MPU6050 with ESP32

Specifications

Power and logic levels

3.3 V: safe to connect directly

ESP32 pins, including those on a display board's connectors, work at 3.3 V and are not 5 V tolerant. Modules differ, so if in doubt, measure the signal before you connect it.

Wiring

Arduino code

#include <Wire.h>

const int SDA_PIN = 8, SCL_PIN = 9;   // use your board's I2C pins
const uint8_t MPU = 0x68;

void setup() {
  Serial.begin(115200);
  Wire.begin(SDA_PIN, SCL_PIN);
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);                   // PWR_MGMT_1
  Wire.write(0);                      // wake up
  Wire.endTransmission();
}

void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);                   // ACCEL_XOUT_H
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, (uint8_t)6);
  int16_t ax = (Wire.read() << 8) | Wire.read();
  int16_t ay = (Wire.read() << 8) | Wire.read();
  int16_t az = (Wire.read() << 8) | Wire.read();
  Serial.printf("%.2f %.2f %.2f g\n", ax / 16384.0, ay / 16384.0, az / 16384.0);
  delay(200);
}

No extra library needed. Compiled for ESP32-S3 with arduino-esp32 3.x. Not yet tested by us on a physical sensor. Change the pins to match your board.

On a display

Read the value in your sketch and pass it to a label, or send it over MQTT and show it with an MQTT value in the editor.

Boards with a ready connector

Only boards whose connectors we have surveyed. Others may still work on free GPIOs.

Good to know

• It starts asleep. Write 0 to register 0x6B first.
• Connect AD0. A floating pin can cause random errors.
• Gyro values drift. An accurate angle needs sensor fusion.
• Many display boards already have an IMU.

What it is good for

• Tilt and orientation detection
• Vibration and knock detection
• Handheld device gestures

FAQ

Sources

• https://docs.circuit.rocks/sensors/mpu6050/
• https://esphome.io/components/sensor/mpu6050/

Related parts

• BH1750
• HC-SR04