MPU6500 (GY-6500) accelerometer + gyro with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x68 / 0x69 Measures acceleration, rotation, temperature

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VCC	Power	3V3
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
EDA	Not wired to the ESP32	—	Auxiliary I2C data. Leave unconnected
ECL	Not wired to the ESP32	—	Auxiliary I2C clock. Leave unconnected
AD0	Not wired to the ESP32	—	Address select: LOW = 0x68, HIGH = 0x69
INT	Interrupt	D35
NCS	Not wired to the ESP32	—	SPI chip select. Leave unconnected or HIGH for I2C
FSYNC	Not wired to the ESP32	—	Frame sync. Leave unconnected or tie to GND

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 0x75: a genuine part answers 0x70. 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(0x68);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "MPU6500 (GY-6500) accelerometer + gyro found at 0x68" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

InvenSense MPU-6500 Register Map, Register 117 WHO_AM_I (reads 0x70)
InvenSense MPU-6500 Product Specification, I2C address 0x68 / 0x69 with AD0

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

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