MPU-6000 And MPU-6050 Register Map And Descriptions Revision 4 - TDK
InvenSense Inc.1197 Borregas Ave, Sunnyvale, CA 94089 U.S.A.Tel: 1 (408) 988-7339 Fax: 1 (408) 988-8104Website: www.invensense.comDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013MPU-6000 and MPU-6050Register Map and DescriptionsRevision 4.21 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013CONTENTS1REVISION HISTORY .42PURPOSE AND SCOPE .53REGISTER MAP .64REGISTER DESCRIPTIONS .94.1REGISTERS 13 TO 16 – SELF TEST REGISTERS .94.2REGISTER 25 – SAMPLE RATE DIVIDER .114.3REGISTER 26 – CONFIGURATION .134.4REGISTER 27 – GYROSCOPE CONFIGURATION .144.5REGISTER 28 – ACCELEROMETER CONFIGURATION.154.6REGISTER 35 – FIFO ENABLE .164.7REGISTER 36 – I C MASTER CONTROL .174.8REGISTERS 37 TO 39 – I C SLAVE 0 CONTROL .194.9REGISTERS 40 TO 42 – I C SLAVE 1 CONTROL .224.10REGISTERS 43 TO 45 – I C SLAVE 2 CONTROL .224.11REGISTERS 46 TO 48 – I C SLAVE 3 CONTROL .224.12REGISTERS 49 TO 53 – I C SLAVE 4 CONTROL .234.13REGISTER 54 – I C MASTER STATUS .254.14REGISTER 55 – INT PIN / BYPASS ENABLE CONFIGURATION .264.15REGISTER 56 – INTERRUPT ENABLE .274.16REGISTER 58 – INTERRUPT STATUS .284.17REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS .294.18REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT .304.19REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS .314.20REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA .324.21REGISTER 99 – I C SLAVE 0 DATA OUT .344.22REGISTER 100 – I C SLAVE 1 DATA OUT .344.23REGISTER 101 – I C SLAVE 2 DATA OUT .354.24REGISTER 102 – I C SLAVE 3 DATA OUT .354.25REGISTER 103 – I C MASTER DELAY CONTROL .364.26REGISTER 104 – SIGNAL PATH RESET .374.27REGISTER 106 – USER CONTROL .384.28REGISTER 107 – POWER MANAGEMENT 1 .404.29REGISTER 108 – POWER MANAGEMENT 2 .422222222222222 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/20134.30REGISTER 114 AND 115 – FIFO COUNT REGISTERS .434.31REGISTER 116 – FIFO READ W RITE .444.32REGISTER 117 – W HO AM I.453 of 46
MPU-6000/MPU-6050 Register Map andDescriptions1Document Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Revision 0Initial Release04/20/20111.1Updated register map and descriptions to reflect enhanced register 3.1Updates 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)Updates for Rev D silicon:Updated accelerometer sensitivity specifications (sections 4.6, 4.8, 4.10, 4.23)Edits for clarityUpdated 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)Updated register map to include Self-Test registers (section 3)Added description of Self-Test registers (section 4.1)Revised temperature register section (section 4.19)Corrections in registers 107 and 108 (section 4.30)11/14/20113.23/9/20124.02/11/20134.1Added reset clarification for SPI interface (section 4.3)8/19/20134.2Updated sections 6, 7, 8, 104 of 46
MPU-6000/MPU-6050 Register Map andDescriptions2Document Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Purpose and ScopeThis document provides preliminary information regarding the register map and descriptions for the MotionProcessing 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 thepackage-level gyroscope and accelerometer cross-axis misalignment associated with discrete solutions. Thedevices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die together with anonboard Digital Motion Processor (DMP ) capable of processing complex 9-axis sensor fusion algorithmsusing