diff --git a/samples/mpu6050.go b/samples/mpu6050.go
new file mode 100644
index 0000000..866a0d1
--- /dev/null
+++ b/samples/mpu6050.go
@@ -0,0 +1,48 @@
+// +build ignore
+
+package main
+
+import (
+	"flag"
+	"fmt"
+	"os"
+	"os/signal"
+	"time"
+
+	"github.com/kidoman/embd"
+	"github.com/kidoman/embd/sensor/mpu6050"
+
+	_ "github.com/kidoman/embd/host/all"
+)
+
+func main() {
+	flag.Parse()
+
+	if err := embd.InitI2C(); err != nil {
+		panic(err)
+	}
+	defer embd.CloseI2C()
+
+	bus := embd.NewI2CBus(1)
+
+	sensor, _ := mpu6050.New(bus, &mpu6050.Config{GiroScale: "1000", Dlpf: "6"})
+
+	sensor.Start()
+	defer sensor.Close()
+
+	// catch ctrl+c and ctrl+x so the sensor.Close is executed
+	stop := make(chan os.Signal, 1)
+	signal.Notify(stop, os.Interrupt, os.Kill)
+
+	for {
+		select {
+		case <-stop:
+			return
+		default:
+			v := sensor.Read().Orientation()
+			print("\033[H\033[2J") // clear the screen for every read
+			fmt.Println(v)
+			time.Sleep(200 * time.Millisecond)
+		}
+	}
+}
diff --git a/sensor/mpu6050/mpu6050.go b/sensor/mpu6050/mpu6050.go
new file mode 100644
index 0000000..14da257
--- /dev/null
+++ b/sensor/mpu6050/mpu6050.go
@@ -0,0 +1,262 @@
+/*
+Package mpu6050 allows interacting with mpu6050 gyroscoping/acceleration sensor.
+The interface is as close as possible to the sensor's firmware datasheet with no extra magic.
+https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
+*/
+package mpu6050
+
+import (
+	"github.com/golang/glog"
+	"github.com/kidoman/embd"
+)
+
+// Direct constants mapping with the register names
+const (
+	I2C_ADDR   = 0x68
+	PWR_MGMT_1 = 0x6b
+
+	// CONFIG is used to set the digital low pass filter (DLPF)
+	CONFIG       = 0x1A
+	GYRO_CONFIG  = 0x1B
+	ACCEL_CONFIG = 0x1C
+
+	DATA = 0x3B
+	// ACCEL_XOUT_L = 0x3C
+	// ACCEL_YOUT_H = 0x3D
+	// ACCEL_YOUT_L = 0x3E
+	// ACCEL_ZOUT_H = 0x3F
+	// ACCEL_ZOUT_L = 0x40
+	// GYRO_XOUT_H = 0x43
+	// GYRO_XOUT_L = 0x44
+	// GYRO_YOUT_H = 0x45
+	// GYRO_YOUT_L = 0x46
+	// GYRO_ZOUT_H = 0x47
+	// GYRO_ZOUT_L = 0x48
+	// TEMP_OUT_H  = 0x41
+	// TEMP_OUT_L  = 0x42
+	//Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
+
+	SIGNAL_PATH_RESET = 0x68
+
+	WAKE         = 0x0
+	SLEEP        = 0x40
+	DEVICE_RESET = 0x80
+)
+
+type reading struct {
+	highReg, lowReg uint8
+	devider         float64
+}
+
+func (r *reading) decimal() float64 {
+	d := float64(uint16(r.highReg)<<8 | uint16(r.lowReg))
+	if d >= 0x8000 {
+		d = -((65535 - d) + 1)
+	}
+	d /= r.devider
+	return d
+
+}
+
+type orientation struct {
+	X, Y, Z float64
+}
+type velocity struct {
+	X, Y, Z float64
+}
+
+type temperature struct {
+	Celsius float64
+}
+
+type rotation struct {
+	X, Y float64
+}
+
+type MPU6050Reading struct {
+	aReading orientation
+	gReading velocity
+	tReading temperature
+}
+
+func (r *MPU6050Reading) Orientation() orientation {
+	return r.aReading
+}
+func (r *MPU6050Reading) Velocity() velocity {
+	return r.gReading
+}
+
+func (r *MPU6050Reading) Temp() temperature {
+	return r.tReading
+}
+
+// Config represents a MPU6050 range setting.
+type Config struct {
+	GiroScale  string
+	AccelScale string
+	Dlpf       string
+}
+
+// scaleRange represents a range unit where selection is the register value and sensitivity is the range devider
+type scaleRange struct {
+	name        string
+	selection   byte
+	sensitivity float64
+}
+
+// used to validate the config passed from the initialization and map it to the internal Digital Low Pass Filter (DLPF) values.
+var dlpfRanges = map[string]byte{
+	"0": 0x0,
+	"1": 0x1,
+	"2": 0x2,
+	"3": 0x3,
+	"4": 0x4,
+	"5": 0x5,
+	"6": 0x6}
+
+// used to parse the config passed from the initialization and map it to the internal scale range values.
+var gyroRanges = map[string]scaleRange{
+	"250":  scaleRange{"250 °/s", 0x0, 131},
+	"500":  scaleRange{"500 °/s", 0x8, 65.5},
+	"1000": scaleRange{"1000 °/s", 0x10, 32.8},
+	"2000": scaleRange{"2000 °/s", 0x18, 16.4},
+}
+
+// used to parse the config passed from the initialization and map it to the internal scale range values.
