Setup basic i2c dev check with mpu6050

lib/drivers/mpu6050/mpu6050.c

@@ -1,3 +1,61 @@
+#include "mpu6050.h"
+
+#include <esp_log.h>
+
+#define I2C_MASTER_PORT	  I2C_NUM_0
+#define I2C_MASTER_SCL_IO (gpio_num_t)(40)
+#define I2C_MASTER_SDA_IO (gpio_num_t)(37)
+
+
+#define I2C_MPU6050_DEV_ADDR	0x68  // AD0
+#define I2C_MPU6050_DEV_FREQ_HZ 400000
+
+#define I2C_MPU6050_WHO_AM_I 0x75
+#define I2C_MPU6050_DEV_ID   0x68
+
+#define I2C_TIMEOUT_MS 500
+
+static const char *TAG = "MPU6050.c";
+
+static void i2c_mpu6050_read(i2c_master_dev_handle_t i2c_dev,
+	uint8_t					     addr,
+	uint8_t					    *data,
+	size_t					     num_bytes)
+{
+	i2c_master_transmit_receive(
+		i2c_dev, &addr, 1, data, num_bytes, I2C_TIMEOUT_MS);
+}
+
 void mpu6050_init(void)
 {
+	i2c_master_bus_config_t i2c_master_conf = {
+		.clk_source	   = I2C_CLK_SRC_DEFAULT,
+		.i2c_port	   = I2C_NUM_0,
+		.scl_io_num	   = I2C_MASTER_SCL_IO,
+		.sda_io_num	   = I2C_MASTER_SDA_IO,
+		.glitch_ignore_cnt = 7,
+	};
+
+	i2c_master_bus_handle_t bus_handle;
+
+	ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_master_conf, &bus_handle));
+
+	i2c_device_config_t i2c_dev_conf = {
+		.dev_addr_length = I2C_ADDR_BIT_LEN_7,
+		.device_address	 = I2C_MPU6050_DEV_ADDR,
+		.scl_speed_hz	 = I2C_MPU6050_DEV_FREQ_HZ,
+	};
+
+	i2c_master_dev_handle_t dev_handle;
+
+	ESP_ERROR_CHECK(i2c_master_bus_add_device(
+		bus_handle, &i2c_dev_conf, &dev_handle));
+
+	uint8_t dev_id;
+	i2c_mpu6050_read(dev_handle, I2C_MPU6050_WHO_AM_I, &dev_id, 1);
+
+	if (dev_id != (uint8_t) I2C_MPU6050_DEV_ID) {
+		ESP_LOGE(TAG, "Failure @ dev id\n");
+		return;
+	}
 }