MPU-6050 IMU

I2C address: 0x68 (fixed — this board does not expose AD0)

The MPU-6050 is a 6-axis Inertial Measurement Unit (IMU) from InvenSense combining a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer in a single package. It is commonly used in drones, robots, and motion-tracking applications.

Datasheet

The full MPU-6050 register map is available here.

Key Registers

Register	Address	Description
WHO_AM_I	0x75	Device ID — always 0x68
PWR_MGMT_1	0x6B	Sleep, reset, clock source, temp disable
PWR_MGMT_2	0x6C	Per-axis standby, low-power wake rate
SMPLRT_DIV	0x19	Sample rate divider (controls FIFO fill rate)
CONFIG	0x1A	DLPF bandwidth setting, FSYNC
GYRO_CONFIG	0x1B	Full-scale range (FS_SEL), self-test
ACCEL_CONFIG	0x1C	Full-scale range (AFS_SEL), self-test
FIFO_EN	0x23	Channel enable bits for FIFO
INT_PIN_CFG	0x37	INT pin polarity (bit 7), open-drain (bit 6), latch mode (bit 5)
INT_ENABLE	0x38	Interrupt enable mask
INT_STATUS	0x3A	Interrupt status — clears on read, deasserts INT pin
ACCEL_XOUT_H/L	0x3B–0x3C	X-axis acceleration
ACCEL_YOUT_H/L	0x3D–0x3E	Y-axis acceleration
ACCEL_ZOUT_H/L	0x3F–0x40	Z-axis acceleration
TEMP_OUT_H/L	0x41–0x42	Die temperature
GYRO_XOUT_H/L	0x43–0x44	X-axis angular rate
GYRO_YOUT_H/L	0x45–0x46	Y-axis angular rate
GYRO_ZOUT_H/L	0x47–0x48	Z-axis angular rate
USER_CTRL	0x6A	FIFO global enable (bit 6), FIFO reset (bit 2)
FIFO_COUNT_H/L	0x72–0x73	Bytes currently in FIFO
FIFO_R_W	0x74	FIFO read/write port

Sensitivity

Accelerometer (AFS_SEL in ACCEL_CONFIG bits [4:3])

AFS_SEL	Full Scale	Sensitivity
0	±2 g	16384 LSB/g
1	±4 g	8192 LSB/g
2	±8 g	4096 LSB/g
3	±16 g	2048 LSB/g

Gyroscope (FS_SEL in GYRO_CONFIG bits [4:3])

FS_SEL	Full Scale	Sensitivity
0	±250 °/s	131 LSB/(°/s)
1	±500 °/s	65.5 LSB/(°/s)
2	±1000 °/s	32.8 LSB/(°/s)
3	±2000 °/s	16.4 LSB/(°/s)

Temperature Formula

T (°C) = TEMP_OUT / 340 + 36.53

Power Management

PWR_MGMT_1 (0x6B) defaults to 0x40 on power-on — SLEEP bit is set. Firmware must clear it before sensor data is valid.

Bit	Name	Description
7	DEVICE_RESET	Resets all registers to defaults; auto-clears
6	SLEEP	1 = sleep mode (default after power-on)
5	CYCLE	Low-power sampling between sleep cycles
3	TEMP_DIS	Disable temperature sensor — TEMP_OUT returns 0x0000
[2:0]	CLKSEL	Clock source (0 = internal 8 MHz oscillator)

Burst Read

The standard firmware pattern reads 14 bytes starting at 0x3B in a single I2C transaction, returning accel X/Y/Z, temperature, and gyro X/Y/Z atomically. The simulator snapshots all values at the start of this burst so all 14 bytes are consistent.

Simulation Controls

Control	Range	Description
Temperature slider	−40 to +85 °C	Ambient temperature (thermal lag τ ≈ 0.3 s)
Accel X/Y/Z sliders	−16 to +16 g	Acceleration along each axis (default Z = 1.0 g)
Gyro X/Y/Z sliders	−2000 to +2000 °/s	Angular rate along each axis
Gyro Bias X/Y/Z	−30 to +30 °/s	Static zero-rate offset per axis (default ≈ 2.5/−1.8/1.2 °/s)
Accel Bias X/Y/Z	−200 to +200 mg	Static zero-g offset per axis (default ≈ 15/−20/10 mg)

Bias is a constant additive offset applied on top of the set value — it is not cleared by DEVICE_RESET (hardware property). Real MPU-6050 modules typically show 2–5 °/s gyro zero-rate offset and 10–50 mg accel offset uncalibrated. Firmware must measure and subtract it during a startup calibration routine.

Gaussian noise is added to every reading and scales with DLPF bandwidth (datasheet Table 13):

• Accel: σ = 400 µg/√Hz × √BW (e.g. ≈ 6.5 mg at 260 Hz, ≈ 0.9 mg at 5 Hz)
• Gyro: σ ≈ 0.01 °/s/√Hz × √BW — conservative real-world estimate (2× datasheet typical, accounts for module-level noise)
• Temperature: σ ≈ 1 °C (estimated; electrical characteristics are in PS-MPU-6000A, not the register map)

Limitations

• No DMP — the Digital Motion Processor (quaternion / gesture engine) is not simulated
• Pulse mode treated as latch — INT_PIN_CFG latch bit (bit 5) is stored; latch mode works correctly. Pulse mode (50 µs auto-deassert) is simulated as latch mode since a sub-millisecond pulse is not meaningful in simulation — firmware will still see and clear the interrupt normally
• No self-test response — self-test bits in GYRO_CONFIG / ACCEL_CONFIG are accepted but the output does not change
• ASCL / ASDA are stubs — the auxiliary I2C master bus is not functional
• CLKSEL is stored but has no effect — simulation always uses wall-clock time
• SMPLRT_DIV controls the FIFO fill rate; direct burst reads always return the latest sample