Yifei Teng
MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
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MPU6050_tmp
by 
Aloïs Wolff
Async MPU6050 library
My port of the MPU6050 library samples the chip at 500Hz using Timer. Async I2C is achieved using a custom I2C library, which supports I2C calls from interrupts. Link given below:
Import libraryMODI2C
Improvements to Olieman's MODI2C library. Supports calls from IRQ.
Last commit 28 Mar 2018 by 
Yifei Teng
Difference between this port and the Arduino MPU6050 library
The getMotion6 function only returns a copy of the last obtained readings, which is sampled at a frequency of 500Hz (adjustable). Hence it can be called at any frequency without taxing the I2C.