the field-proven and proprietary MotionFusion engine.The MPU-6000 and MPU-6050’s integrated 9-axis MotionFusion algorithms access external magnetometers2or other sensors through an auxiliary master I C bus, allowing the devices to gather a full set of sensor datawithout intervention from the system processor. The devices are offered in the same 4x4x0.9 mm QFNfootprint and pinout as the current MPU-3000 family of integrated 3-axis gyroscopes, providing a simpleupgrade 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-programmablegyroscope full-scale range of 250, 500, 1000, and 2000 /sec (dps). The parts also have a userprogrammable accelerometer full-scale range of 2g, 4g, 8g, and 16g.The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to2each other with two exceptions. The MPU-6050 supports I C communications at up to 400kHz and has aVLOGIC pin that defines its interface voltage levels; the MPU-6000 supports SPI at up to 20MHz in addition2to I C, and has a single supply pin, VDD, which is both the device’s logic reference supply and the analogsupply for the part.For more detailed information for the MPU-60X0 devices, please refer to the “MPU-6000 and MPU-6050Product Specification”.5 of 46
MPU-6000/MPU-6050 Register Map andDescriptions3Document Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Register MapThe register map for the MPU-60X0 is listed below.Addr(Hex)Addr(Dec.)Register NameSerialI/F0D13SELF TEST XR/WXA TEST[4-2]XG TEST[4-0]0E14SELF TEST YR/WYA TEST[4-2]YG TEST[4-0]0F15SELF TEST ZR/W1016SELF TEST AR/W1925SMPLRT DIVR/W1A26CONFIGR/W--1B27GYRO CONFIGR/W---1C28ACCEL CONFIGR/WXA STYA STZA STXGFIFO ENYGFIFO ENZGFIFO ENWAITFOR ESSLV 3FIFO ENI2C MSTP NSRBit7Bit635FIFO ENR/W2436I2C MST CTRLR/WMULTMST EN2537I2C SLV0 ADDRR/WI2C SLV0RW2638I2C SLV0 REGR/W2739I2C SLV0 CTRLR/W2840I2C SLV1 ADDRR/WI2C SLV1RW2941I2C SLV1 REGR/W2A42I2C SLV1 CTRLR/W2B43I2C SLV2 ADDRR/WI2C SLV2RW2C44I2C SLV2 REGR/WR/WI2C SLV3RWI2C SLV3 ADDRR/W2F47I2C SLV3 REGR/WBit0ZG TEST[4-0]XA TEST[1-0]YA TEST[1-0]ZA TEST[1-0]EXT SYNC SET[2:0]DLPF CFG[2:0]FS SEL [1:0]---SLV2FIFO ENSLV1FIFO ENSLV0FIFO ENAFS SEL[1:0]ACCELFIFO ENI2C MST CLK[3:0]I2C SLV0 ADDR[6:0]I2C SLV0BYTE SWI2C SLV0REG DISI2C SLV0GRPI2C SLV0 LEN[3:0]I2C SLV1 ADDR[6:0]I2C SLV1BYTE SWI2C SLV1REG DISI2C SLV1GRPI2C SLV1 LEN[3:0]I2C SLV2 ADDR[6:0]I2C SLV2 REG[7:0]I2C SLV2EN46Bit1I2C SLV1 REG[7:0]I2C SLV1EN2EBit2I2C SLV0 REG[7:0]I2C SLV0ENI2C SLV2 CTRLBit3SMPLRT DIV[7:0]2345Bit4ZA TEST[4-2]RESERVEDTEMPFIFO EN2DBit5I2C SLV2BYTE SWI2C SLV2REG DISI2C SLV2GRPI2C SLV2 LEN[3:0]I2C SLV3 ADDR[6:0]I2C SLV3 REG[7:0]3048I2C SLV3 CTRLR/WI2C SLV3ENI2C SLV3BYTE SWI2C SLV3REG DISI2C SLV3GRP3149I2C SLV4 ADDRR/WI2C SLV4RW3250I2C SLV4 REGR/WI2C SLV4 REG[7:0]3351I2C SLV4 DOR/WI2C SLV4 DO[7:0]3452I2C SLV4 CTRLR/W3553I2C SLV4 DIRI2C SLV3 LEN[3:0]I2C SLV4 ADDR[6:0]I2C SLV4ENI2C SLV4INT ENI2C SLV4REG DISI2C SLV4DONEI2C LOSTARBI2C SLV4NACKI2C SLV3NACKI2C SLV2NACKI2C SLV1NACKI2C SLV0NACKI2C MST DLY[4:0]I2C SLV4 DI[7:0]3654I2C MST STATUSRPASSTHROUGH3755INT PIN CFGR/WINT LEVELINT OPENLATCHINT ENINT RDCLEARFSYNCINT LEVELFSYNCINT ENI2CBYPASSEN-3856INT ENABLER/W---FIFOOFLOWENI2C MSTINT EN--DATARDY EN3A58INT STATUSR---FIFOOFLOWINTI2C MSTINT--DATARDY INT6 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Addr(Hex)Addr(Dec.)Register NameSerialI/F3B59ACCEL XOUT HRACCEL XOUT[15:8]3C60ACCEL XOUT LRACCEL XOUT[7:0]3D61ACCEL YOUT HRACCEL