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I am using MPU6050 along with ATtiny2313 avr microcontroller. I want to read the values generated by the DMP in the MPU6050 IMU, but i am not sure as to what to do. i.e. which register contains what value, which register to read ... I tried to understand things by example your code but could not understand anything. Could someone please help me in some way, maybe by pointing me in some direction or some resources. I am trying to write my one code in Embedded C for interfacing and i am succesful in reading in accelerometer and gyroscope values from the MPU6050 IC.