MPU-6050寄存器映射 - 图文

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: 4.0 Release Date: 03/09/2012 MPU-6000 and MPU-6050 Register Map and Descriptions

Revision 4.0

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MPU-6000/MPU-6050 Register Map and Descriptions Document Number: RM-MPU-6000A-00 Revision: 4.0 Release Date: 03/09/2012 CONTENTS

1 REVISION HISTORY ............................................................................................................................. 4 2 PURPOSE AND SCOPE ....................................................................................................................... 5 3 REGISTER MAP ................................................................................................................................... 6 4 REGISTER DESCRIPTIONS ................................................................................................................. 9 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 4.14 4.15 4.16 4.17 4.18 4.19 4.20 4.21 4.22 4.23 4.24 4.25 4.26 4.27 4.28 4.29

REGISTERS 13 TO 16 – SELF TEST REGISTERS ................................................................................ 9 REGISTER 25 – SAMPLE RATE DIVIDER ...........................................................................................11 REGISTER 26 – CONFIGURATION ....................................................................................................13 REGISTER 27 – GYROSCOPE CONFIGURATION.................................................................................14 REGISTER 28 – ACCELEROMETER CONFIGURATION..........................................................................15 REGISTER 31 – MOTION DETECTION THRESHOLD ............................................................................16 REGISTER 35 – FIFO ENABLE .......................................................................................................16 REGISTER 36 – I2C MASTER CONTROL ...........................................................................................17 REGISTERS 37 TO 39 – IC SLAVE 0 CONTROL ................................................................................20 REGISTERS 40 TO 42 – IC SLAVE 1 CONTROL ................................................................................23 REGISTERS 43 TO 45 – I2C SLAVE 2 CONTROL ................................................................................23 REGISTERS 46 TO 48 – IC SLAVE 3 CONTROL ................................................................................23 REGISTERS 49 TO 53 – I2C SLAVE 4 CONTROL ................................................................................24 REGISTER 54 – IC MASTER STATUS ..............................................................................................26 REGISTER 55 – INT PIN / BYPASS ENABLE CONFIGURATION .............................................................27 REGISTER 56 – INTERRUPT ENABLE ...............................................................................................28 REGISTER 58 – INTERRUPT STATUS ...............................................................................................29 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS ..............................................................30 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT ..................................................................31 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS .....................................................................32 REGISTERS 73 TO 96 – EXTERNAL SENSOR DATA ............................................................................33 REGISTER 99 – I2C SLAVE 0 DATA OUT ..........................................................................................35 REGISTER 100 – IC SLAVE 1 DATA OUT ........................................................................................35 REGISTER 101 – I2C SLAVE 2 DATA OUT ........................................................................................36 REGISTER 102 – I2C SLAVE 3 DATA OUT ........................................................................................36 REGISTER 103 – IC MASTER DELAY CONTROL ...............................................................................37 REGISTER 104 – SIGNAL PATH RESET ............................................................................................38 REGISTER 105 – MOTION DETECTION CONTROL ..............................................................................39 REGISTER 106 – USER CONTROL...................................................................................................39

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4.30 4.31 4.32 4.33 4.34

MPU-6000/MPU-6050 Register Map and Descriptions Document Number: RM-MPU-6000A-00 Revision: 4.0 Release Date: 03/09/2012 REGISTER 107 – POWER MANAGEMENT 1 .......................................................................................41 REGISTER 108 – POWER MANAGEMENT 2 .......................................................................................43 REGISTER 114 AND 115 – FIFO COUNT REGISTERS ........................................................................44 REGISTER 116 – FIFO READ WRITE ..............................................................................................45 REGISTER 117 – WHO AM I ...........................................................................................................46

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MPU-6000/MPU-6050 Register Map and Descriptions Document Number: RM-MPU-6000A-00 Revision: 4.0 Release Date: 03/09/2012 1 Revision History

Revision Date 11/29/2010 04/20/2011 05/19/2011 Revision Description 1.0 1.1 2.0 Initial Release 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) Updates for Rev D silicon: Updated accelerometer sensitivity specifications (sections 4.6, 4.8, 4.10, 4.23) 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) 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) 10/07/2011 10/24/2011 11/14/2011 3.0 3.1 3.2 3/9/2012 4.0 CONFIDENTIAL & PROPRIETARY 4 of 47

MPU-6000/MPU-6050 Register Map and Descriptions Document Number: RM-MPU-6000A-00 Revision: 4.0 Release Date: 03/09/2012 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 2

or other sensors through an auxiliary master IC 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 ±2g, ±4g, ±8g, and ±16g.

The MPU-6000 family is comprised of two parts, the MPU-6000 and MPU-6050. These parts are identical to 2each other with two exceptions. The MPU-6050 supports IC 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 2

to IC, 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”.

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