YOUT[15:8]3E62ACCEL YOUT LRACCEL YOUT[7:0]3F63ACCEL ZOUT HRACCEL ZOUT[15:8]4064ACCEL ZOUT LRACCEL ZOUT[7:0]4165TEMP OUT HRTEMP OUT[15:8]4266TEMP OUT LRTEMP OUT[7:0]4367GYRO XOUT HRGYRO XOUT[15:8]4468GYRO XOUT LRGYRO XOUT[7:0]4569GYRO YOUT HRGYRO YOUT[15:8]4670GYRO YOUT LRGYRO YOUT[7:0]4771GYRO ZOUT HRGYRO ZOUT[15:8]4872GYRO ZOUT LRGYRO ZOUT[7:0]4973EXT SENS DATA 00REXT SENS DATA 00[7:0]4A74EXT SENS DATA 01REXT SENS DATA 01[7:0]4B75EXT SENS DATA 02REXT SENS DATA 02[7:0]4C76EXT SENS DATA 03REXT SENS DATA 03[7:0]4D77EXT SENS DATA 04REXT SENS DATA 04[7:0]4E78EXT SENS DATA 05REXT SENS DATA 05[7:0]4F79EXT SENS DATA 06REXT SENS DATA 06[7:0]5080EXT SENS DATA 07REXT SENS DATA 07[7:0]5181EXT SENS DATA 08REXT SENS DATA 08[7:0]5282EXT SENS DATA 09REXT SENS DATA 09[7:0]5383EXT SENS DATA 10REXT SENS DATA 10[7:0]5484EXT SENS DATA 11REXT SENS DATA 11[7:0]5585EXT SENS DATA 12REXT SENS DATA 12[7:0]5686EXT SENS DATA 13REXT SENS DATA 13[7:0]5787EXT SENS DATA 14REXT SENS DATA 14[7:0]5888EXT SENS DATA 15REXT SENS DATA 15[7:0]5989EXT SENS DATA 16REXT SENS DATA 16[7:0]5A90EXT SENS DATA 17REXT SENS DATA 17[7:0]5B91EXT SENS DATA 18REXT SENS DATA 18[7:0]5C92EXT SENS DATA 19REXT SENS DATA 19[7:0]5D93EXT SENS DATA 20REXT SENS DATA 20[7:0]5E94EXT SENS DATA 21REXT SENS DATA 21[7:0]5F95EXT SENS DATA 22REXT SENS DATA 22[7:0]6096EXT SENS DATA 23REXT SENS DATA 23[7:0]6399I2C SLV0 DOR/WI2C SLV0 DO[7:0]64100I2C SLV1 DOR/WI2C SLV1 DO[7:0]65101I2C SLV2 DOR/WI2C SLV2 DO[7:0]66102I2C SLV3 DOR/WI2C SLV3 DO[7:0]Bit7Bit6Bit57 of 46Bit4Bit3Bit2Bit1Bit0
MPU-6000/MPU-6050 Register Map andDescriptionsAddr(Hex)Addr(Dec.)Register NameSerialI/F67103I2C MST DELAY CTRL681046ADocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Bit7Bit6Bit5Bit4Bit3Bit2Bit1Bit0R/WDELAY ESSHADOW--I2C SLV4DLY ENI2C SLV3DLY ENI2C SLV2DLY ENI2C SLV1DLY ENI2C SLV0DLY ENSIGNAL PATH RESETR/W-----GYRORESETACCELRESETTEMPRESET106USER CTRLR/W-FIFO ENI2C MSTENI2C IFDIS-FIFORESETI2C MSTRESETSIG CONDRESET6B107PWR MGMT 1R/WDEVICERESETSLEEPCYCLE-TEMP DIS6C108PWR MGMT 2R/WSTBY XASTBY YASTBY ZA72114FIFO COUNTHR/WFIFO COUNT[15:8]73115FIFO COUNTLR/WFIFO COUNT[7:0]74116FIFO R WR/WFIFO DATA[7:0]75117WHO AM IRLP WAKE CTRL[1:0]-WHO AM I[6:1]CLKSEL[2:0]STBY XGSTBY YGSTBY ZG-Note: Register Names ending in H and L contain the high and low bytes, respectively, of an internalregister value.In the detailed register tables that follow, register names are in capital letters, while register values are incapital letters and italicized. For example, the ACCEL XOUT H register (Register 59) contains the 8 mostsignificant bits, ACCEL XOUT[15:8], of the 16-bit X-Axis accelerometer measurement, ACCEL XOUT.The reset value is 0x00 for all registers other than the registers below. Register 107: 0x40.Register 117: 0x68.8 of 46
Document Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013MPU-6000/MPU-6050 Register Map andDescriptions4Register DescriptionsThis section describes the function and contents of each register within the MPU-60X0.Note: The device will come up in sleep mode upon power-up.4.1Registers 13 to 16 – Self Test RegistersSELF TEST X, SELF TEST Y, SELF TEST Z, and SELF TEST AType: Read/WriteRegister(Hex)Register(Decimal)0D13XA TEST[4-2]XG TEST[4-0]0E14YA TEST[4-2]YG TEST[4-0]0F15ZA it0ZG TEST[4-0]XA TEST[1-0]YA TEST[1-0]ZA TEST[1-0]Description:These registers are used for gyroscope and accelerometer self-tests that permit the user