+var accelRanges = map[string]scaleRange{
+	"2g":  scaleRange{"2g", 0x0, 16384},
+	"4g":  scaleRange{"4g", 0x8, 8192},
+	"8g":  scaleRange{"8g", 0x10, 4096},
+	"16g": scaleRange{"16g", 0x18, 2048},
+}
+
+func readingDevider(b embd.I2CBus, reg byte, s map[string]scaleRange) float64 {
+	scale, _ := b.ReadByteFromReg(I2C_ADDR, reg)
+	scale = (scale & 0x18) // mask the bits that are not of interest
+
+	var devider float64 = 1
+	for _, v := range s {
+		if v.selection == scale {
+			devider = v.sensitivity
+			break
+		}
+	}
+	return devider
+}
+
+// MPU6050 represents a MPU6050 3-axis gyroscope and acceleromoter.
+type MPU6050 struct {
+	Bus        embd.I2CBus
+	gyroRange  scaleRange
+	accelRange scaleRange
+	dlpf       byte
+}
+
+// New creates a new MPU6050 interface.
+func New(bus embd.I2CBus, c *Config) (*MPU6050, error) {
+	var s *MPU6050
+	var gR = gyroRanges["250"]
+	var aR = accelRanges["2g"]
+	var dlpf = dlpfRanges["0"]
+
+	if r, ok := gyroRanges[c.GiroScale]; ok {
+		gR = r
+	} else if c.GiroScale != "" {
+		glog.Fatalln("Incorrect gyro scale range value!")
+	}
+	if r, ok := accelRanges[c.AccelScale]; ok {
+		aR = r
+	} else if c.AccelScale != "" {
+		glog.Fatalln("Incorrect accel scale range value!")
+	}
+	if r, ok := dlpfRanges[c.Dlpf]; ok {
+		dlpf = r
+	} else if c.Dlpf != "" {
+		glog.Fatalln("Incorrect dlpf value!")
+	}
+	s = &MPU6050{
+		Bus:        bus,
+		gyroRange:  gR,
+		accelRange: aR,
+		dlpf:       dlpf,
+	}
+
+	return s, nil
+}
+
+// Wake writes to the power management register to disable the sleep mode
+func (s *MPU6050) Start() error {
+	if err := s.wake(); err != nil {
+		return err
+	}
+	if err := s.setup(); err != nil {
+		return err
+	}
+	return nil
+}
+
+// Wake writes to the power management register to disable the sleep mode
+func (s *MPU6050) wake() error {
+	if err := s.Bus.WriteByteToReg(I2C_ADDR, PWR_MGMT_1, WAKE); err != nil {
+		return err
+	}
+	glog.V(1).Infof("mpu6050: sensor is now alive")
+	return nil
+}
+
+// Close writes to the power management register to reset the sensor and put it in sleep mode
+func (s *MPU6050) Close() error {
+	if err := s.Bus.WriteByteToReg(I2C_ADDR, PWR_MGMT_1, SLEEP|DEVICE_RESET); err != nil {
+		return err
+	}
+	glog.V(1).Infof("mpu6050: sensor is reset and put to sleep")
+	return nil
+}
+
+func (s *MPU6050) setup() error {
+	if err := s.Bus.WriteByteToReg(I2C_ADDR, GYRO_CONFIG, s.gyroRange.selection); err != nil {
+		return err
+	}
+	glog.V(1).Infof("mpu6050: sensor gyro scale is %s", s.gyroRange.name)
+
+	if err := s.Bus.WriteByteToReg(I2C_ADDR, ACCEL_CONFIG, s.accelRange.selection); err != nil {
+		return err
+	}
+	glog.V(1).Infof("mpu6050: sensor gyro scale is %s", s.accelRange.name)
+
+	if err := s.Bus.WriteByteToReg(I2C_ADDR, CONFIG, s.dlpf); err != nil {
+		return err
+	}
+	glog.V(1).Infof("mpu6050: sensor digital low pass filter is %d", s.dlpf)
+
+	return nil
+}
+
+func (s *MPU6050) Read() *MPU6050Reading {
+	r := &MPU6050Reading{}
+	// read all 6 registers at once to make sure we are getting the correct reading sample sequence
+	data := make([]byte, 14)
+	if err := s.Bus.ReadFromReg(I2C_ADDR, DATA, data); err != nil {
+		glog.Fatalln(err)
+	}
+
+	// take the devider for every reading in case another app has changed the sensor sensitivity
+	deviderA := readingDevider(s.Bus, ACCEL_CONFIG, accelRanges)
+
+	xA := reading{uint8(data[0]), uint8(data[1]), deviderA}
+	yA := reading{uint8(data[2]), uint8(data[3]), deviderA}
+	zA := reading{uint8(data[4]), uint8(data[5]), deviderA}
+
+	r.aReading = orientation{xA.decimal(), yA.decimal(), zA.decimal()}
+
+	t := reading{uint8(data[6]), uint8(data[7]), 1}
+	r.tReading = temperature{Celsius: (t.decimal()/340 + 36.53)}
+	deviderG := readingDevider(s.Bus, GYRO_CONFIG, gyroRanges)
+	xG := reading{uint8(data[8]), uint8(data[9]), deviderG}
+	yG := reading{uint8(data[10]), uint8(data[11]), deviderG}
+	zG := reading{uint8(data[12]), uint8(data[13]), deviderG}
+
+	r.gReading = velocity{xG.decimal(), yG.decimal(), zG.decimal()}
+
+	return r
+}