https://devzone.nordicsemi.com/f/nordic-q-a/4868/how-to-use-acc-gyro-6050-with-nrf51822-and-soft-deviceHi. I read in the sdk documentation, there is a library to use MPU-6050. So i try to find it but I did not succeed. i want to read data from 6050 and send this data with advartising method. someone can help me communicate with the sensor? I thinken-USTelligent Community 13Mon, 29 Dec 2014 17:26:59 GMThttps://devzone.nordicsemi.com/thread/17199?ContentTypeID=1Mon, 29 Dec 2014 17:26:59 GMT137ad170-7792-4731-bb38-c0d22fbe4515:0759e9e9-9e03-4626-850b-919de7e6c365Stian R&#248;ed Hafskjold<p>Which SDK version are you using? In the newest SDK (7.1.0) the drivers are located in the <code>(SDK path)\components\drivers_ext\mpu6050</code> folder. You must include <code>mpu6050.h</code> as well as the <code>components\drivers_nrf\twi_master\twi_master.h</code> library in your <code>main.c</code> file. The two corresponding c-files <code>mpu6050.c</code> and <code>twi_sw_master.c</code> must be added to you Keil project.</p> <p>If you are using packs for Keil, the mpu6050 drivers and TWI library are found under nRF_Drivers_External and nRF_Drivers respectively (In the &quot;Manage Run-time Environment&quot; window)</p> <p>The mpu6050 drivers provide you with the functions:</p> <ul> <li>mpu6050_init()</li> <li>mpu6050_register_write()</li> <li>mpu6050_register_read()</li> <li>mpu6050_verify_product_id()</li> </ul> <p>In <code>main()</code>, first initialize TWI, then the mpu6050:</p> <pre><code>twi_master_init(); mpu6050_init(addr); </code></pre> <p>If you use the software TWI (<code>twi_sw_master.c</code>, not <code>twi_hw_master.c</code>) it should work with the softdevice enabled.</p><div style="clear:both;"></div>