to test themechanical and electrical portions of the gyroscope and the accelerometer. The following sectionsdescribe the self-test process.1. Gyroscope Hardware Self-Test: Relative MethodGyroscope self-test permits users to test the mechanical and electrical portions of the gyroscope.Code for operating self-test is included within the MotionApps software provided by InvenSense.Please refer to the next section (Obtaining the Gyroscope Factory Trim (FT) Value) if not usingMotionApps software.When self-test is activated, the on-board electronics will actuate the appropriate sensor. Thisactuation will move the sensor’s proof masses over a distance equivalent to a pre-defined Coriolisforce. This proof mass displacement results in a change in the sensor output, which is reflected inthe output signal. The output signal is used to observe the self-test response.The self-test response (STR) is defined as follows:This self test-response is used to determine whether the part has passed or failed self-test by findingthe change from factory trim of the self-test response as follows:( )()This change from factory trim of the self-test response must be within the limits provided in the MPU6000/MPU-6050 Product Specification document for the part to pass self-test. Otherwise, the part isdeemed to have failed self-test.9 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Obtaining the Gyroscope Factory Trim (FT) ValueIf InvenSense MotionApps software is not used, the procedure detailed below should be followed toobtain the Factory trim value of the self test response (FT) mentioned above. For the specificregisters mentioned below, please refer to registers 13-15.The Factory trim value of the self test response (FT) is calculated as shown below. FT[Xg], FT[Yg],and FT[Zg] refer to the factory trim (FT) values for the gyroscope X, Y, and Z axes, respectively.XG TEST is the decimal version of XG TEST[4-0], YG TEST is the decimal version of YG TEST[40], and ZG TEST is the decimal version of ZG TEST[4-0].When performing self test for the gyroscope, the full-scale range should be set to 250dps.()((if XG TEST 0if XG TEST 0)if YG TEST 0if YG TEST 0)if ZG TEST 0if ZG TEST 02. Accelerometer Hardware Self-Test: Relative MethodAccelerometer self-test permits users to test the mechanical and electrical portions of theaccelerometer. Code for operating self-test is included within the MotionApps software provided byInvenSense. Please refer to the next section (titled Obtaining the Accelerometer Factory Trim (FT)Value) if not using MotionApps software.When self-test is activated, the on-board electronics will actuate the appropriate sensor. Thisactuation simulates an external force. The actuated sensor, in turn, will produce a correspondingoutput signal. The output signal is used to observe the self-test response.The self-test response (STR) is defined as follows:This self test-response is used to determine whether the part has passed or failed self-test by findingthe change from factory trim of the self-test response as follows:( )()This change from factory trim of the self-test response must be within the limits provided in the MPU6000/MPU-6050 Product Specification document for the part to pass self-test. Otherwise, the part isdeemed to have failed self-test.10 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Obtaining the Accelerometer Factory Trim (FT) ValueIf