diff --git a/arch/arm64/boot/dts/amlogic/overlays/kvim3l/Makefile b/arch/arm64/boot/dts/amlogic/overlays/kvim3l/Makefile
index c0171c93976713..5939d2de7b8191 100644
--- a/arch/arm64/boot/dts/amlogic/overlays/kvim3l/Makefile
+++ b/arch/arm64/boot/dts/amlogic/overlays/kvim3l/Makefile
@@ -8,7 +8,8 @@ dtbo-y += uart3.dtbo \
 		  otg-device.dtbo \
 		  watchdog.dtbo \
 		  i2s.dtbo \
-		  can.dtbo
+		  can.dtbo \
+		  mpu6050-i2c.dtbo
 
 targets += $(dtbo-y)
 always  := $(dtbo-y)
diff --git a/arch/arm64/boot/dts/amlogic/overlays/kvim3l/mpu6050-i2c.dts b/arch/arm64/boot/dts/amlogic/overlays/kvim3l/mpu6050-i2c.dts
new file mode 100644
index 00000000000000..4f7377ed4f4531
--- /dev/null
+++ b/arch/arm64/boot/dts/amlogic/overlays/kvim3l/mpu6050-i2c.dts
@@ -0,0 +1,50 @@
+/dts-v1/;
+/plugin/;
+
+#include <dt-bindings/gpio/meson-g12a-gpio.h>
+#include <dt-bindings/gpio/gpio.h>
+
+/ {
+	fragment@0 {
+		target = <&spicc1>;
+
+		__overlay__ {
+			status = "disabled";
+		};
+	};
+
+	fragment@1 {
+		target = <&i2c3>;
+
+		__overlay__ {
+			status = "okay";
+
+			mpu6050@68 {
+				compatible = "invensense,mpu6050";
+				reg = <0x68>;
+			 	int-gpio = <&gpio GPIOH_4 GPIO_ACTIVE_LOW>;
+				mount-matrix = "-0.984807753012208",  /* x0 */
+	 							"0",                   /* y0 */
+				 				"-0.173648177666930",  /* z0 */
+				 				"0",                   /* x1 */
+				 				"-1",                  /* y1 */
+				 				"0",                   /* z1 */
+				 				"-0.173648177666930",  /* x2 */
+				 				"0",                   /* y2 */
+				 				"0.984807753012208";   /* z2 */
+		 	};
+		};
+	};
+
+	fragment@2 {
+		target = <&pwm_ef>;
+
+		__overlay__ {
+			// NOTE: This syntax DOES NOT work on device tree overlays
+			// If you want to use mpu6050, you have to remove pwm_f overlay
+			/delete-property/ pinctrl-names;
+			/delete-property/ pinctrl-0;
+		};
+	};
+
+};