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diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
new file mode 100644
index 00000000..290f1390
--- /dev/null
+++ b/src/drivers/ao_mpu6000.c
@@ -0,0 +1,97 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_mpu6000.h>
+#include <ao_exti.h>
+
+static uint8_t	ao_mpu6000_wake;
+static uint8_t	ao_mpu6000_configured;
+
+static void
+ao_mpu6000_isr(void)
+{
+	ao_exti_disable(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN);
+	ao_mpu6000_wake = 1;
+	ao_wakeup(&ao_mpu6000_wake);
+}
+
+static void
+ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
+{
+	ao_i2c_get(AO_MPU6000_I2C_INDEX);
+	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
+	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
+	if (len)
+		ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX);
+	ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+	ao_i2c_put(AO_MPU6000_I2C_INDEX);
+}
+
+static void
+ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len)
+{
+	ao_i2c_get(AO_MPU6000_I2C_INDEX);
+	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
+	ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
+	ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
+	if (len)
+		ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX);
+	ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+	ao_i2c_put(AO_MPU6000_I2C_INDEX);
+}
+
+static void
+ao_mpu6000_setup(void)
+{
+	if (ao_mpu6000_configured)
+		return;
+
+	/* Enable the EXTI interrupt for the appropriate pin */
+	ao_enable_port(AO_MPU6000_INT_PORT);
+	ao_exti_setup(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN,
+		      AO_EXTI_MODE_FALLING, ao_mpu6000_isr);
+
+	ao_mpu6000_configured = 1;
+}
+
+static void
+ao_mpu6000_show(void)
+{
+	uint8_t	addr;
+	uint8_t	data[14];
+	uint8_t i;
+
+	ao_mpu6000_read(MPU6000_WHO_AM_I, data, 1);
+	printf ("mpu6000 WHO_AM_I: %02x\n", data[0]);
+	ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 1);
+	for (i = 0; i < 14; i++)
+		printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]);
+}
+
+static const struct ao_cmds ao_mpu6000_cmds[] = {
+	{ ao_mpu6000_show,	"I\0Show MPU6000 status" },
+	{ 0, NULL }
+};
+
+void
+ao_mpu6000_init(void)
+{
+	ao_mpu6000_configured = 0;
+
+	ao_cmd_register(&ao_mpu6000_cmds[0]);
+}