InvenSense MotionApps software is not used, the procedure detailed below should be followed toobtain the Factory trim value of the self test response (FT) mentioned above. For the specificregisters mentioned below, please refer to registers 13-16.The Factory trim value of the self test response (FT) is calculated as shown below. FT[Xa], FT[Ya],and FT[Za] refer to the factory trim (FT) values for the accelerometer X, Y, and Z axes, respectively.In the equations below, the factory trim values for the accel should be in decimal format, and theyare determined by concatenating the upper accelerometer self test bits (bits 4-2) with the loweraccelerometer self test bits (bits 1-0).When performing accelerometer self test, the full-scale range should be set to 8g.()if XA TEST 0.if XA TEST 0.()if YA TEST 0.if YA TEST 0.()if ZA TEST 0.if ZA TEST 0.Parameters:XA TEST5-bit unsignedabove.5-bit unsignedabove.5-bit unsignedabove.5-bit unsignedabove.5-bit unsignedabove.5-bit unsignedabove.XG TESTYA TESTYG TESTZA TESTZG TESTvalue. FT[Xa] is determined by using this value as explainedvalue. FT[Xg] is determined by using this value as explainedvalue. FT[Ya] is determined by using this value as explainedvalue. FT[Yg] is determined by using this value as explainedvalue. FT[Za] is determined by using this value as explainedvalue. FT[Zg] is determined by using this value as explained4.2Register 25 – Sample Rate DividerSMPRT DIVType: t6Bit5Bit4Bit3SMPLRT DIV[7:0]Description:11 of 46Bit2Bit1Bit0
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013This register specifies the divider from the gyroscope output rate used to generate the Sample Ratefor the MPU-60X0.The sensor register output, FIFO output, and DMP sampling are all based on the Sample Rate.The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT DIV:Sample Rate Gyroscope Output Rate / (1 SMPLRT DIV)where Gyroscope Output Rate 8kHz when the DLPF is disabled (DLPF CFG 0 or 7), and 1kHzwhen the DLPF is enabled (see Register 26).Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz,the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more thanonce.For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU6000/MPU-6050 Product Specification document.Parameters:SMPLRT DIV8-bit unsigned value. The Sample Rate is determined by dividing thegyroscope output rate by this value.12 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/20134.3Register 26 – ConfigurationCONFIGType: 26--Bit5Bit4Bit3EXT SYNC SET[2:0]Bit2Bit1Bit0DLPF CFG[2:0]Description:This register configures the external Frame Synchronization (FSYNC) pin sampling and the DigitalLow Pass Filter (DLPF) setting for both the gyroscopes and accelerometers.An external signal connected to the FSYNC pin can be sampled by configuring EXT SYNC SET.Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latchedFSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, thelatch will reset to the current FSYNC signal state.The sampled value will be reported in place of the least significant bit in a sensor data registerdetermined by the value of EXT SYNC SET according to the following table.EXT SYNC SET01234567FSYNC Bit LocationInput disabledTEMP OUT L[0]GYRO XOUT L[0]GYRO YOUT L[0]GYRO ZOUT L[0]ACCEL XOUT L[0]ACCEL YOUT L[0]ACCEL ZOUT L[0]The DLPF is configured by DLPF CFG. The accelerometer and gyroscope are filtered according tothe value of DLPF CFG as shown in