InvenSense - MPU-6000 - Register Map - rev 3 2, Mechatronika (Elektronika, Mechanika, Obwody elektryczne), MPP - ...
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InvenSense Inc.
1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A.
Tel: +1 (408) 988-7339 Fax: +1 (408) 988-8104
Website: www.invensense.com
Document Number: RM-MPU-6000A-00
Revision: 3.2
Release Date: 11/14/2011
MPU-6000 and MPU-6050
Register Map and Descriptions
Revision 3.2
CONFIDENTIAL & PROPRIETARY
1 of 50
Document Number: RM-MPU-6000A-00
Revision: 3.2
Release Date: 11/14/2011
MPU-6000/MPU-6050 Register Map and
Descriptions
CONTENTS
1
2
3
4
4.1
R
EGISTER
1
–
A
UXILIARY
I
2
C
S
UPPLY
S
ELECTION
.................................................................................9
4.2
R
EGISTER
25
–
S
AMPLE
R
ATE
D
IVIDER
..............................................................................................10
4.3
R
EGISTER
26
–
C
ONFIGURATION
........................................................................................................11
4.4
R
EGISTER
27
–
G
YROSCOPE
C
ONFIGURATION
....................................................................................12
4.5
R
EGISTER
28
–
A
CCELEROMETER
C
ONFIGURATION
.............................................................................13
4.6
R
EGISTER
29
–
F
REE
F
ALL
A
CCELERATION
T
HRESHOLD
......................................................................14
4.7
R
EGISTER
30
–
F
REE
F
ALL
D
URATION
................................................................................................14
4.8
R
EGISTER
31
–
M
OTION
D
ETECTION
T
HRESHOLD
...............................................................................16
4.9
R
EGISTER
32
–
M
OTION
D
ETECTION
D
URATION
..................................................................................16
4.10
R
EGISTER
33
–
Z
ERO
M
OTION
D
ETECTION
T
HRESHOLD
......................................................................17
4.11
R
EGISTER
34
–
Z
ERO
M
OTION
D
ETECTION
D
URATION
.........................................................................17
4.12
R
EGISTER
35
–
FIFO
E
NABLE
............................................................................................................18
R
EGISTER
36
–
I
2
C
M
ASTER
C
ONTROL
...............................................................................................19
4.13
R
EGISTERS
37
TO
39
–
I
2
C
S
LAVE
0
C
ONTROL
...................................................................................21
4.14
R
EGISTERS
40
TO
42
–
I
2
C
S
LAVE
1
C
ONTROL
...................................................................................24
4.15
R
EGISTERS
43
TO
45
–
I
2
C
S
LAVE
2
C
ONTROL
...................................................................................24
4.16
R
EGISTERS
46
TO
48
–
I
2
C
S
LAVE
3
C
ONTROL
...................................................................................24
4.17
R
EGISTERS
49
TO
53
–
I
2
C
S
LAVE
4
C
ONTROL
...................................................................................25
4.18
R
EGISTER
54
–
I
2
C
M
ASTER
S
TATUS
..................................................................................................27
4.19
4.20
R
EGISTER
55
–
INT
P
IN
/
B
YPASS
E
NABLE
C
ONFIGURATION
................................................................28
4.21
R
EGISTER
56
–
I
NTERRUPT
E
NABLE
...................................................................................................29
4.22
R
EGISTER
58
–
I
NTERRUPT
S
TATUS
...................................................................................................30
4.23
R
EGISTERS
59
TO
64
–
A
CCELEROMETER
M
EASUREMENTS
.................................................................31
4.24
R
EGISTERS
65
AND
66
–
T
EMPERATURE
M
EASUREMENT
.....................................................................32
4.25
R
EGISTERS
67
TO
72
–
G
YROSCOPE
M
EASUREMENTS
........................................................................33
4.26
R
EGISTERS
73
TO
96
–
E
XTERNAL
S
ENSOR
D
ATA
...............................................................................34
4.27
R
EGISTER
97
–
M
OTION
D
ETECTION
S
TATUS
......................................................................................36
R
EGISTER
99
–
I
2
C
S
LAVE
0
D
ATA
O
UT
..............................................................................................37
4.28
R
EGISTER
100
–
I
2
C
S
LAVE
1
D
ATA
O
UT
............................................................................................37
4.29
CONFIDENTIAL & PROPRIETARY
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Document Number: RM-MPU-6000A-00
Revision: 3.2
Release Date: 11/14/2011
