Now I am going to write a program to read the temperature of MPU6050 stored in registers 0x41, 0x42, by the following equation.  I have also summarized the notes for setting or read other register to do self testing of X axis gyro.  But I have very little idea of what gyro is.  So I need to goggle first.

0x41 = TEMP_OUT[15:8], 0x42 = TEMP_OUT[7:0] (16 bit signed value)

temp (C) = TEMP_OUT register value as signed quantity/340 + 36.53

Notes on setting or reading registers

1. Temperature (reg 0x41, 0x42)
0x41 = TEMP_OUT[15:8], 0x42 = TEMP_OUT[7:0] (16 bit signed value)
temp (C) = TEMP_OUT register value as signed quanity/340 + 36.53

2. FT[Xg] (reg 0x0d)
FT[Xg] = 25 * 131 * 1.046 ^ (XG_TEST – 1)
where FT[Xg] = X axis FT value, XG_TEST = decimal version of XG_TEST[4-0] (see reg 0x0d)

3. Sample rate divider (reg 0x19)
SRD = (0xff = /256 = 8k/2^8 = 8 * 2^10 / 2^8 = 32cps)

4. Power Management 1 (reg 0x6b)

5. Gyro Config (reg 0x1b)
0x80 = self test X, full scale 0b00 = +-250 degrees/s

6. Self Test Change
Self test change % = (self test response – factory trim value) / factory trim value

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