Mpu6050 driver for raspberry pi pico w

I am using the arduino ide 2.2.1 with my raspberry pi pico w (rp2040). Are there any recommendations for a mpu6050 (accelerometer, gyro and temperature) driver that can be used with the raspberry pi pico w?

This search will give drivers using micropython. However, I am using c++ with the raspberry pi pico. That is, I need a driver for the raspberry pi pico that is based on c++ (or c).

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