MPU6050 Six-Axis Gyroscope

Overview

MPU6050 is a six-axis motion sensor (3-axis accelerometer + 3-axis gyroscope) that communicates via I2C bus. It can measure acceleration, angular velocity, and calculate tilt angle. Suitable for attitude detection, motion tracking, tilt alarm, and other scenarios.

Firmware Requirement: Requires FASTBEE_ENABLE_I2C_SENSORS=1 and active i2cSensors.

Supported Peripheral Types

Type	type Value	Description
SENSOR	38	I2C sensor (MPU6050)

Hardware Wiring

MPU6050 Pin	ESP32 GPIO	Description
VCC	3.3V	Power supply
GND	GND	Ground
SDA	GPIO 21	I2C data line
SCL	GPIO 22	I2C clock line
INT	GPIO (optional)	Interrupt output (data ready)

MPU6050 supports 3.3V and 5V power supply; ESP32 recommends using 3.3V.

Configuration

Method 1: Web Interface Configuration (Recommended)

Before saving MPU6050 configuration, verify I2C address, collection fields, and installation orientation.

Step 1: Navigate to Peripheral Management Page

1. Open a browser and navigate to the ESP32 IP address
2. After logging in, click Peripheral Configuration in the left menu

Step 2: Add MPU6050 Peripheral

1. Click the Add Peripheral button

2. Fill in the configuration:

   Field	Value	Description
   Peripheral ID	mpu6050_1	Unique identifier
   Name	MPU6050 Gyroscope	Display name
   Peripheral Type	Generic Sensor (type: 38)	I2C sensor
   SDA Pin	21	I2C data pin
   SCL Pin	22	I2C clock pin
   Driver Name	MPU6050	Fixed value
   I2C Address	0x68	0x68 or 0x69
   Sampling Interval	1000	1 second (≥500ms)
   Accel Range	2	±2g
   Gyro Range	250	±250°/s

3. Click Save

Step 3: Verify Configuration

1. Find the newly added peripheral in the peripheral list
2. Click the Enable toggle
3. Wait 1 second and check acceleration, angular velocity, and tilt angle data

Important: Confirm i2cSensors is active before adding the peripheral.

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Method 2: JSON Configuration File Import

Add the following configuration to the peripherals array in data/config/peripherals.json:

{
  "id": "mpu6050_1",
  "name": "MPU6050 Gyroscope",
  "type": 38,
  "enabled": false,
  "pins": [21, 22],
  "params": {
    "driver": "MPU6050",
    "i2cAddress": "0x68",
    "interval": 1000,
    "accelRange": 2,
    "gyroRange": 250
  }
}

Parameter Description

Parameter	Description
driver	Driver name, fixed to "MPU6050"
i2cAddress	I2C address, default 0x68 (AD0 to GND); 0x69 when AD0 to VCC
interval	Sampling interval (ms), recommend ≥ 500
accelRange	Accelerometer range: 2/4/8/16 (unit: g)
gyroRange	Gyroscope range: 250/500/1000/2000 (unit: °/s)

pins[0] = SDA pin, pins[1] = SCL pin

Data Report Format

Sensor data is reported via MQTT:

[
  {"id": "mpu6050_1", "value": "ax:0.12,ay:-0.03,az:9.78,gx:1.2,gy:-0.5,gz:0.1,tilt:5.3"}
]

Field	Description	Unit
ax/ay/az	Three-axis acceleration	m/s²
gx/gy/gz	Three-axis angular velocity	°/s
tilt	Combined tilt angle	°

Driver Registration Mechanism

MPU6050 uses the ISensorDriver + DriverRegistry mechanism for registration:

• Enabled at compile time via FASTBEE_ENABLE_I2C_SENSORS macro
• Driver automatically registers to the global registry
• The driver field in configuration is used to match the specific driver implementation

Peripheral Execution Integration

Web Interface Configuration Steps

Create Tilt Detection Alarm Rule

1. Click Peripheral Execution in the left menu
2. Click the Add Rule button
3. Configure poll trigger:
   • Trigger Type: Poll Trigger
   • Data Source: mpu6050_1
   • Data Field: tilt (tilt angle)
   • Comparison: Greater Than
   • Comparison Value: 30 (degrees)
4. Add actions:
   • Action 1: Buzzer alarm
     • Action Type: High Level
     • Target Peripheral: buzzer1
   • Action 2: Trigger device event
     • Action Type: Trigger Event
     • Event ID: tilt_alarm
5. Click Save

💡 Tip: Can share I2C bus with BMP280 (different addresses)

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JSON Configuration Example

Tilt Detection Alarm

{
  "name": "Tilt Alarm",
  "enabled": true,
  "triggers": [
    {
      "triggerType": 5,
      "triggerPeriphId": "mpu6050_1",
      "intervalSec": 10,
      "operatorType": 2,
      "compareValue": "30"
    }
  ],
  "actions": [
    { "actionType": 0, "targetPeriphId": "buzzer1" },
    { "actionType": 21, "targetPeriphId": "tilt_alarm" }
  ]
}

operatorType: 2 means “greater than”; this rule raises an alarm when the tilt exceeds 30°.

Attitude Data Display on OLED

{
  "name": "Display Attitude",
  "enabled": true,
  "triggers": [
    { "triggerType": 1, "timerMode": 0, "intervalSec": 5 }
  ],
  "actions": [
    { "actionType": 19, "targetPeriphId": "mpu6050_1" },
    { "actionType": 27, "targetPeriphId": "oled1", "actionValue": "Tilt:${mpu6050_1.tilt}deg\nAx:${mpu6050_1.ax}" }
  ]
}

Notes

1. Firmware State: Confirm i2cSensors is compiled and active
2. Installation Orientation: Sensor installation orientation affects axis definition; calibrate based on actual installation
3. Offset Calibration: Recommend performing offset calibration on first use; place device horizontally at rest and read offset values
4. Vibration Interference: Environmental vibration affects reading accuracy; recommend adding vibration dampening pad
5. I2C Sharing: Can share the same I2C bus with BMP280 (different addresses), saving pin resources
6. Sampling Rate: High-speed sampling (< 100ms) increases CPU load; recommend 500-2000ms for normal applications