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
CONFIDENTIAL & PROPRIETARY
1 of 47
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
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
31 – M
OTION
D
ETECTION
T
HRESHOLD
............................................................................16
R
EGISTER
35 – FIFO E
NABLE
.......................................................................................................16
R
EGISTER
36 – I
2
C M
ASTER
C
ONTROL
...........................................................................................17
R
EGISTERS
37
TO
39 – I
2
C S
LAVE
0 C
ONTROL
................................................................................20
R
EGISTERS
40
TO
42 – I C S
LAVE
1 C
ONTROL
................................................................................23
R
EGISTERS
43
TO
45 – I
2
C S
LAVE
2 C
ONTROL
................................................................................23
R
EGISTERS
46
TO
48 – I
2
C S
LAVE
3 C
ONTROL
................................................................................23
R
EGISTERS
49
TO
53 – I
2
C S
LAVE
4 C
ONTROL
................................................................................24
R
EGISTER
54 – I C M
ASTER
S
TATUS
..............................................................................................26
R
EGISTER
55 – INT P
IN
/ B
YPASS
E
NABLE
C
ONFIGURATION
.............................................................27
R
EGISTER
56 – I
NTERRUPT
E
NABLE
...............................................................................................28
R
EGISTER
58 – I
NTERRUPT
S
TATUS
...............................................................................................29
R
EGISTERS
59
TO
64 – A
CCELEROMETER
M
EASUREMENTS
..............................................................30
R
EGISTERS
65
AND
66 – T
EMPERATURE
M
EASUREMENT
..................................................................31
R
EGISTERS
67
TO
72 – G
YROSCOPE
M
EASUREMENTS
.....................................................................32
R
EGISTERS
73
TO
96 – E
XTERNAL
S
ENSOR
D
ATA
............................................................................33
R
EGISTER
99 – I
2
C S
LAVE
0 D
ATA
O
UT
..........................................................................................35
R
EGISTER
100 – I
2
C S
LAVE
1 D
ATA
O
UT
........................................................................................35
R
EGISTER
101 – I
2
C S
LAVE
2 D
ATA
O
UT
........................................................................................36
R
EGISTER
102 – I
2
C S
LAVE
3 D
ATA
O
UT
........................................................................................36
R
EGISTER
103 – I
2
C M
ASTER
D
ELAY
C
ONTROL
...............................................................................37
R
EGISTER
104 – S
IGNAL
P
ATH
R
ESET
............................................................................................38
R
EGISTER
105 – M
OTION
D
ETECTION
C
ONTROL
..............................................................................39
R
EGISTER
106 – U
SER
C
ONTROL
...................................................................................................39
2
2
CONFIDENTIAL & PROPRIETARY
2 of 47
MPU-6000/MPU-6050 Register Map and
Descriptions
Document Number: RM-MPU-6000A-00
Revision: 4.0
Release Date: 03/09/2012
4.30
4.31
4.32
4.33
4.34
R
EGISTER
107 – P
OWER
M
ANAGEMENT
1 .......................................................................................41
R
EGISTER
108 – P
OWER
M
ANAGEMENT
2 .......................................................................................43
R
EGISTER
114
AND
115 – FIFO C
OUNT
R
EGISTERS
........................................................................44
R
EGISTER
116 – FIFO R
EAD
W
RITE
..............................................................................................45
R
EGISTER
117 – W
HO
A
M
I ...........................................................................................................46
CONFIDENTIAL & PROPRIETARY
3 of 47
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
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)
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
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 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”.
CONFIDENTIAL & PROPRIETARY
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