diff --git a/bsp/stm32/stm32l431-BearPi/board/Kconfig b/bsp/stm32/stm32l431-BearPi/board/Kconfig
index 3db4cc62c5..8043ca769c 100644
--- a/bsp/stm32/stm32l431-BearPi/board/Kconfig
+++ b/bsp/stm32/stm32l431-BearPi/board/Kconfig
@@ -182,6 +182,14 @@ menu "Onboard Peripheral Drivers"
         imply RTDUINO_USING_WIRE
         imply RTDUINO_USING_SPI
         default n
+
+    config BSP_USING_MPU6050
+        bool "Enable MPU6050 to read accel data"
+        select BSP_USING_I2C
+        select BSP_USING_I2C1
+        select PKG_USING_MPU6XXX
+        default n
+
 endmenu
 
 endmenu
diff --git a/bsp/stm32/stm32l431-BearPi/board/SConscript b/bsp/stm32/stm32l431-BearPi/board/SConscript
index 0abd516819..2c0c4321fc 100644
--- a/bsp/stm32/stm32l431-BearPi/board/SConscript
+++ b/bsp/stm32/stm32l431-BearPi/board/SConscript
@@ -15,6 +15,9 @@ CubeMX_Config/Src/stm32l4xx_hal_msp.c
 if GetDepend('BSP_USING_SPI_LCD'):
     src += ['ports/lcd/drv_lcd.c']
 
+if GetDepend('BSP_USING_MPU6050'):
+    src += ['ports/mpu6050_meas.c']
+
 path =  [cwd]
 path += [cwd + '/CubeMX_Config/Inc']
 path += [cwd + '/ports/lcd']
diff --git a/bsp/stm32/stm32l431-BearPi/board/ports/mpu6050_meas.c b/bsp/stm32/stm32l431-BearPi/board/ports/mpu6050_meas.c
new file mode 100644
index 0000000000..2e6f855958
--- /dev/null
+++ b/bsp/stm32/stm32l431-BearPi/board/ports/mpu6050_meas.c
@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2006-2023, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2023-09-19     liYony       first version
+ */
+
+#include <rtthread.h>
+#include "mpu6xxx.h"
+
+#define DBG_TAG "mpu6050"
+#define DBG_LVL DBG_LOG
+#include <rtdbg.h>
+
+#define MPU6050_DEVICE_NAME  "i2c1"
+
+static void mpu6050_accel_entry(void *parameter)
+{
+    struct mpu6xxx_device *dev;
+    struct mpu6xxx_3axes accel;
+
+    /* Initialize mpu6050, The parameter is RT_NULL, means auto probing for i2c*/
+    dev = mpu6xxx_init(MPU6050_DEVICE_NAME, RT_NULL);
+
+    if (dev == RT_NULL)
+    {
+        LOG_E("mpu6050 init failed.");
+        return;
+    }
+    LOG_I("mpu6050 init succeed.");
+
+    while(1)
+    {
+        mpu6xxx_get_accel(dev, &accel);
+
+        LOG_D("accel.x = %3d, accel.y = %3d, accel.z = %3d", accel.x, accel.y, accel.z);
+
+        rt_thread_mdelay(1000);
+    }
+}
+
+static int rt_hw_mpu6050_init()
+{
+    rt_thread_t tid_mpu;
+
+    tid_mpu = rt_thread_create("mpu_accel", mpu6050_accel_entry, RT_NULL, 1024, 10, 10);
+    if (tid_mpu == RT_NULL)
+    {
+        return -RT_ERROR;
+    }
+
+    rt_thread_startup(tid_mpu);
+
+    return RT_EOK;
+}
+
+INIT_APP_EXPORT(rt_hw_mpu6050_init);