MPU-6050 / MPU-6500 motion sensing on the XIAO ESP32S3

Bus pins are fixed by the board: SDA = D4 = GPIO5, SCL = D5 = GPIO6. Wire.begin(D4, D5) — pass the pins explicitly.

Read the xiao-esp32s3 skill for the compile/upload workflow, xiao-serial-monitor for watching the output, and xiao-i2c-sensors for the general scan-first method. This skill is the MPU-60x0 instance of that method, plus the traps specific to it.

The module is probably not the chip on the label

Modules sold as "MPU-6050" are frequently MPU-6500. Both answer at 0x68 and share the same data-register layout, so an I2C scan cannot tell them apart — the scan succeeds and the part still refuses to work with a 6050 driver.

WHO_AM_I (register 0x75) is the only thing that settles it: