A lightweight and portable driver for the MPU6050, compatible with STM32, ESP32, Arduino, and other microcontrollers.
The MPU6050 is a 6-axis motion tracking sensor that combines a 3-axis accelerometer and a 3-axis gyroscope into a single compact package. It is widely used in applications like drones, robotics, gaming, and motion tracking due to its ability to measure both linear acceleration and angular velocity. The sensor communicates via I2C (default), providing raw motion data that can be processed to determine orientation, tilt, and movement.
This driver provides a modular and cross-platform implementation, making it hardware-independent and compatible with any HAL (Hardware Abstraction Layer).
- Cross-Platform – Works with STM32, ESP32, Arduino, and more
- Supports Any HAL – Uses function pointers for communication (I2C/SPI)
- Accelerometer, Gyroscope & Temperature Readings
- Self-Test & Digital Low-Pass Filter (DLPF) Configuration
- Minimal Dependencies – Designed for embedded systems
The MPU6050 uses the I2C protocol to communicate with microcontrollers. It has:
- SDA (Serial Data Line) – Transfers data
- SCL (Serial Clock Line) – Synchronizes data transfer
I2C Address:
- 0x68 (Default) when AD0 = LOW
- 0x69 when AD0 = HIGH
| Pin | Name | Description |
|---|---|---|
| VCC | Power | Connect to 3.3V or 5V |
| GND | Ground | Connect to GND |
| SCL | Serial Clock | I2C clock pin |
| SDA | Serial Data | I2C data pin |
| XDA | Auxiliary Serial Data | Used for external sensors |
| XCL | Auxiliary Serial Clock | Used for external sensors |
| ADO | I2C Address Select | Changes device I2C address |
| INT | Interrupt | Signals data availability |