the table below.DLPF CFG01234567Accelerometer(Fs s (kHz)81111118Bit 7 and bit 6 are reserved.Parameters:EXT SYNC SETDLPF CFG3-bit unsigned value. Configures the FSYNC pin sampling.3-bit unsigned value. Configures the DLPF setting.13 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/20134.4Register 27 – Gyroscope ConfigurationGYRO CONFIGType: t51B27XG STYG STZG STBit4Bit3FS SEL[1:0]Bit2Bit1Bit0---Description:This register is used to trigger gyroscope self-test and configure the gyroscopes’ full scale range.Gyroscope self-test permits users to test the mechanical and electrical portions of thegyroscope. The self-test for each gyroscope axis can be activated by controlling the XG ST,YG ST, and ZG ST bits of this register. Self-test for each axis may be performed independentlyor all at the same time.When self-test is activated, the on-board electronics will actuate the appropriate sensor. Thisactuation will move the sensor’s proof masses over a distance equivalent to a pre-definedCoriolis force. This proof mass displacement results in a change in the sensor output, which isreflected in the output signal. The output signal is used to observe the self-test response.The self-test response is defined as follows:Self-test response Sensor output with self-test enabled – Sensor output without selftest enabledThe self-test limits for each gyroscope axis is provided in the electrical characteristics tables ofthe MPU-6000/MPU-6050 Product Specification document. When the value of the self-testresponse is within the min/max limits of the product specification, the part has passed self test.When the self-test response exceeds the min/max values specified in the document, the part isdeemed to have failed self-test.FS SEL selects the full scale range of the gyroscope outputs according to the following table.FS SEL0123Full Scale Range 250 /s 500 /s 1000 /s 2000 /sBits 2 through 0 are reserved.Parameters:XG STSetting this bit causes the X axis gyroscope to perform self test.YG STSetting this bit causes the Y axis gyroscope to perform self test.ZG STSetting this bit causes the Z axis gyroscope to perform self test.FS SEL2-bit unsigned value. Selects the full scale range of gyroscopes.14 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/20134.5Register 28 – Accelerometer ConfigurationACCEL CONFIGType: t51C28XA STYA STZA STBit4Bit3AFS SEL[1:0]Bit2Bit1Bit0-Description:This register is used to trigger accelerometer self test and configure the accelerometer full scalerange. This register also configures the Digital High Pass Filter (DHPF).Accelerometer self-test permits users to test the mechanical and electrical portions of theaccelerometer. The self-test for each accelerometer axis can be activated by controlling the XA ST,YA ST, and ZA ST bits of this register. Self-test for each axis may be performed independently orall at the same time.When self-test is activated, the on-board electronics will actuate the appropriate sensor. Thisactuation simulates an external force. The actuated sensor, in turn, will produce a correspondingoutput signal. The output signal is used to observe the self-test response.The self-test response is defined as follows:Self-test response Sensor output with self-test enabled – Sensor output without self-testenabledThe self-test limits for each accelerometer axis is provided in the electrical characteristics tables ofthe MPU-6000/MPU-6050 Product Specification document. When the value of the self-test responseis within the min/max limits of the product specification, the part has passed self test. When the selftest response exceeds the min/max values specified in the document, the part is deemed to havefailed self-test.AFS SEL selects the full scale range of the accelerometer outputs according to the following table.AFS SEL0123Full Scale Range 2g 4g 8g 16g15 of 46
