GY-291 ADXL345 accelerometer with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x53 / 0x1D Measures acceleration

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
GND	Ground	GND
VCC	Power	3V3
CS	Not wired to the ESP32	—	HIGH (default on the board) selects I2C
INT1	Interrupt	D35
INT2	Interrupt	VP
SDO	Not wired to the ESP32	—	Address select: LOW = 0x53, HIGH = 0x1D
SDA	I2C data (SDA)	D21
SCL	I2C clock (SCL)	D22

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Check it is the real chip

Read register 0x00: a genuine part answers 0xE5. BoardPilot does this automatically in “Debug a problem”.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x53);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "GY-291 ADXL345 accelerometer found at 0x53" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

Analog Devices ADXL345 datasheet, Register 0x00 DEVID (reads 0xE5)
Analog Devices ADXL345 datasheet, I2C: ALT ADDRESS HIGH 0x1D, LOW 0x53

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.