Unfortunately, this library cannot be run directly on BiBoard based on ESP32. We found the ported library on Github, which is easy to use. This library adds the definition of PGMSpace for the ARM and ESP series, adds the calibration function, and removes the FIFO overflow processing function (friends who are interested can use Beyond Compare for code comparison). The library contains I2Cdev and MPU6050, the address and compressed package are as follows: