which MPU6050 libs for ARM core (with Kalman filter?) and without Intr usage ?

Now the MPU6050 has a 3D Gyro, so it must be able to retrieve the rotation round it's horizontal forward (x)

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No, because the gyro detects the rate of rotation, not the angle. You can integrate rotation rates to accumulate a relative change in yaw, from some starting yaw value.

You cannot obtain the absolute yaw angle, which is based on knowing where the North pole is.