MPU-6000/MPU-6050 Register Map and
Descriptions
R
EGISTER
101
–
I
2
C
S
LAVE
2
D
ATA
O
UT
............................................................................................38
4.30
R
EGISTER
102
–
I
2
C
S
LAVE
3
D
ATA
O
UT
............................................................................................38
4.31
R
EGISTER
103
–
I
2
C
M
ASTER
D
ELAY
C
ONTROL
..................................................................................39
4.32
4.33
R
EGISTER
104
–
S
IGNAL
P
ATH
R
ESET
................................................................................................40
4.34
R
EGISTER
105
–
M
OTION
D
ETECTION
C
ONTROL
.................................................................................41
4.35
R
EGISTER
106
–
U
SER
C
ONTROL
.......................................................................................................42
4.36
R
EGISTER
107
–
P
OWER
M
ANAGEMENT
1 ..........................................................................................44
4.37
R
EGISTER
108
–
P
OWER
M
ANAGEMENT
2 ..........................................................................................46
4.38
R
EGISTER
114
AND
115
–
FIFO
C
OUNT
R
EGISTERS
...........................................................................47
4.39
R
EGISTER
116
–
FIFO
R
EAD
W
RITE
..................................................................................................48
4.40
R
EGISTER
117
–
W
HO
A
M
I................................................................................................................49
CONFIDENTIAL & PROPRIETARY
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Document Number: RM-MPU-6000A-00
Revision: 3.2
Release Date: 11/14/2011
MPU-6000/MPU-6050 Register Map and
Descriptions
1
Revision History
Revision
Date
Revision
Description
11/29/2010
1.0
Initial Release
04/20/2011
1.1
Updated register map and descriptions to reflect enhanced register functionality.
Updates for Rev C silicon:
Edits for readability (section 2.1)
Edits for changes in functionality (section 3, 4.4, 4.6, 4.7, 4.8, 4.21, 4.22, 4.23,
4.37)
05/19/2011
2.0
Updates for Rev D silicon:
Updated accelerometer sensitivity specifications (sections 4.6, 4.8, 4.10, 4.23)
10/07/2011
3.0
10/24/2011
3.1
Edits for clarity
Updated reset value for register 107 (section 3)
Updated register 27 with gyro self-test bits (section 4.4)
Provided gyro self-test instructions and register bits (section 4.4)
Provided accel self-test instructions (section 4.5)
11/14/2011
3.2
CONFIDENTIAL & PROPRIETARY
4 of 50
Document Number: RM-MPU-6000A-00
Revision: 3.2
Release Date: 11/14/2011
MPU-6000/MPU-6050 Register Map and
Descriptions
2 Purpose and Scope
This document provides preliminary information regarding the register map and descriptions for the Motion
Processing Units™ MPU-6000™ and MPU-6050™, collectively called the MPU-60X0™ or MPU™.
The MPU devices provide the world’s first integrated 6-axis motion processor solution that eliminates the
package-level gyroscope and accelerometer cross-axis misalignment associated with discrete solutions. The
devices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die together with an
onboard Digital Motion Processor™ (DMP™) capable of processing complex 9-axis sensor fusion algorithms
using the field-proven and proprietary MotionFusion™ engine.
The MPU-6000 and MPU-6050’s integrated 9-axis MotionFusion algorithms access external magnetometers
or other sensors through an auxiliary master I
2
C bus, allowing the devices to gather a full set of sensor data
without intervention from the system processor. The devices are offered in the same 4x4x0.9 mm QFN
footprint and pinout as the current MPU-3000™ family of integrated 3-axis gyroscopes, providing a simple
upgrade path and facilitating placement on already space constrained circuit boards.
For precision tracking of both fast and slow motions, the MPU-60X0 features a user-programmable
gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps). The parts also have a user-
programmable accelerometer full-scale range of ±2
g
, ±4
g
, ±8
g
, and ±16
g
.
The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to
each other with two exceptions. The MPU-6050 supports I
2
C communications at up to 400kHz and has a
VLOGIC pin that defines its interface voltage levels; the MPU-6000 supports SPI at up to 20MHz in addition
to I
2
C, and has a single supply pin, VDD, which is both the device’s logic reference supply and the analog
supply for the part.
For more detailed information for the MPU-60X0 devices, please refer to the “MPU-6000 and MPU-6050
Product Specification”.
CONFIDENTIAL & PROPRIETARY
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