MPU6050

Connects over

I²C

Address

0x68 (or 0x69)

Made by

TDK InvenSense

Datasheet

invensense.tdk.com

Use it

hardware {
    device mpu6050: MPU6050
}

every 1s {
    let value: float = mpu6050.accel_x()
    log("mpu6050", "accel_x={value}")
}

On its own, the declaration puts the MPU6050 on the first I²C bus (SDA 21, SCL 22 on the ESP32) at 0x68. To choose the pins or the address, declare the bus and attach the device: device mpu6050: MPU6050 on i2c0 at 0x69 with i2c i2c0(sda: 21, scl: 22).

Methods

• mpu6050.accel_x() -> float

  X acceleration in g

• mpu6050.accel_y() -> float

  Y acceleration in g

• mpu6050.accel_z() -> float

  Z acceleration in g

• mpu6050.gyro_x() -> float

  X rotation °/s

• mpu6050.gyro_y() -> float

  Y rotation °/s

• mpu6050.gyro_z() -> float

  Z rotation °/s

• mpu6050.temperature() -> float

  Die temperature in °C

Wiring

Specifications

Voltage

2.375V – 3.46V (NOT 5V tolerant on bare chip — breakouts have a regulator)

Current

3.9 mA active

Accel range

±2g, ±4g, ±8g, ±16g

Gyro range

±250, ±500, ±1000, ±2000 dps

Sample rate

Up to 1 kHz

Tips

• DMP (Digital Motion Processor) inside is officially undocumented; most libraries upload Invensense's binary blob.
• Cheap modules are often relabeled clones — quality varies wildly.
• Combine with a magnetometer (HMC5883L / QMC5883L) for a 9-DoF absolute orientation system.

Alternatives worth knowing:

• MPU9250: MPU6050 + magnetometer in one chip — discontinued but still available.
• ICM-20948: Modern Invensense 9-DoF — successor to MPU9250.
• BNO055: Bosch — has built-in sensor fusion (gives quaternions directly).