MPU-6000/MPU-6050 Register Map andDescriptionsDocument Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013Parameters:XA STWhen set to 1, the X- Axis accelerometer performs self test.YA STWhen set to 1, the Y- Axis accelerometer performs self test.ZA STWhen set to 1, the Z- Axis accelerometer performs self test.AFS SEL2-bit unsigned value. Selects the full scale range of accelerometers.4.6Register 35 – FIFO EnableFIFO ENType: t5Bit4Bit3Bit2Bit1Bit02335TEMPFIFO ENXGFIFO ENYGFIFO ENZGFIFO ENACCELFIFO ENSLV2FIFO ENSLV1FIFO ENSLV0FIFO ENDescription:This register determines which sensor measurements are loaded into the FIFO buffer.Data stored inside the sensor data registers (Registers 59 to 96) will be loaded into the FIFO buffer ifa sensor’s respective FIFO EN bit is set to 1 in this register.When a sensor’s FIFO EN bit is enabled in this register, data from the sensor data registers will beloaded into the FIFO buffer. The sensors are sampled at the Sample Rate as defined in Register 25.For further information regarding sensor data registers, please refer to Registers 59 to 96When an external Slave’s corresponding FIFO EN bit (SLVx FIFO EN, where x 0, 1, or 2) is set to1, the data stored in its corresponding data registers (EXT SENS DATA registers, Registers 73 to96) will be written into the FIFO buffer at the Sample Rate. EXT SENS DATA register association2with I C Slaves is determined by the I2C SLVx CTRL registers (where x 0, 1, or 2; Registers 39,42, and 45). For information regarding EXT SENS DATA registers, please refer to Registers 73 to96.Note that the corresponding FIFO EN bit (SLV3 FIFO EN) is found in I2C MST CTRL (Register36). Also note that Slave 4 behaves in a different manner compared to Slaves 0-3. Please refer toRegisters 49 to 53 for further information regarding Slave 4 usage.Parameters:TEMP FIFO ENWhen set to 1, this bit enables TEMP OUT H and TEMP OUT L (Registers65 and 66) to be written into the FIFO buffer.XG FIFO ENWhen set to 1, this bit enables GYRO XOUT H and GYRO XOUT L(Registers 67 and 68) to be written into the FIFO buffer.YG FIFO ENWhen set to 1, this bit enables GYRO YOUT H and GYRO YOUT L(Registers 69 and 70) to be written into the FIFO buffer.ZG FIFO ENWhen set to 1, this bit enables GYRO ZOUT H and GYRO ZOUT L(Registers 71 and 72) to be written into the FIFO buffer.ACCEL FIFO ENWhen set to 1, this bit enables ACCEL XOUT H, ACCEL XOUT L,ACCEL YOUT H, ACCEL YOUT L, ACCEL ZOUT H, andACCEL ZOUT L (Registers 59 to 64) to be written into the FIFO buffer.16 of 46
