4//AD0-- （AD0引脚为地址选择引脚，悬空或者接GND，硬件地址为0x68，接VCC/高电平硬件地址为0x69）//INT-- （中断引脚，如果用到可以接中端口，此处不接）*/#include // Define User Types below here or use a .h file//#define ACCEL_CONFIG 1#define GYRO_CONFIG 1#define G 9.8float val_seven[7];// Define Function Prototypes that use User Types below here or use a .h file//// Define Functions below here or use other.ino or cpp files//向0x6B写入一个字节的数据0，启动器件void MPU_START(void){Wire.beginTransmission(0x68); //开启MPU6050的传输Wire.write(0x6B); //指定寄存器地址Wire.write(0); //写入一个字节的数Wire.endTransmission(true); //结束传输，true表示释放总线}//配置角速度倍率void GYRO_CONFIG_SET(int f){Wire.beginTransmission(0x68); //开启MPU-6050的传Wire.write(0x1B); //角速度倍率寄存器的地址Wire.requestFrom(0x68, 1, true); //先读出原配置unsigned char acc_conf = Wire.read();acc_conf = ((acc_conf & 0xE7) | (f << 3));Wire.write(acc_conf);Wire.endTransmission(true); //结束传输，true表示释放总线}//配置加速度倍率void ACCEL_CONFIG_SET(int f){Wire.beginTransmission(0x68); //开启MPU-6050的传输Wire.write(0x1C); //加速度倍率寄存器的地址Wire.requestFrom(0x68, 1, true); //先读出原配置unsigned char acc_conf = Wire.read();acc_conf = ((acc_conf & 0xE7) | (f << 3));Wire.write(acc_conf);Wire.endTransmission(true); //结束传输，true表示释放总线}//获取MPU数据void Get_Value(void){//获取各个轴分量数据Wire.beginTransmission(0x68); //开启MPU-6050的传输Wire.write(0x3B);Wire.requestFrom(0x68, 7 * 2, true);Wire.endTransmission(true);for (long i = 0; i < 7; ++i) {val_seven[i] = Wire.read() << 8 | Wire.read();}//数据换算val_seven[0] = (float)(val_seven[0] / 32768 * (2 ^ ACCEL_CONFIG) *G);//acc_xval_seven[1] = (float)(val_seven[1] / 32768 * (2 ^ ACCEL_CONFIG) * G);//acc_yval_seven[2] = (float)(val_seven[2] / 32768 * (2 ^ ACCEL_CONFIG) *G);//acc_zval_seven[3] = (float)(val_seven[3] / 340 + 36.53);//acc_zval_seven[4] = (float)(val_seven[4] / 32768 * (2 ^ GYRO_CONFIG) *250);//gyr_xval_seven[5] = (float)(val_seven[5] / 32768 * (2 ^ GYRO_CONFIG) *250);//gyr_yval_seven[6] = (float)(val_seven[6] / 32768 * (2 ^ GYRO_CONFIG) *250);//gyr_z}// The setup() function runs once each time the micro-controller startsvoid setup(){Serial.begin(9600);Wire.begin();//以主机模式开启总线MPU_START();//启动MPU6050GYRO_CONFIG_SET(0);//配置器件角速度倍率ACCEL_CONFIG_SET(0);//配置器件加速度倍率}// Add the main program code into the continuous loop() functionvoid loop(){Get_Value();Serial.print("acc_x:");Serial.print('\t');Serial.println(val_seven[0]);Serial.print("acc_y:");Serial.print('\t');Serial.println(val_seven[1]);Serial.print("acc_z:");Serial.print('\t');Serial.println(val_seven[2]);Serial.print("gyr_x:");Serial.print('\t');Serial.println(val_seven[4]);Serial.print("gyr_y:");Serial.print('\t');Serial.println(val_seven[5]);Serial.print("gyr_z:");Serial.print('\t');Serial.println(val_seven[6]);Serial.print("TEMP:");Serial.print('\t');Serial.println(val_seven[3]);delay(500);}
