diff --git a/mpu3050.c b/mpu3050.c
new file mode 100644
index 0000000..e868e84
--- /dev/null
+++ b/mpu3050.c
@@ -0,0 +1,32 @@
+#include "stm32f10x.h"
+#include "mpu3050.h"
+#include "iic.h"
+#include <stdio.h>
+#define MPU3050_ADDR 0xd0
+#define MPU3050_ID   0x68
+#define MPU3050_ID_ADDR 0x00
+#define AUX_SLV_ADDR    0x14
+#define DLPF_FS         0x16
+#define AUX_BURST_ADDR  0x18
+#define USER_CTRL       0x3d
+#define MPU3050_BRUST_ADDR 0x1b
+
+void mpu3050_init(void)
+{
+  u8 data_buf = 0;
+  data_buf = 0x1e;
+  iic_rw(&data_buf, 1, DLPF_FS, MPU3050_ADDR , WRITE);
+  data_buf = 0;
+  iic_rw(&data_buf, 1, USER_CTRL, MPU3050_ADDR , WRITE);
+}
+
+void mpu3050_get_data(s16 *gx, s16 *gy, s16 *gz, s16 *temperature)
+{
+  u8 data_buf[8];
+  
+  iic_rw(&data_buf[0],8,MPU3050_BRUST_ADDR,MPU3050_ADDR,READ);
+  *temperature = data_buf[0] * 0x100 + data_buf[1];
+  *gx = data_buf[2] * 0x100 + data_buf[3];
+  *gy = data_buf[4] * 0x100 + data_buf[5];
+  *gz = data_buf[6] * 0x100 + data_buf[7];
+}