Document Number: RM-MPU-6000A-00Revision: 4.2Release Date: 08/19/2013MPU-6000/MPU-6050 Register Map andDescriptionsSLV2 FIFO ENWhen set to 1, this bit enables EXT SENS DATA registers (Registers 73 to96) associated with Slave 2 to be written into the FIFO buffer.SLV1 FIFO ENWhen set to 1, this bit enables EXT SENS DATA registers (Registers 73 to96) associated with Slave 1 to be written into the FIFO buffer.SLV0 FIFO ENWhen set to 1, this bit enables EXT SENS DATA registers (Registers 73 to96) associated with Slave 0 to be written into the FIFO buffer.Note: For further information regarding the association of EXT SENS DATA registers to particularslave devices, please refer to Registers 73 to 96.24.7Register 36 – I C Master ControlI2C MST CTRLType: t5Bit42436MULTMST ENWAITFOR ESSLV 3FIFO ENI2C MSTP NSRBit3Bit2Bit1Bit0I2C MST CLK[3:0]Description:2This register configures the auxiliary I C bus for single-master or multi-master control. In addition, theregister is used to delay the Data Ready interrupt, and also enables the writing of Slave 3 data into2the FIFO buffer. The register also configures the auxiliary I C Master’s transition from one slave readto the next, as well as the MPU-60X0’s 8MHz internal clock.2Multi-master capability allows multiple I C masters to operate on the same bus. I
MPU-6000/MPU-6050 Register Map and Descriptions Document Number: RM-MPU-6000A-00 Revision: 4.2 Release Date: 08/19/2013 4 of 46 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. 05/19/2011 2.0
MPU-6000/MPU-6050 Register Map and Register Descriptions document. MPU-6000/MPU-6050 Product Specification Document Number: PS-MPU-6000A-00 Revision: 3.1 Release Date: 10/24/2011 7 of 57 3 Product Overview 3.1 MPU-60X0 Overview The MPU-60X0 Motion Processing Unit is the world's first motion processing solution with integrated 9-Axis
MPU-6000/MPU-6050 EV Board User Guide Document Number: AN-MPU-6000EVB-00 Revision: 01 Release Date: 1/12/2011 . AK8975/AK8975C Datasheet 3. MPU-6000 9-Axis EV Board Overview The MPU-6000 9-Axis EV Board contains the MPU-6000 digital Motion Processing Unit and the AKM compass. Additionally, it contains a number of „solder-across‟ jumper .
arduino’s analog pin 4 (SDA). And the pin labelled as SCL on the MPU 6050 to the arduino’s analog pin 5 (SCL). And that’s it, you have finished wiring up the Arduino MPU 6050. Step 2: Uploading the code and testing the Arduino MPU 6050 To test the Arduino MPU 6050, first download the arduino library for MPU 6050, developed by Jeff Rowberg.
MPU-6000/MPU-6050 Register Map and Register Descriptions document. MPU-6000/MPU-6050 Product Specification Document Number: -MPUPS-6000A-00 Revision: 2.2 Release Date: 08/05/2011 8 of 59 3 Product Overview 3.1 MPU-60X0 Overview
MPU-6000 and MPU-6050 Product Specification Revision 1.0 . MPU-6000/MPU-6050 Product Specification Document Number: PS-MPU-6000A-00 Revision: 1.0 Release Date: 11/24/2010 2 of 53 CONTENTS
Document Number: RM-MPU-6000A-00 Revision: 4.0 Release Date: 03/09/2012 CONFIDENTIAL & PROPRIETARY 5 of 47 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 .
Document Number: PS-MPU-6000A-00 Revision: 3.4 Release Date: 08/19/2013 6 of 52 2 Purpose and Scope This product specification provides advanced information regarding the electrical specification and design related information for the MPU-6000 and MPU-6050 MotionTracking devices, collectively called the MPU-60X0 or MPU .
Marion Fanny Harris b: Coimbatore, India d: 26 July 1946 m: 4 November 1891 Eleanor Maud Gurney b: 1871 d: 1916 David Sutherland Michell b: 22 July 1865 Cohinoor, Madras, India d: 14 May 1957 Kamloops, British Columbia, Canada Charlotte Griffiths Hunter b: 1857 d: 1946 m: 6 August 1917 Winnipeg, Canada Dorothy Mary Michell b: 1892 Cont. p. 10 Humphrey George Berkeley Michell b: 1 October 1894 .