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: 4.2
Release Date: 08/19/2013
MPU-6000 and MPU-6050
Register Map and Descriptions
Revision 4.2
1 of 46
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
CONTENTS
1
2
3
4
REVISION HISTORY ...................................................................................................................................4
PURPOSE AND SCOPE .............................................................................................................................5
REGISTER MAP ..........................................................................................................................................6
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
R
EGISTERS
13
TO
16 – S
ELF
T
EST
R
EGISTERS
.....................................................................................9
R
EGISTER
25 – S
AMPLE
R
ATE
D
IVIDER
..............................................................................................11
R
EGISTER
26 – C
ONFIGURATION
........................................................................................................13
R
EGISTER
27 – G
YROSCOPE
C
ONFIGURATION
....................................................................................14
R
EGISTER
28 – A
CCELEROMETER
C
ONFIGURATION
.............................................................................15
R
EGISTER
35 – FIFO E
NABLE
............................................................................................................16
R
EGISTER
36 – I C M
ASTER
C
ONTROL
...............................................................................................17
R
EGISTERS
37
TO
39 – I C S
LAVE
0 C
ONTROL
...................................................................................19
R
EGISTERS
40
TO
42 – I C S
LAVE
1 C
ONTROL
...................................................................................22
R
EGISTERS
43
TO
45 – I C S
LAVE
2 C
ONTROL
...................................................................................22
R
EGISTERS
46
TO
48 – I C S
LAVE
3 C
ONTROL
...................................................................................22
R
EGISTERS
49
TO
53 – I C S
LAVE
4 C
ONTROL
...................................................................................23
R
EGISTER
54 – I C M
ASTER
S
TATUS
..................................................................................................25
R
EGISTER
55 – INT P
IN
/ B
YPASS
E
NABLE
C
ONFIGURATION
................................................................26
R
EGISTER
56 – I
NTERRUPT
E
NABLE
...................................................................................................27
R
EGISTER
58 – I
NTERRUPT
S
TATUS
...................................................................................................28
R
EGISTERS
59
TO
64 – A
CCELEROMETER
M
EASUREMENTS
.................................................................29
R
EGISTERS
65
AND
66 – T
EMPERATURE
M
EASUREMENT
.....................................................................30
R
EGISTERS
67
TO
72 – G
YROSCOPE
M
EASUREMENTS
........................................................................31
R
EGISTERS
73
TO
96 – E
XTERNAL
S
ENSOR
D
ATA
...............................................................................32
R
EGISTER
99 – I C S
LAVE
0 D
ATA
O
UT
..............................................................................................34
R
EGISTER
100 – I C S
LAVE
1 D
ATA
O
UT
............................................................................................34
R
EGISTER
101 – I C S
LAVE
2 D
ATA
O
UT
............................................................................................35
R
EGISTER
102 – I C S
LAVE
3 D
ATA
O
UT
............................................................................................35
R
EGISTER
103 – I C M
ASTER
D
ELAY
C
ONTROL
..................................................................................36
R
EGISTER
104 – S
IGNAL
P
ATH
R
ESET
................................................................................................37
R
EGISTER
106 – U
SER
C
ONTROL
.......................................................................................................38
R
EGISTER
107 – P
OWER
M
ANAGEMENT
1 ..........................................................................................40
R
EGISTER
108 – P
OWER
M
ANAGEMENT
2 ..........................................................................................42
2
2
2
2
2
2
2
2
2
2
2
2
2 of 46
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
4.30
4.31
4.32
R
EGISTER
114
AND
115 – FIFO C
OUNT
R
EGISTERS
...........................................................................43
R
EGISTER
116 – FIFO R
EAD
W
RITE
..................................................................................................44
R
EGISTER
117 – W
HO
A
M
I................................................................................................................45
3 of 46
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
1
Revision History
Revision
Date
11/29/2010
04/20/2011
Revision
1.0
1.1
Description
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)
Added reset clarification for SPI interface (section 4.3)
Updated sections 6, 7, 8, 10
05/19/2011
2.0
10/07/2011
10/24/2011
3.0
3.1
11/14/2011
3.2
3/9/2012
4.0
2/11/2013
8/19/2013
4.1
4.2
4 of 46
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.2
Release Date: 08/19/2013
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 I 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 ±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
2
each other with two exceptions. The MPU-6050 supports I 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
2
to I 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”.
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